CN206510062U - A kind of corner is from the submissive swinging driver of servo-hydraulic - Google Patents
A kind of corner is from the submissive swinging driver of servo-hydraulic Download PDFInfo
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- CN206510062U CN206510062U CN201720058269.4U CN201720058269U CN206510062U CN 206510062 U CN206510062 U CN 206510062U CN 201720058269 U CN201720058269 U CN 201720058269U CN 206510062 U CN206510062 U CN 206510062U
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Abstract
The utility model provides a kind of corner from the submissive swinging driver of servo-hydraulic, and its technical scheme is：Valve body（14）Concentrically it is arranged on cylinder body cylindrical empty intracavitary（32）, valve body（14）Left and right ends are concentrically equipped with two deep groove ball bearings（5）, drive bevel gear（13）Concentrically it is arranged on valve body（14）On the output shaft shaft shoulder of right-hand member, driven shaft（12）Installed in right end cap（7）On, driven wheel of differential（8）Concentrically it is arranged on driven shaft（12）On, two connecting rods（9）Fixed symmetrical is distinguished by screw and is arranged on driven shaft（12）Two ends, two connecting rods（9）The other end in the middle of install slave arm（10）.There is the utility model fixed stop to be fixed easily, easily assembling, big joint output torque, valve body stress balance, be difficult displacement, dynamic characteristics is good, joint mobility is high, fast response time and the characteristics of high control accuracy.
Description
Technical field
The utility model belongs to joint of robot technical field, and in particular to a kind of corner drives from submissive swing of servo-hydraulic
Dynamic device.
Background technology
Hydraulic corner servo techniques is to be combined hydraulic pressure with motor technology, using respective advantage, with the small power of motor
Square direct drive valve element opens valve port, allows hydraulic oil to act on valve body, and then obtain big output torque.Hydraulic corner is watched certainly
It is the core parts in hydraulic control system to take valve, and it has, and precision is high, swift feature, in high-precision electromechanical integration
Had a wide range of applications in the airborne drive system of system, Aero-Space, large-scale experiment equipment, thus obtain domestic and international scientific and technical personnel
Concern.
A kind of " easily-controllable hydraulic corner self-servo valve " (ZL 201210033081.6) patented technology valve core of servo valve has just
In preparation, valve element force in radial and each self-balancing of axial force, the spy that dynamic characteristics is good, servo blind area is small and easily controllable
Point, but exist complicated, particularly there is the internal oil channel of much complex inside valve element and valve pocket, it is difficult to ensure machining accuracy,
It also there is output torque not big enough and employ circular valve port design, it is nonlinear to cause its flow gain, and then is produced
The problem of precision is not high enough is given birth to.
A kind of " rotary valve high-torque hydraulic corner self-servo valve " (ZL 201210514025.4) patented technology overcomes
The problems of state, the servo valve is by spool face flow, improving the negotiability of system, the response speed of raising
Spend, but there is fixed stop and be not easy to fixation, bad assembling and valve body employ independent bearings, cause valve body stress to hold
Easily displacement, increases the problem of valve body frictional force, influence flexibility.
Be fixed easily it is therefore desirable to designing a kind of fixed stop, easily assembling, big joint output torque, valve body stress balance,
It is difficult displacement, dynamic characteristics is good, joint mobility is high, fast response time and the high corner of control accuracy are from the submissive pendulum of servo-hydraulic
Dynamic driver.
Utility model content
The problem of existing for prior art, the technology that the utility model uses for solution problems of the prior art
Scheme is as follows：
A kind of corner from the submissive swinging driver of servo-hydraulic, including steering wheel 19, steering wheel lid 2, steering wheel disk 18, steering engine seat 3,
Cylinder body 6, valve pocket 15, valve element 17, valve body 14, fixed stop 21, blade 25, drive bevel gear 13, driven shaft 12, driven wheel of differential
8th, gear cap 11, connecting rod 9, slave arm 10 and terminal pad 1；
Valve body 14 is concentrically arranged in cylinder body cylindrical cavity 32, and the left and right ends of valve body 14 are concentrically equipped with two
Deep groove ball bearing 5, left end deep groove ball bearing is fixed in cylinder body left bearing groove 29, and right-hand member deep groove ball bearing is fixed on cylinder body right axle
Hold in groove 33, left end cap 4 is arranged on the left end of cylinder body 6, right end cap 7 is arranged on the right-hand member of cylinder body 6, and the output shaft of valve body 14 stretches out
Right end cap 7, drive bevel gear 13 is concentrically arranged on the output shaft shaft shoulder of the right-hand member of valve body 14, in the extension chamber of right end cap 7
Interior, driven shaft 12 is arranged on right end cap 7, and gear cap 11 is arranged on right end cap 7, and driven wheel of differential 8 is concentrically arranged on
On driven shaft 12, two connecting rods 9 are respectively symmetrically arranged on the upper and lower ends of driven shaft 12, the other end of two connecting rods 9 by screw
Slave arm 10 is installed in centre, and two terminal pads 1 one are concentrically arranged on left side steering wheel lid 2, and one is concentrically installed
In the end of slave arm 10；
The positive top of the inwall of cylinder body 6 is equipped with fixed stop 21, and fixed stop 21 is dynamic cooperation with valve body 14；Valve cylinder-shaped
The outer wall of cavity 37 is provided with blade 25, and blade 25 is dynamic cooperation with cylinder body 6；
Valve pocket 15 is concentrically arranged in valve cylinder-shaped cavity 37, the left side of valve pocket 15 and the left end of valve body 14
Face is fixed together by straight pin, and the right-hand member of valve element 17 is concentrically arranged in valve cylinder-shaped cavity 37 through valve pocket 15,
The left end of valve element 17 and right-hand member are respectively provided with two thrust ball bearings 16；
Steering wheel 19 is fixed on left end caps 4 by two steering engine seats 3, what the output shaft of steering wheel 19 was bolted by two
Steering wheel disk 18 is with the left end endoporus of valve element 17 with center key connecting；
It is corresponding above and below left end cap 4 to be provided with left end cap low pressure oil passage 28 and left end cap high-pressure oil passage 27,
The outlet of left end cap low pressure oil passage 28 is low pressure oil export T, and the entrance of left end cap high-pressure oil passage 27 is high pressure oil-in P,
The center of circle of left end cap low pressure oil passage 28 and the center of circle of left end cap high-pressure oil passage 27 and the angle of the circle center line connecting of left end cap 4 are
150°；
The top of cylinder body 6 is radially provided with the first low pressure oil of cylinder body passage 30, in axial direction provided with cylinder body second
Low pressure oil passage 31, the first low pressure oil of cylinder body passage 30 and the second low pressure oil of cylinder body passage 31 are communicated, and the low pressure oil of cylinder body second is led to
Road 31 is communicated with left end cap low pressure oil passage 28；The bottom of cylinder body 6 is in axial direction provided with cylinder body high-pressure oil passage 34, and cylinder body is high
Pressure oil passage 34 is communicated with left end cap high-pressure oil passage 27；
The entrance of the first low pressure oil of cylinder body passage 30 is communicated with cylinder body low pressure oil annular groove 36, cylinder body low pressure oil annular groove 36
Communicated with the first low pressure oil passage 26 under the first low pressure oil passage 20 on valve body and valve body, two above and below the first radial direction low pressure oil passage
Individual part is communicated with valve pocket left T mouths 46, and the left T mouths 46 of valve pocket are communicated with the annular boss of valve element first 55 rectangular channel, valve element
Rectangular channel on one annular boss 55 is communicated with valve pocket left A mouths 47, the first rectangle valve port 44 that the left A mouths 47 of valve pocket pass through valve body
61 are communicated with corresponding first working chamber；
The entrance of the second low pressure oil of cylinder body passage 31 is communicated with valve body low pressure oil annular groove 43, valve body low pressure oil annular groove 43
Communicated with the second low pressure oil of valve body passage 22, the second low pressure oil of valve body passage 22 is communicated with valve pocket right T mouths 53, the right T mouths 53 of valve pocket
Communicated with the rectangular channel on the fourth annular boss 58 of valve element 17, rectangular channel and valve pocket on the fourth annular boss 58 of valve element 17
Right B mouths 52 are communicated, and the right B mouths 52 of valve pocket are communicated by the second rectangle valve port 45 of valve body 14 with corresponding second working chamber 62；
The outlet of cylinder body high-pressure oil passage 34 is communicated with valve body hydraulic oil annular groove 42, valve body hydraulic oil annular groove 42 and valve
The Z-shaped high-pressure oil passage 24 of body is communicated, and the Z-shaped high-pressure oil passage 24 of valve body is communicated respectively with valve pocket left P mouths 49 and the right P mouths 50 of valve pocket,
The left P mouths 49 of valve pocket are communicated with the rectangular channel on the second annular boss of valve element 56, the rectangular channel on the second annular boss of valve element 56 with
The right A mouths 48 of valve pocket are communicated, and the right A mouths 48 of valve pocket are communicated by the first rectangle of valve body valve port 44 with corresponding first working chamber 61；
The right P mouths 50 of valve pocket are communicated with the rectangular channel on the annular boss 57 of valve element the 3rd, on the annular boss 57 of valve element the 3rd
Rectangular channel is communicated with valve pocket left B mouths 51, the second rectangle valve port 45 and corresponding second working chamber that the left B mouths 51 of valve pocket pass through valve body
62 communicate；
Drive bevel gear 13 is arranged on the output shaft end of valve body 14 radial through round nut and fixed, circumferential solid by flat key
Fixed, the two ends of driven shaft 12 are equipped with deep groove ball bearing B65, deep groove ball bearing B65 inner rings and the interference fits of driven shaft 12, outer ring with
The interference fits of right end cap 7；Drive bevel gear 13 and driven wheel of differential 8 are in 90 ° of engagements, and driven wheel of differential 8 is circumferential with driven shaft 12
It is fixedly connected by flat key；Deep groove ball bearing B65 two ends be equipped with bearing cap axial restraint, the circumference of connecting rod 9 to by flat key with from
Moving axis 12 is fixed, and is connected by screw with the axial restraint of driven shaft 12, and slave arm 10 is arranged in two connecting rods 9 by screw
Between, two terminal pads 1 are arranged on left-hand end steering wheel lid 2 and right-hand end slave arm 10 with bolt respectively；
The valve body 14 is from left to right successively by hollow cylinder, blade 25, cylinder boss, first shaft shoulder 38, second
The shaft shoulder 39 and valve body output shaft 40 are constituted；The external diameter of cylinder is identical with the nominal size of the internal diameter of cylinder body circular port 35, cylinder
Inside is provided with valve cylinder-shaped cavity 37 and valve body bearing groove 41, the name of the internal diameter of valve cylinder-shaped cavity 37 and the external diameter of valve pocket 15
Size is identical, and the left end of valve cylinder-shaped cavity 37 is provided with two size identical semi-circular cylindrical pin-and-holes, and two pin-and-holes are in 180 °
Distribution, the left end face of cylinder of cylinder is provided with two valve seal grooves, cylinder body low pressure oil annular groove 36 in the left end of valve body 14 two
Between individual seal groove, provided with the first low pressure oil passage 26 under the first low pressure oil passage 20 on valve body and valve body between seal groove；
Blade 25 is provided with below cylindrical body outer wall, the length of blade 25 is the length and valve body 14 of cylinder body cylindrical cavity 32
The difference of the length of cylinder boss, the upper lower camber side difference of blade 25 is the internal diameter of cylinder body cylindrical cavity 32 and the circle of valve body 14
The half of cylinder external diameter difference；The lower camber side center of blade 25 is provided with strip gasket groove, strip gasket groove and leaf in the axial direction
The equal length of piece 25, strip gasket groove is embedded with runner sealing bar；
The external diameter of valve body cylinder boss is identical with the nominal size of the internal diameter of cylinder body cylindrical cavity 32, cylinder boss
The face of cylinder is provided with three valve seal grooves, and valve body low pressure oil annular groove 43 and valve body are provided between left side and middle valve seal groove
Valve body hydraulic oil annular groove 42 is provided between second low pressure oil passage 22, the valve seal groove on middle and right side and valve body broken line type is high
Pressure oil passage 24；
Hollow cylinder close to cylinder boss is provided with the second rectangle valve port 45, close to left side valve body seal groove
Hollow cylinder is provided with the first rectangle valve port 44, and the first rectangle valve port 44 is identical with the size of the second rectangle valve port 45；
The plain line of 24 mouthfuls of valve body broken line type high-pressure oil passage is located at the plain line and the first rectangle at the center of the second rectangle valve port 45
The middle of the plain line at the center of valve port 44, the plain line at the center of the second rectangle valve port 45 and the plain line at the center of the first rectangle valve port 44
Angle is θ, and its size is
In formula (1)：b1For the arc length of blade inwall；b2For arc length of the rectangle valve port on hollow cylinder；R is open circles
The external diameter of cylinder；
The length of 14 first shaft shoulder of valve body 38 is valve body cylinder boss to the distance of cylinder body right side, the axle of valve body 14 second
The length of shoulder 39 is distance of the right side of 14 first shaft shoulder of valve body 38 to the right side of right end cap 7, and the left-hand end of valve body output shaft 40 is opened up
There is keyway, the right-hand member of valve body output shaft 40 is circumferentially threaded.
The left end of valve element 17 is provided with the keyway coupled with steering wheel disk 18；Valve element 17 is provided with the first annular boss from left to right
55th, the second annular boss 56, the 3rd annular boss 57, the annular boss 59 of fourth annular boss 58 and the 5th, the first annular boss
55th, to have two sizes with the right edge of fourth annular boss 58 identical for the second annular boss 56, the 3rd annular boss 57
Rectangular channel, two rectangular channels are located on respective same circumference in 180 ° of distributions, each two rectangular channel；First ring-type is convex
Two rectangle groove center lines of platform 55 and two rectangle groove center lines of the 3rd annular boss 57 are symmetrically located in two in axle center respectively
On bar element line, two rectangle groove center lines of the second annular boss 56 and two rectangle groove center lines point of fourth annular boss 58
Wei Yu not be on the plain lines in symmetrical another two of axle center, every plain line differs 90 °；
The left side of valve element 17 is provided with radially oily groove 54 at the first annular boss 55, and the right center of valve element 17 is opened up
There is axial oil groove 60, the left end of axial oil groove 60 is communicated with radially oily groove 54, and two oily grooves are in 90 ° of distributions, axial oil
The right-hand member of groove 60 runs through valve element 17.
The valve pocket 15 is made up of six annular boss and five grooves, and annular boss and groove are alternately arranged；Valve pocket is left
End annular boss is provided with two semi-circular cylindrical pin-and-holes, and two pin-and-holes are in 180 ° of arrangements；On first groove and the 5th groove
Two rectangular openings are had, two rectangular openings arrange that two rectangular openings on first groove are left T mouthfuls for valve pocket in 180 °
46, two rectangular openings on the 5th groove are the right T mouths 43 of valve pocket；The left side of three grooves in the middle of valve pocket 15 and the right difference
One group of rectangular opening is provided with, every group of rectangular opening is mutually constituted by two in the rectangular opening of 180 ° of arrangements；Rectangular opening on five grooves
Size is identical, and the rectangular opening center line on five grooves is respectively positioned on each self-corresponding same plain line, the rectangle on five grooves
The size of mouth is identical with the rectangular channel size of four boss on valve element 17；
The right flank of the left surface and adjacent annular boss of every group of rectangular opening on the left side is on three grooves in the middle of valve pocket 15
The right flank of every group of rectangular opening on the right on same plane, middle three grooves is same with the left surface of adjacent annular boss
Plane；It is left P mouthfuls that six groups of rectangular openings in the middle of valve pocket 15 are from left to right followed successively by the left A mouths 47 of valve pocket, the right A mouths 48 of valve pocket, valve pocket
49th, the right P mouths 50 of valve pocket, the left B mouths 51 of valve pocket and the right B mouths 52 of valve pocket.
21 points of the fixed stop is fixed stop upper arcuate catch and fixed stop lower curved frustum block two
Individual part, the axial length on fixed stop top is the length of cylinder body cylindrical cavity 32 and the length of the cylindrical boss of valve body 14
The difference of degree, the upper lower camber side difference of fixed stop lower curved frustum is the external diameter of cylinder body 6 and the half of the cylinder external diameter of valve body 14 difference；
The lower camber side center of fixed stop 21 is provided with strip gasket groove, the length of strip gasket groove and fixed stop 21 in the axial direction
Equal, strip gasket groove is embedded with block sealing strip.
The lid center hole both sides radial symmetric of right end cap 7 offers annular seal bar groove 64, annular seal bar groove
64 are embedded with annular seal bar；The right-hand member of right end cap 7 is processed into semi-enclosed casing 63, and casing 63 is hollow endless full cylinder,
The casing 63 is circumferential to be arranged with two planes, and two plane extensions are more than right in cylindrical portion length, two planes
Claim to be provided with screwed hole and bearing hole, the disc structure center of right end cap 7 is provided with through hole.
The external diameter nominal size of the gear cap 11 is identical with the segment outer radius nominal size of right end cap casing 63, gear cap 11
Middle fluted, inside grooves nominal size is identical with the extension nominal size of right end cap casing 63, and gear cap groove is provided with
Through hole.
The left end of connecting rod 9 is hollow circular cylinder, and cylinder inner diameter nominal size is identical with the nominal size of driven shaft 12, circle
Column body side offers keyway so that connecting rod 9 is circumferentially connected with driven shaft 12 by flat key, and hollow circular cylinder upper and lower side is equal
It is provided with stairstepping through hole so that connecting rod 9 is with driven shaft 12 axially through bolt connection, and the stage casing of connecting rod 9 is arc-shaped transition, and right-hand member is
Symmetrically through hole is offered in two symmetrical planes, two planes.
The slave arm 10 is hollow endless full cylinder, and slave arm 10 is connected side with connecting rod 9 for hatch frame, circumferential
Symmetrical in two horizontal side walls to offer four screwed holes, the overhanging another end of slave arm 10 is enclosed construction, blind end end face
On offer some screwed holes, closed with the corresponding threaded holes in right side terminal pad 1 so that slave arm 10 and right side terminal pad 1 are led to
Cross mode connects for screw.
Using above-mentioned technical proposal, the total high pressure oil inlet P of device enters cylinder body high pressure by left end cap high-pressure oil passage 27
Oily passage 34, subsequently into valve body hydraulic oil annular groove 42, enters back into valve body broken line type high-pressure oil passage 24, finally enters valve pocket
The left right P mouths 50 of P mouths 49 and valve pocket.
When valve element 17 is relative to 15 rotate counterclockwise of valve pocket, hydraulic oil enters the second of valve element 17 by the left P mouths 49 of valve pocket
56 rectangular channel on annular boss, subsequently enters the right A mouths 48 of valve pocket, enters finally by the first rectangle valve port 44 of valve body 14
First working chamber 61, promotes the rotate counterclockwise of blade 25, makes valve body 14 follow valve element 17 to move, the low pressure oil of the second working chamber 62
The right B mouths 52 of valve pocket are then entered by the second rectangle valve port 45 of valve body 14, entered back into 58 on the fourth annular boss of valve element 17
Rectangular channel, finally enters the right T mouths 53 of valve pocket.
When valve element 17 turns clockwise relative to valve pocket 15, hydraulic oil enters the 3rd of valve element 17 by the right P mouths 50 of valve pocket
Rectangular channel on annular boss 57, subsequently enters the left B mouths 51 of valve pocket, enters finally by the second rectangle valve port 45 of valve body 14
Second working chamber 62, promotes blade 25 to turn clockwise, makes valve body 14 follow valve element 17 to move, the low pressure oil of the first working chamber 61
The left A mouths 47 of valve pocket are then entered by the first rectangle valve port 44 of valve body 14, entered back into 55 on the first annular boss of valve element 17
Rectangular channel, finally enters the left T mouths 46 of valve pocket.
The low pressure oil of the left T mouths 46 of valve pocket passes through the first low pressure oil passage 26 under the first low pressure oil passage 20 on valve body and valve body
Into cylinder body low pressure oil annular groove 36, the first low pressure oil of cylinder body passage 30 is entered back into, then enter by left end cap low pressure oil passage 28
Enter low pressure oil export T progressively to flow back；The low pressure oil of the right T mouths 53 of valve pocket then enters valve body low pressure by the second low-pressure channel of valve body 22
Oily annular groove 43, then enter left end cap low pressure oil duct 28 by the second low pressure oil of cylinder body passage 31, finally by low pressure oil export T
Progressively flow back.
When the left A mouths 47 of valve pocket are communicated with the first working chamber 61, the left B mouths 51 of valve pocket are then communicated with the second working chamber 62, valve
Cover right A mouths 48 and the right B mouths 52 of valve pocket are then not communicated with the first working chamber 61 and the second working chamber 62；When the right A mouths 48 of valve pocket with
When first working chamber 61 is communicated, the right B mouths 52 of valve pocket communicate 62 with the second working chamber, the left A mouths 47 of valve pocket and the left B mouths 51 of valve pocket then with
First working chamber 61 and the second working chamber 62 are not communicated with.In addition to the conditions already mentioned, valve pocket valve port and the first working chamber 61 and second
Working chamber 62 is not communicated with.
The utility model has the following advantages that：
1st, the quantity of fixed stop and blade is reduced compared with prior art in this patent, blade of the prior art
It is welded on valve body, fixed stop is welded on cylinder body, but easily will makes cylinder body on fixed stop welding upper cylinder body
Deformation, so the mounting means of fixed stop is changed into mechanical engagement in this patent rotary valve, the installation of blade retains welding manner,
And part on cylinder body and the dynamic cooperation of valve body, block is partially loaded above and below by the way that fixed stop is made under two parts, block
Provided with through hole, outer wall of cylinder block is partly fixed by screws on block, therefore fixed stop is fixed easily, easily assembling；
2nd, this patent Leaf and fixed stop respectively reduce by a stroke for increasing blade, make stroke from original positive and negative
85 ° of increase till now positive and negative 160 °, nearly twice of stroke increase；It should be noted that due to the reduction of blade, making rotary valve power
Output is reduced to original 1/2, but stroke is increased to original twice, thus it is in increase torque effect and unchanged, but
Be new rotary valve single blade structure more meet practical condition with requirement；
3rd, this patent is concentrically equipped with two deep groove ball bearings, the same center of left end deep groove ball bearing in valve body left and right ends
Ground is fixed in cylinder body left bearing groove, and right-hand member deep groove ball bearing is concentrically fixed in cylinder body right bearing groove, compared to existing
There is no the structure of deep groove ball bearing in technology, rotary valve can be caused to make the rapid force unbalance of valve body in setting in motion, increase connects
Contacting surface frictional force, makes rotary valve locked；The deep groove ball bearing support at valve body two ends makes valve body stress be not easy displacement in this patent, subtracts
Small valve body frictional force, improves flexibility, response speed and the control accuracy in joint；
4th, oil circuit angle changes in housing structure in this patent, be in by oil inlet and outlet of the prior art 180 °
It is changed into 150 °, because fixed stop and blade are in 180 ° of arrangements in this patent, high-pressure oil passage is through blade, if by hydraulic oil
180 ° of arrangements of passage and low pressure oil passage can be interfered with the position of fixed stop, so low pressure oil passage is arranged in into fixation
Beside block；
5th, compared to the very bad assembling of structure in the prior art by motor on cylinder body, whole device in this patent
Steering wheel is placed on the outside of left end cap by left end, is placed wherein steering wheel with an extra cavity, is exported steering wheel by steering wheel disk
Axle is connected with valve element so that end cap and housing structure are simple in this patent, it is easier to assemble；
6th, valve element output shaft is connected to driven shaft, connecting rod and slave arm on the right side of whole device so that present apparatus structure can be made
Be that turning joint is applied to robot, connected by bevel gear between valve element output shaft and driven shaft, realize slave arm around
The axial rotation of driven shaft, makes rotary valve part more meet practical application request, is made in rotary valve right-hand member plus secondary part
One activity hydraulic knuckle；
7th, the working chamber in this patent becomes two by four, is internally more simplified in structure, while obtained device
Can more it stablize, original valve body structure is easily offset, and service life is impacted, this patent service life increases；
8th, the oily groove 54 of addition radial direction and axial oil groove 60 can reveal production with the fluid at balance valve core two ends in this patent
Raw extruding, oil liquid leakage fluid, which occurs, for valve element left and right ends either end to reach the other end by this two oily groove,
Valve element one end is avoided to produce extruding influence rotary valve work；
To sum up, the utility model there is fixed stop to be fixed easily, easily assembling, joint output torque big, valve body stress balance,
It is difficult displacement, dynamic characteristics is good, joint mobility is high, fast response time and the characteristics of high control accuracy.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is Fig. 1 A-A diagrammatic cross-sections；
Fig. 3 is the left view of left end cap；
Fig. 4 is Fig. 3 B-B diagrammatic cross-sections；
Fig. 5 is the left view of cylinder body；
Fig. 6 is Fig. 5 C-C diagrammatic cross-sections；
Fig. 7 is the left view of valve body；
Fig. 8 is Fig. 7 D-D diagrammatic cross-sections；
Fig. 9 is the upward view of valve body；
Figure 10 is the top view of valve pocket；
Figure 11 is Figure 10 E-E diagrammatic cross-sections；
Figure 12 is the top view of valve element；
Figure 13 is Figure 12 F-F diagrammatic cross-sections；
Figure 14 is Fig. 1 G-G diagrammatic cross-sections；
Figure 15 is Fig. 1 H-H diagrammatic cross-sections；
Figure 16 is the right view of right end cap；
Figure 17 is Figure 16 I-I diagrammatic cross-sections；
Figure 18 is the right view of gear cap；
Figure 19 is Figure 18 J-J diagrammatic cross-sections；
Figure 20 is the top view of connecting rod；
Figure 21 is Figure 20 K-K diagrammatic cross-sections；
Figure 22 is the front view of slave arm；
Figure 23 is the right view of slave arm：
Figure 24 is Figure 22 L-L diagrammatic cross-sections；
Figure 25 is terminal pad right view；
Figure 26 is Figure 25 M-M diagrammatic cross-sections；
Wherein：Terminal pad 1, steering wheel lid 2, steering engine seat 3, left end cap 4, deep groove ball bearing 5, cylinder body 6, left end cap 7, from mantle
Gear 8, connecting rod 9, slave arm 10, gear cap 11, driven shaft 12, drive bevel gear 13, valve body 14, valve pocket 15, thrust ball bearing
16, valve element 17, steering wheel disk 18, steering wheel 19, the first low pressure oil passage 20 on valve body, fixed stop 21, the low pressure oil of valve body second is led to
First low pressure oil passage 26 under road 22, cylinder body high-pressure oil passage 23, valve body broken line type high-pressure oil passage 24, blade 25, valve body, it is left
End cap high-pressure oil passage 27, left end cap low pressure oil passage 28, cylinder body left bearing groove 29, the first low pressure oil of cylinder body passage 30, cylinder body
Second low pressure oil passage 31, cylinder body cylindrical cavity 32, cylinder body right bearing groove 33, cylinder body high-pressure oil passage 34, cylinder body circular port
35, cylinder body low pressure oil annular groove 36, valve cylinder-shaped cavity 37, first shaft shoulder 38, second shaft shoulder 39, valve body output shaft 40, valve
Body bearing groove 41, valve body hydraulic oil annular groove 42, valve body low pressure oil annular groove 43, the first rectangle valve port 44, the second rectangle valve port
45, the left T mouths 46 of valve pocket, the left A mouths 47 of valve pocket, the right A mouths 48 of valve pocket, the left P mouths 49 of valve pocket, the right P mouths 50 of valve pocket, the left B mouths 51 of valve pocket,
The right B mouths 52 of valve pocket, the right T mouths 53 of valve pocket, the oily groove 54 of radial direction, the first annular boss 55, the second annular boss 56, the 3rd ring-type is convex
Platform 57, fourth annular boss 58, the 5th annular boss 59, axial oil groove 60, the first working chamber 61, the second working chamber 62 is left
End cap casing 63, annular seal bar groove 64, deep groove ball bearing B65.
Embodiment
Below by embodiment, and with reference to accompanying drawing, the technical solution of the utility model is described in further detail, such as
Shown in Fig. 1-2 6, a kind of corner is from the submissive swinging driver of servo-hydraulic, including steering wheel 19, steering wheel lid 2, steering wheel disk 18, steering wheel
Seat 3, it is cylinder body 6, valve pocket 15, valve element 17, valve body 14, fixed stop 21, blade 25, drive bevel gear 13, driven shaft 12, driven
Bevel gear 8, gear cap 11, connecting rod 9, slave arm 10 and terminal pad 1；
As depicted in figs. 1 and 2, valve body 14 is concentrically arranged in cylinder body cylindrical cavity 32, the left and right ends of valve body 14
Concentrically equipped with two deep groove ball bearings 5, left end deep groove ball bearing is fixed in cylinder body left bearing groove 29, right-hand member deep-groove ball axle
Hold and be fixed in cylinder body right bearing groove 33, left end cap 4 is arranged on the left end of cylinder body 6, right end cap 7 is arranged on the right-hand member of cylinder body 6,
The output shaft of valve body 14 stretches out right end cap 7, and drive bevel gear 13 is concentrically arranged on the output shaft shaft shoulder of the right-hand member of valve body 14,
In the extension chamber of right end cap 7, driven shaft 12 is arranged on right end cap 7, and gear cap 11 is arranged on right end cap 7, from mantle tooth
Wheel 8 is concentrically arranged on driven shaft 12, and two connecting rods 9 are respectively symmetrically arranged on driven shaft by screw two about 12
Slave arm 10 is installed, two terminal pads 1 one are concentrically arranged on left side steering wheel lid 2 in the middle of end, the other end of two connecting rods 9
On, one is concentrically arranged on the end of slave arm 10；
As shown in Fig. 2 the positive top of the inwall of cylinder body 6 is equipped with fixed stop 21, fixed stop 21 is matched somebody with somebody with valve body 14 to be dynamic
Close；The outer wall of valve cylinder-shaped cavity 37 is provided with blade 25, and blade 25 is dynamic cooperation with cylinder body 6；
As shown in Fig. 2 valve pocket 15 is concentrically arranged in valve cylinder-shaped cavity 37, the left side of valve pocket 15 and valve body
14 left side is fixed together by straight pin, and it is empty that the right-hand member of valve element 17 is concentrically arranged on valve cylinder-shaped through valve pocket 15
In chamber 37, the left end of valve element 17 and right-hand member are respectively provided with two thrust ball bearings 16；
As shown in figure 1, steering wheel 19 is fixed on left end cap 4 by two steering engine seats 3, the output shaft of steering wheel 19 passes through two use
The steering wheel disk 18 of bolt-connection is with the left end endoporus of valve element 17 with center key connecting；
It is corresponding above and below left end cap 4 to be provided with the He of left end cap low pressure oil passage 28 as shown in Fig. 2, Fig. 4 and Fig. 6
Left end cap high-pressure oil passage 27, the outlet of left end cap low pressure oil passage 28 is low pressure oil export T, left end cap high-pressure oil passage 27
Entrance is high pressure oil-in P, and the center of circle of the center of circle of left end cap low pressure oil passage 28 and left end cap high-pressure oil passage 27 is justified with left end cap 4
The angle of heart line is 150 °；
As shown in Fig. 2-15, the top of cylinder body 6 is radially provided with the first low pressure oil of cylinder body passage 30, in axial direction
Provided with the second low pressure oil of cylinder body passage 31, the first low pressure oil of cylinder body passage 30 and the second low pressure oil of cylinder body passage 31 are communicated, cylinder body
Second low pressure oil passage 31 is communicated with left end cap low pressure oil passage 28；The bottom of cylinder body 6 is in axial direction provided with cylinder body hydraulic oil
Passage 34, cylinder body high-pressure oil passage 34 is communicated with left end cap high-pressure oil passage 27；
As shown in Fig. 2-15, the entrance of the first low pressure oil of cylinder body passage 30 is communicated with cylinder body low pressure oil annular groove 36, cylinder body
Low pressure oil annular groove 36 is communicated with the first low pressure oil passage 26 under the first low pressure oil passage 20 on valve body and valve body, and first is radially low
Two parts are communicated with valve pocket left T mouths 46 above and below pressure oil passage, 55 square on the left T mouths 46 of valve pocket and the annular boss of valve element first
Shape groove is communicated, and the rectangular channel on the first annular boss of valve element 55 is communicated with valve pocket left A mouths 47, and the left A mouths 47 of valve pocket pass through valve body
First rectangle valve port 44 communicates 61 with corresponding first working chamber；
As shown in Fig. 2-15, the entrance of the second low pressure oil of cylinder body passage 31 is communicated with valve body low pressure oil annular groove 43, valve body
Low pressure oil annular groove 43 is communicated with the second low pressure oil of valve body passage 22, the phase of the second low pressure oil of valve body passage 22 and valve pocket right T mouths 53
Logical, the right T mouths 53 of valve pocket are communicated with the rectangular channel on the fourth annular boss 58 of valve element 17, on the fourth annular boss 58 of valve element 17
Rectangular channel communicated with valve pocket right B mouths 52, the second rectangle valve port 45 and corresponding second work that the right B mouths 52 of valve pocket pass through valve body 14
Make chamber 62 to communicate；
As shown in Fig. 2-15, the outlet of cylinder body high-pressure oil passage 34 is communicated with valve body hydraulic oil annular groove 42, valve body high pressure
Oily annular groove 42 is communicated with the Z-shaped high-pressure oil passage of valve body 24, and the Z-shaped high-pressure oil passage 24 of valve body and the left P mouths 49 of valve pocket and valve pocket are right
P mouths 50 are communicated respectively, and the left P mouths 49 of valve pocket are communicated with the rectangular channel on the second annular boss of valve element 56, the annular boss of valve element second
Rectangular channel on 56 is communicated with valve pocket right A mouths 48, and the right A mouths 48 of valve pocket pass through the first rectangle of valve body valve port 44 and corresponding first work
Make chamber 61 to communicate；
As shown in fig. 10 and fig. 12, the right P mouths 50 of valve pocket are communicated with the rectangular channel on the annular boss 57 of valve element the 3rd, valve element
Rectangular channel on three annular boss 57 is communicated with valve pocket left B mouths 51, the second rectangle valve port 45 that the left B mouths 51 of valve pocket pass through valve body
Communicated with corresponding second working chamber 62；
Fixed as shown in figure 1, drive bevel gear 13 is arranged on the output shaft end of valve body 14 radial through round nut, it is circumferential logical
Cross flat key to fix, the two ends of driven shaft 12 are equipped with deep groove ball bearing B65, deep groove ball bearing B65 inner rings are matched somebody with somebody with the transition of driven shaft 12
Close, outer ring and the interference fits of right end cap 7；Drive bevel gear 13 and driven wheel of differential 8 in 90 ° of engagements, driven wheel of differential 8 with it is driven
Axle 12 is circumferential to be fixedly connected by flat key；Deep groove ball bearing B65 two ends are equipped with bearing cap axial restraint, and the circumference of connecting rod 9 is to passing through
Flat key is fixed with driven shaft 12, is connected by screw with the axial restraint of driven shaft 12, and slave arm 10 is arranged on two by screw
In the middle of connecting rod 9, two terminal pads 1 are arranged on left-hand end steering wheel lid 2 and right-hand end slave arm 10 with bolt respectively；
As shown in figure 8, valve body 14 is from left to right successively by hollow cylinder, blade 25, cylinder boss, first shaft shoulder
38th, second shaft shoulder 39 and valve body output shaft 40 are constituted；The nominal size phase of the external diameter of cylinder and the internal diameter of cylinder body circular port 35
Together, valve cylinder-shaped cavity 37 and valve body bearing groove 41, the internal diameter of valve cylinder-shaped cavity 37 and valve pocket 15 are provided with inside cylinder
The nominal size of external diameter is identical, and the left end of valve cylinder-shaped cavity 37 is provided with two size identical semi-circular cylindrical pin-and-holes, two
Pin-and-hole is provided with two valve seal grooves in 180 ° of distributions, the left end face of cylinder of cylinder, and cylinder body low pressure oil annular groove 36 is in valve body
Between two seal grooves of 14 left ends, provided with the first low pressure oil under the first low pressure oil passage 20 on valve body and valve body between seal groove
Passage 26；
Blade 25 is provided with below cylindrical body outer wall, the length of blade 25 is the length and valve body 14 of cylinder body cylindrical cavity 32
The difference of the length of cylinder boss, the upper lower camber side difference of blade 25 is the internal diameter of cylinder body cylindrical cavity 32 and the circle of valve body 14
The half of cylinder external diameter difference；The lower camber side center of blade 25 is provided with strip gasket groove, strip gasket groove and leaf in the axial direction
The equal length of piece 25, strip gasket groove is embedded with runner sealing bar；
The external diameter of valve body cylinder boss is identical with the nominal size of the internal diameter of cylinder body cylindrical cavity 32, cylinder boss
The face of cylinder is provided with three valve seal grooves, and valve body low pressure oil annular groove 43 and valve body are provided between left side and middle valve seal groove
Valve body hydraulic oil annular groove 42 is provided between second low pressure oil passage 22, the valve seal groove on middle and right side and valve body broken line type is high
Pressure oil passage 24；
Hollow cylinder close to cylinder boss is provided with the second rectangle valve port 45, close to left side valve body seal groove
Hollow cylinder is provided with the first rectangle valve port 44, and the first rectangle valve port 44 is identical with the size of the second rectangle valve port 45；
As shown in figure 9, the plain line of 24 mouthfuls of valve body broken line type high-pressure oil passage is located at the plain line at the center of the second rectangle valve port 45
With the middle of the plain line at the center of the first rectangle valve port 44, in the plain line at the center of the second rectangle valve port 45 and the first rectangle valve port 44
The angle of the plain line of the heart is θ, and its size is
In formula (1)：b1For the arc length of blade inwall；b2For arc length of the rectangle valve port on hollow cylinder；R is open circles
The external diameter of cylinder；
As shown in figure 8, the length of 14 first shaft shoulder of valve body 38 is valve body cylinder boss to the distance of cylinder body right side, valve body
The length of 14 second shaft shoulder 39 is distance of the right side of 14 first shaft shoulder of valve body 38 to the right side of right end cap 7, and valve body output shaft 40 is left
Side offers keyway, and the right-hand member of valve body output shaft 40 is circumferentially threaded.
As shown in Figure 12 and Figure 13, the left end of valve element 17 is provided with the keyway coupled with steering wheel disk 18；Valve element 17 from a left side to
The right side is convex provided with the first annular boss 55, the second annular boss 56, the 3rd annular boss 57, the ring-type of fourth annular boss 58 and the 5th
Platform 59, the first annular boss 55, the second annular boss 56, the right edge difference of the 3rd annular boss 57 and fourth annular boss 58
Two size identical rectangular channels are provided with, two rectangular channels are located at respective same circle in 180 ° of distributions, each two rectangular channel
On contour；Two rectangle groove center lines of the first annular boss 55 and two rectangle groove center lines difference of the 3rd annular boss 57
Axle center is symmetrically located on two plain lines, two rectangle groove center lines of the second annular boss 56 and fourth annular boss 58
Two rectangle groove center lines are located on the plain line in symmetrical another two of axle center respectively, and every plain line differs 90 °；
As shown in figure 13, the left side of valve element 17 is provided with radially oily groove 54, valve element 17 at the first annular boss 55
Right center offers axial oil groove 60, and the left end of axial oil groove 60 is communicated with radially oily groove 54, and two oily grooves are in 90 °
Distribution, the right-hand member of axial oil groove 60 runs through valve element 17.
As shown in Figure 10 and Figure 11, the valve pocket 15 is made up of six annular boss and five grooves, annular boss and recessed
Groove is alternately arranged；Valve pocket left end annular boss is provided with two semi-circular cylindrical pin-and-holes, and two pin-and-holes are in 180 ° of arrangements；First recessed
Two rectangular openings are had on groove and the 5th groove, two rectangular openings are arranged in 180 °, two squares on first groove
Shape mouthful is that two rectangular openings on the left T mouths 46 of valve pocket, the 5th groove are the right T mouths 43 of valve pocket；Three grooves in the middle of valve pocket 15
The left side and the right have one group of rectangular opening, every group of rectangular opening is mutually constituted by two in the rectangular openings of 180 ° of arrangements；Five
Rectangular opening size on individual groove is identical, and the rectangular opening center line on five grooves is respectively positioned on each self-corresponding same plain line,
The size of rectangular opening on five grooves is identical with the rectangular channel size of four boss on valve element 17；
As shown in Figure 10 and Figure 11, in the middle of valve pocket 15 on three grooves every group of rectangular opening on the left side left surface and adjacent ring
The right flank of shape boss is same plane, and the right flank and adjacent annular of every group of rectangular opening on the right on middle three grooves are convex
The left surface of platform is same plane；Six groups of rectangular openings in the middle of valve pocket 15 are from left to right followed successively by the left A mouths 47 of valve pocket, the right A of valve pocket
Mouth 48, the left P mouths 49 of valve pocket, the right P mouths 50 of valve pocket, the left B mouths 51 of valve pocket and the right B mouths 52 of valve pocket.
As shown in Fig. 2 and Figure 14,21 points of fixed stop is fixed stop upper arcuate catch and fixed stop lower curved
Two parts of frustum block, the axial length on fixed stop top is justified for the length of cylinder body cylindrical cavity 32 with valve body 14
The difference of the length of cylindrical end tangs, the upper lower camber side difference of fixed stop lower curved frustum is the external diameter of cylinder body 6 and the cylinder of valve body 14
The half of external diameter difference；The lower camber side center of fixed stop 21 is provided with strip gasket groove in the axial direction, and strip gasket groove is with consolidating
Determine the equal length of block 21, strip gasket groove is embedded with block sealing strip.
As shown in Fig. 1 and Figure 17, the lid center hole both sides radial symmetric of right end cap 7 offers annular seal bar groove 64,
Annular seal bar groove 64 is embedded with annular seal bar；The right-hand member of right end cap 7 is processed into semi-enclosed casing 63, casing 63 for it is hollow not
Complete cylinder, the casing 63 is circumferential to be arranged with two planes, and two plane extensions are more than cylindrical portion length, two
Individual plane is provided with screwed hole and bearing hole, and the disc structure center of right end cap 7 is provided with through hole.
As shown in Fig. 1, Figure 18 and Figure 19, external diameter nominal size and the segment outer radius of right end cap casing 63 name of gear cap 11
Size is identical, fluted, inside grooves nominal size and the extension nominal size phase of right end cap casing 63 in the middle of gear cap 11
Together, gear cap groove is provided with through hole.
As shown in Figure 20 and Figure 21, the left end of connecting rod 9 is hollow circular cylinder, cylinder inner diameter nominal size and driven shaft 12
Adopted size is identical, and cylinder interior side offers keyway so that connecting rod 9 is circumferentially connected with driven shaft 12 by flat key, hollow
Cylinder upper and lower side is provided with stairstepping through hole so that connecting rod 9 is with driven shaft 12 axially through bolt connection, and the stage casing of connecting rod 9 is
Arc-shaped transition, right-hand member is symmetrically to offer through hole in two symmetrical planes, two planes.
As shown in Figure 22, Figure 23 and Figure 24, slave arm 10 is hollow endless full cylinder, and slave arm 10 is connected with connecting rod 9
Side is hatch frame, symmetrically offers four screwed holes in circumferential two horizontal side walls, the overhanging another end of slave arm 10 is
Some screwed holes are offered on enclosed construction, blind end end face, are closed with the corresponding threaded holes in right side terminal pad 1 so that driven
Arm 10 is connected by screw with right side terminal pad 1.
Using above-mentioned technical proposal, the total high pressure oil inlet P of device enters cylinder body high pressure by left end cap high-pressure oil passage 27
Oily passage 34, subsequently into valve body hydraulic oil annular groove 42, enters back into valve body broken line type high-pressure oil passage 24, finally enters valve pocket
The left right P mouths 50 of P mouths 49 and valve pocket.
When valve element 17 is relative to 15 rotate counterclockwise of valve pocket, hydraulic oil enters the second of valve element 17 by the left P mouths 49 of valve pocket
56 rectangular channel on annular boss, subsequently enters the right A mouths 48 of valve pocket, enters finally by the first rectangle valve port 44 of valve body 14
First working chamber 61, promotes the rotate counterclockwise of blade 25, makes valve body 14 follow valve element 17 to move, the low pressure oil of the second working chamber 62
The right B mouths 52 of valve pocket are then entered by the second rectangle valve port 45 of valve body 14, entered back into 58 on the fourth annular boss of valve element 17
Rectangular channel, finally enters the right T mouths 53 of valve pocket.
When valve element 17 turns clockwise relative to valve pocket 15, hydraulic oil enters the 3rd of valve element 17 by the right P mouths 50 of valve pocket
Rectangular channel on annular boss 57, subsequently enters the left B mouths 51 of valve pocket, enters finally by the second rectangle valve port 45 of valve body 14
Second working chamber 62, promotes blade 25 to turn clockwise, makes valve body 14 follow valve element 17 to move, the low pressure oil of the first working chamber 61
The left A mouths 47 of valve pocket are then entered by the first rectangle valve port 44 of valve body 14, entered back into 55 on the first annular boss of valve element 17
Rectangular channel, finally enters the left T mouths 46 of valve pocket.
The low pressure oil of the left T mouths 46 of valve pocket passes through the first low pressure oil passage 26 under the first low pressure oil passage 20 on valve body and valve body
Into cylinder body low pressure oil annular groove 36, the first low pressure oil of cylinder body passage 30 is entered back into, then enter by left end cap low pressure oil passage 28
Enter low pressure oil export T progressively to flow back；The low pressure oil of the right T mouths 53 of valve pocket then enters valve body low pressure by the second low-pressure channel of valve body 22
Oily annular groove 43, then enter left end cap low pressure oil duct 28 by the second low pressure oil of cylinder body passage 31, finally by low pressure oil export T
Progressively flow back.
When the left A mouths 47 of valve pocket are communicated with the first working chamber 61, the left B mouths 51 of valve pocket are then communicated with the second working chamber 62, valve
Cover right A mouths 48 and the right B mouths 52 of valve pocket are then not communicated with the first working chamber 61 and the second working chamber 62；When the right A mouths 48 of valve pocket with
When first working chamber 61 is communicated, the right B mouths 52 of valve pocket communicate 62 with the second working chamber, the left A mouths 47 of valve pocket and the left B mouths 51 of valve pocket then with
First working chamber 61 and the second working chamber 62 are not communicated with.In addition to the conditions already mentioned, valve pocket valve port and the first working chamber 61 and second
Working chamber 62 is not communicated with.
Protection domain of the present utility model is not limited to the above embodiments, it is clear that those skilled in the art can be right
The utility model carries out various changes and deformed without departing from scope and spirit of the present utility model.If these are changed and deformed
Belong in the range of the utility model claim and its equivalent technologies, then it is of the present utility model intention also comprising these change and
Including deformation.
Claims (9)
1. a kind of corner is from the submissive swinging driver of servo-hydraulic, it is characterised in that：Including steering wheel (19), steering wheel lid (2), steering wheel
Disk (18), steering engine seat (3), cylinder body (6), valve pocket (15), valve element (17), valve body (14), fixed stop (21), blade (25), master
Dynamic bevel gear (13), driven shaft (12), driven wheel of differential (8), gear cap (11), connecting rod (9), slave arm (10) and terminal pad
(1)；
Described valve body (14) is concentrically arranged in cylinder body cylindrical cavity (32), and valve body (14) left and right ends are concentrically
Equipped with two deep groove ball bearings (5), it is inner that left end deep groove ball bearing (5) is concentrically fixed on cylinder body left bearing groove (29), right-hand member
Deep groove ball bearing (5) is concentrically fixed on that cylinder body right bearing groove (33) is inner, and left end cap (4) is arranged on the left end of cylinder body (6), right
End cap (7) is arranged on the right-hand member of cylinder body (6), and the output shaft of valve body (14) stretches out right end cap (7), drive bevel gear (13) same to center
Ground is arranged on the output shaft shaft shoulder of valve body (14) right-hand member, the intracavitary installed in right end cap (7), and driven shaft (12) is arranged on right-hand member
Cover on (7), gear cap (11) is arranged on right end cap (7), driven wheel of differential (8) is concentrically arranged on driven shaft (12),
Two connecting rods (9) distinguish fixed symmetrical by screw and are arranged on peace in the middle of driven shaft (12) two ends, the other end of two connecting rods (9)
Slave arm (10) is filled, two terminal pads (1) one are concentrically arranged on left side steering wheel lid (2), and one is concentrically installed
In slave arm (10) end；
The positive top of described cylinder body (6) inwall is equipped with fixed stop (21), and fixed stop (21) is dynamic cooperation with valve body (14)；
The outer wall of valve cylinder-shaped cavity (37) is provided with blade (25), and blade (25) is dynamic cooperation with cylinder body (6)；
Described valve pocket (15) is concentrically arranged in valve cylinder-shaped cavity (37), the left side of valve pocket (15) and valve body
(14) left side is fixed together by straight pin, and valve element (17) right-hand member, which is concentrically arranged on valve body through valve pocket (15), to be justified
In cylindrical cavity (37), valve element (17) left end and right-hand member are respectively provided with two thrust ball bearings (16)；
Described steering wheel (19) is by the way that on the fixed left end cap (4) of two steering engine seats (3), the output shaft of steering wheel (19) passes through two use
The steering wheel disk (18) of bolt-connection is with valve element (17) left end endoporus with center key connecting；
It is corresponding logical provided with left end cap low pressure oil passage (28) and left end cap hydraulic oil above and below described left end cap (4)
Road (27), the outlet of left end cap low pressure oil passage (28) is low pressure oil export T, and the entrance of left end cap high-pressure oil passage (27) is height
The center of circle of hydraulic oil inlet P, left end cap low pressure oil passage (28) center of circle and left end cap high-pressure oil passage (27) and left end cap (4) center of circle
The angle of line is 150 °；
The top of described cylinder body (6) is radially provided with cylinder body the first low pressure oil passage (30), in axial direction provided with cylinder
Body the second low pressure oil passage (31), cylinder body the first low pressure oil passage (30) and cylinder body the second low pressure oil passage (31) are communicated, cylinder body
Second low pressure oil passage (31) is communicated with left end cap low pressure oil passage (28)；The bottom of cylinder body (6) is in axial direction provided with cylinder body
High-pressure oil passage (34), cylinder body high-pressure oil passage (34) is communicated with left end cap high-pressure oil passage (27)；
The entrance of cylinder body the first low pressure oil passage (30) is communicated with cylinder body low pressure oil annular groove (36), cylinder body low pressure oil annular groove
(36) communicated with the first low pressure oil passage (26) under the first low pressure oil passage (20) on valve body and valve body, the first radial direction low pressure oil is led to
Two parts (46) left T mouthfuls with valve pocket are communicated above and below road, valve pocket left T mouthfuls (46) and the rectangle on the annular boss of valve element first (55)
Groove is communicated, and the rectangular channel on the annular boss of valve element first (55) (47) left A mouthfuls with valve pocket is communicated, and valve pocket left A mouthfuls (47) passes through valve
First rectangle valve port (44) of body is communicated with corresponding first working chamber (61)；
The entrance of cylinder body the second low pressure oil passage (31) is communicated with valve body low pressure oil annular groove (43), valve body low pressure oil annular groove
(43) communicated with valve body the second low pressure oil passage (22), valve body the second low pressure oil passage (22) (53) right T mouthfuls with valve pocket is communicated, valve
Cover right T mouthfuls (53) to communicate with the rectangular channel on the fourth annular boss (58) of valve element (17), the fourth annular boss of valve element (17)
(58) rectangular channel (52) right B mouthfuls with valve pocket on is communicated, the second rectangle valve port (45) that valve pocket right B mouthfuls (52) passes through valve body (14)
Communicated with corresponding second working chamber (62)；
The outlet of cylinder body high-pressure oil passage (34) is communicated with valve body hydraulic oil annular groove (42), valve body hydraulic oil annular groove (42) with
The Z-shaped high-pressure oil passage of valve body (24) is communicated, and the Z-shaped high-pressure oil passage of valve body (24) and valve pocket left P mouthfuls (49) and valve pocket are right P mouthfuls (50)
Communicate respectively, valve pocket left P mouthfuls (49) is communicated with the rectangular channel on the annular boss of valve element second (56), the annular boss of valve element second
(56) rectangular channel (48) right A mouthfuls with valve pocket on is communicated, valve pocket right A mouthfuls (48) by valve body the first rectangle valve port (44) with it is corresponding
The first working chamber (61) communicate；
Valve pocket right P mouthfuls (50) is communicated with the rectangular channel on the annular boss (57) of valve element the 3rd, on the annular boss (57) of valve element the 3rd
Rectangular channel (51) left B mouthfuls with valve pocket communicate, the second rectangle valve port (45) and corresponding that valve pocket left B mouthfuls (51) passes through valve body
Two working chambers (62) are communicated；
Drive bevel gear (13) is arranged on valve body (14) output shaft end radial through round nut and fixed, circumferential solid by flat key
Fixed, driven shaft (12) two ends are equipped with deep groove ball bearing B (65), deep groove ball bearing B (65) inner rings and driven shaft (12) interference fits,
Outer ring and right end cap (7) interference fits；Drive bevel gear (13) and driven wheel of differential (8) are in 90 ° of engagements, driven wheel of differential (8)
Circumferentially it is fixedly connected with driven shaft (12) by flat key；Deep groove ball bearing B (65) two ends are equipped with bearing cap axial restraint, connecting rod
(9) circumference is connected, slave arm (10) to fixed by flat key and driven shaft (12) by screw with driven shaft (12) axial restraint
Be arranged on by screw in the middle of two connecting rods (9), two terminal pads (1) respectively with bolt be arranged on left-hand end steering wheel lid (2) and
On right-hand end slave arm (10).
2. a kind of corner as claimed in claim 1 is from the submissive swinging driver of servo-hydraulic, it is characterised in that：The valve body
(14) from left to right successively by hollow cylinder, blade (25), cylinder boss, first shaft shoulder (38), second shaft shoulder (39) and
Valve body output shaft (40) is constituted；The external diameter of cylinder is identical with the nominal size of cylinder body circular port (35) internal diameter, inside cylinder
It is provided with valve cylinder-shaped cavity (37) and valve body bearing groove (41), valve cylinder-shaped cavity (37) internal diameter and valve pocket (15) external diameter
Nominal size is identical, and valve cylinder-shaped cavity (37) left end is provided with two size identical semi-circular cylindrical pin-and-holes, two pin-and-holes
In 180 ° of distributions, the left end face of cylinder of cylinder is provided with two valve seal grooves, and cylinder body low pressure oil annular groove (36) is in valve body
(14) it is low provided with the first low pressure oil passage (20) on valve body and valve body first between seal groove between two seal grooves of left end
Pressure oil passage (26)；
Blade (25) is provided with below cylindrical body outer wall, blade (25) length is the length and valve body of cylinder body cylindrical cavity (32)
(14) difference of the length of cylinder boss, the upper lower camber side difference of blade (25) is the internal diameter and valve of cylinder body cylindrical cavity (32)
The half of the cylinder external diameter difference of body (14)；The lower camber side center of blade (25) is provided with strip gasket groove, bar in the axial direction
The equal length of shape seal groove and blade (25), strip gasket groove is embedded with runner sealing bar；
The external diameter of valve body cylinder boss is identical with the nominal size of cylinder body cylindrical cavity (32) internal diameter, the circle of cylinder boss
Cylinder is provided with three valve seal grooves, and valve body low pressure oil annular groove (43) and valve body are provided between left side and middle valve seal groove
Valve body hydraulic oil annular groove (42) and valve body broken line are provided between second low pressure oil passage (22), the valve seal groove on middle and right side
Type high-pressure oil passage (24)；
Hollow cylinder close to cylinder boss is provided with the second rectangle valve port (45), in the sky close to left side valve body seal groove
Heart cylinder is provided with the first rectangle valve port (44), and the first rectangle valve port (44) is identical with second rectangle valve port (45) size；
The plain line of valve body broken line type high-pressure oil passage (24) mouth is located at the plain line and the first rectangle at second rectangle valve port (45) center
The middle of the plain line at valve port (44) center, the plain line at second rectangle valve port (45) center and first rectangle valve port (44) center
The angle of plain line is θ, and its size is
In formula (1)：b1For the arc length of blade inwall；b2For arc length of the rectangle valve port on hollow cylinder；R is hollow cylinder
External diameter；
Valve body (14) first shaft shoulder (38) length is valve body cylinder boss to the distance of cylinder body right side, the axle of valve body (14) second
Shoulder (39) length is the shaft shoulder (38) right side of valve body (14) first to the distance of right end cap (7) right side, valve body output shaft (40)
Left-hand end offers keyway, and valve body output shaft (40) right-hand member is circumferentially threaded.
3. a kind of corner as claimed in claim 1 is from the submissive swinging driver of servo-hydraulic, it is characterised in that：The valve element
(17) left end is provided with the keyway coupled with steering wheel disk (18)；Valve element (17) is provided with the first annular boss (55), second from left to right
Annular boss (56), the 3rd annular boss (57), fourth annular boss (58) and the 5th annular boss (59), the first annular boss
(55), the right edge of the second annular boss (56), the 3rd annular boss (57) and fourth annular boss (58) has two
Size identical rectangular channel, two rectangular channels are located on respective same circumference in 180 ° of distributions, each two rectangular channel；The
Two rectangle groove center lines of one annular boss (55) and two rectangle groove center lines difference axle center of the 3rd annular boss (57)
It is symmetrically located on two plain lines, two rectangle groove center lines of the second annular boss (56) and the two of fourth annular boss (58)
Individual rectangle groove center line is located on the plain line in symmetrical another two of axle center respectively, and every plain line differs 90 °；
On the left of the valve element (17) radially oily groove (54), valve element (17) right center are provided with close to the first annular boss (55) place
Axial oil groove (60) is offered, axial oil groove (60) left end is communicated with radially oily groove (54), and two oily grooves are in 90 ° points
Cloth, axial oil groove (60) right-hand member runs through valve element (17).
4. a kind of corner as claimed in claim 1 is from the submissive swinging driver of servo-hydraulic, it is characterised in that：The valve pocket
(15) it is made up of six annular boss and five grooves, annular boss and groove are alternately arranged；Valve pocket left end annular boss is provided with
Two semi-circular cylindrical pin-and-holes, two pin-and-holes are in 180 ° of arrangements；Two squares are had on first groove and the 5th groove
Shape mouthful, two rectangular openings arrange that two rectangular openings on first groove are left T mouthfuls (46) for valve pocket, the 5th groove in 180 °
On two rectangular openings for valve pocket it is right T mouthfuls (53)；The left side and the right of three grooves in the middle of valve pocket (15) have one group
Rectangular opening, every group of rectangular opening is mutually constituted by two in the rectangular opening of 180 ° of arrangements；Rectangular opening size on five grooves is identical,
Rectangular opening center line on five grooves is respectively positioned on each self-corresponding same plain line, the size of the rectangular opening on five grooves with
The rectangular channel size of upper four boss of valve element (17) is identical；
The left surface of every group of rectangular opening on the left side and the right flank of adjacent annular boss are same on three grooves in the middle of valve pocket (15)
The right flank of every group of rectangular opening on the right on one plane, middle three grooves is same flat with the left surface of adjacent annular boss
Face；Six groups of rectangular openings in the middle of valve pocket (15) are from left to right followed successively by valve pocket left A mouthfuls (47), valve pocket right A mouthfuls (48), the left P of valve pocket
Mouth (49), valve pocket right P mouthfuls (50), valve pocket left B mouthfuls (51) and valve pocket are right B mouthfuls (52).
5. a kind of corner as claimed in claim 1 is from the submissive swinging driver of servo-hydraulic, it is characterised in that：The fixed gear
Block (21) is divided on two parts of fixed stop upper arcuate catch and fixed stop lower curved frustum block, fixed stop
The axial length in portion for cylinder body cylindrical cavity (32) length and valve body (14) cylindrical boss length difference, fixed stop
The upper lower camber side difference of lower curved frustum is cylinder body (6) external diameter and the half of valve body (14) cylinder external diameter difference；Fixed stop
(21) lower camber side center is provided with strip gasket groove, the length phase of strip gasket groove and fixed stop (21) in the axial direction
Deng strip gasket groove is embedded with block sealing strip.
6. a kind of corner as claimed in claim 1 is from the submissive swinging driver of servo-hydraulic, it is characterised in that：The right end cap
(7) lid center hole both sides radial symmetric offers annular seal bar groove (64), and annular seal bar groove (64) is embedded with ring-type
Sealing strip；Right end cap (7) right-hand member is processed into semi-enclosed casing (63), and casing (63) is hollow endless full cylinder, the case
Body (63) is circumferentially arranged with two planes, and two plane extensions are more than cylindrical portion length, and two planes are provided with spiral shell
Pit and bearing hole, right end cap (7) disc structure center are provided with through hole.
7. a kind of corner as claimed in claim 1 is from the submissive swinging driver of servo-hydraulic, it is characterised in that：The gear cap
(11) external diameter nominal size is identical with right end cap casing (63) segment outer radius nominal size, fluted in the middle of gear cap (11),
Inside grooves nominal size is identical with right end cap casing (63) extension nominal size, and gear cap groove is provided with through hole.
8. a kind of corner as claimed in claim 1 is from the submissive swinging driver of servo-hydraulic, it is characterised in that：The connecting rod
(9) left end is hollow circular cylinder, and cylinder inner diameter nominal size is identical with driven shaft (12) nominal size, cylinder interior side
Offer keyway so that connecting rod (9) is circumferentially connected with driven shaft (12) by flat key, and hollow circular cylinder upper and lower side is provided with ladder
Shape through hole so that connecting rod (9) is with driven shaft (12) axially through bolt connection, and connecting rod (9) stage casing is arc-shaped transition, and right-hand member is two
Symmetrically through hole is offered in symmetrical plane, two planes.
9. a kind of corner as claimed in claim 1 is from the submissive swinging driver of servo-hydraulic, it is characterised in that：The slave arm
(10) it is hollow endless full cylinder, slave arm (10) is connected side with connecting rod (9) for hatch frame, in circumferential two horizontal side walls
Symmetrical to offer four screwed holes, the overhanging another end of slave arm (10) is enclosed construction, if being offered on blind end end face
Corresponding threaded holes on dry screwed hole, with right side terminal pad (1) are closed so that slave arm (10) passes through spiral shell with right side terminal pad (1)
Nail connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720058269.4U CN206510062U (en) | 2017-01-17 | 2017-01-17 | A kind of corner is from the submissive swinging driver of servo-hydraulic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720058269.4U CN206510062U (en) | 2017-01-17 | 2017-01-17 | A kind of corner is from the submissive swinging driver of servo-hydraulic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206510062U true CN206510062U (en) | 2017-09-22 |
Family
ID=59864686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720058269.4U Expired - Fee Related CN206510062U (en) | 2017-01-17 | 2017-01-17 | A kind of corner is from the submissive swinging driver of servo-hydraulic |
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| Country | Link |
|---|---|
| CN (1) | CN206510062U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111457130A (en) * | 2019-01-22 | 2020-07-28 | 浙江工业大学 | Miniature integrated two-dimensional electromagnetic switch valve |
| CN113246172A (en) * | 2021-05-28 | 2021-08-13 | 武汉科技大学 | Parallel double-drive three-degree-of-freedom hydraulic joint |
-
2017
- 2017-01-17 CN CN201720058269.4U patent/CN206510062U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111457130A (en) * | 2019-01-22 | 2020-07-28 | 浙江工业大学 | Miniature integrated two-dimensional electromagnetic switch valve |
| CN113246172A (en) * | 2021-05-28 | 2021-08-13 | 武汉科技大学 | Parallel double-drive three-degree-of-freedom hydraulic joint |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |