CN206592380U - Crank block type feedback digital hydraulic cylinder - Google Patents
Crank block type feedback digital hydraulic cylinder Download PDFInfo
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- CN206592380U CN206592380U CN201720121936.9U CN201720121936U CN206592380U CN 206592380 U CN206592380 U CN 206592380U CN 201720121936 U CN201720121936 U CN 201720121936U CN 206592380 U CN206592380 U CN 206592380U
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- hydraulic cylinder
- crank
- feedback
- piston
- nut
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Abstract
The utility model discloses a kind of crank block type feedback digital hydraulic cylinder, including guiding valve, hydraulic cylinder and stepper motor, hydraulic cylinder includes hydraulic cylinder cavity and piston, and hydraulic cylinder cavity is divided into upper cavity and lower chamber；Guiding valve includes valve pocket and valve element, valve element one end is connected with stepper motor, one end of the valve element other end and screw mandrel is fixed, the other end of screw mandrel is provided with feedback nut, feed back nut and constitute feed screw nut pair with screw mandrel, the feedback digital hydraulic cylinder also includes slider-crank mechanism, slider-crank mechanism includes piston rod, connecting rod, crank, connector and rotating shaft, piston-rod lower end is fixed with piston, piston rod upper end is extend out to out of hydraulic cylinder upper cavity above upper cavity, piston rod upper end is linked by one end of connector and connecting rod, the other end of connecting rod is linked with crank, crank is connected by rotating shaft with feedback nut.The Numeric hydraulic cylinder can not only accurately control the speed of service and the displacement of hydraulic cylinder, and with simple in construction, the characteristics of feedback response is rapid and continuous.
Description
Technical field
The present invention relates to Numeric hydraulic cylinder field, more particularly to a kind of crank block type feedback digital hydraulic cylinder.
Background technology
Hydraulic cylinder is the core members of hydraulic system, is hydraulic actuator, energy conversion device.With the need of social industry
Higher requirement is proposed to the precision that Hydraulic Elements are controlled, it is clear that traditional hydraulic technique either precision is still controlled
Existing demand of industrial production is not all reached in terms of system.
Therefore, the problem of poor accuracy in order to overcome conventional cylinder, Numeric hydraulic cylinder arises at the historic moment, Numeric hydraulic cylinder
It is that stepper motor, hydraulic efficiency slide valve, feedback mechanism are integrated into inside hydraulic cylinder, in use, connecting hydraulic oil source, all functions
The directly digital pulse signal that is sent by programmable logic controller (PLC) (PLC) controls each part movable length arrow in hydraulic cylinder
Amount.Make the direction controlling of hydraulic cylinder by the way that digital control technology is combined with hydraulic cylinder, speed control and position control are more smart
Really.
At present, Numeric hydraulic cylinder mainly include stepper motor or servomotor, hydraulic cylinder, hydraulic efficiency slide valve, sensor and
Feedback mechanism, controls the angular displacement of stepper motor by digital technology and then controls the aperture size of hydraulic efficiency slide valve, and then control
The oil mass and flow velocity of oil, are finally reached the speed of service and displacement of control hydraulic cylinder, wherein, feedback mechanism, which is mainly, to be passed through
The velocity of displacement feedback of the information of sensor collection hydraulic cylinder adjusts the angular displacement of stepper motor to realize to stepper motor
Accurate control hydraulic cylinder, this process is the closed-loop control to stepper motor, and this Closed-Loop Control of Stepping Motor exists complicated, stagnant
Afterwards, the problems such as non-linear and poor anti-interference, and the structure of generally this feedback mechanism is all complex.In order to overcome step
The shortcoming of stepper motor closed-loop control, occurs controlling the closed-loop digital of hydraulic cylinder displacement, such as Chinese invention patent (authorized announcement date
CN103148047B authorized announcement date 2016.03.02) internal feedback digital servo hydraulic cylinder is disclosed, the valve of the guiding valve of the invention
Core is driven by the first motor and controlled, and the feedback swivel nut of guiding valve is driven by the second motor and controlled, and magnetic hysteresis telescopic displacement sensor is by liquid
Cylinder pressure displacement signal feeds back to the corresponding driver of the second motor, the motor of driver control second operating, by feedback swivel nut
With the control of both valve elements relative motion, realize and the closed-loop digital of hydraulic cylinder displacement is controlled, the invention includes driving guiding valve
First motor of displacement and the second motor for performing feedback command, because the second motor is needed by sensor, motor driving
Device could perform feedback action, therefore, and this feedback mechanism still has the delayed shortcoming of feedback response.
The content of the invention
To solve problem above, it is an object of the invention to provide a kind of crank block type feedback digital hydraulic cylinder, the numeral
Hydraulic cylinder can not only accurately control the speed of service and the displacement of hydraulic cylinder, and with simple in construction, feedback response it is rapid and
Continuous the characteristics of.
To achieve the above object, the technical solution adopted by the present invention is：
Crank block type feedback digital hydraulic cylinder, including guiding valve, hydraulic cylinder and stepper motor, the hydraulic cylinder include hydraulic pressure
Cylinder cavity and the piston that can be moved up and down in hydraulic cylinder cavity body along the hydraulic pressure inside wall of cylinder, the piston divide hydraulic cylinder cavity
For upper cavity and lower chamber；The guiding valve includes being provided with high pressure on the valve element of side-to-side movement in valve pocket and valve pocket, the valve pocket
Oil inlet, the first oil-out, the second oil-out, the first communication port connected with hydraulic cylinder upper cavity and with hydraulic cylinder lower chamber
Second communication port of connection；Described valve element one end is connected by shaft coupling with stepper motor, the valve element other end and screw mandrel
One end is fixed, and the other end of the screw mandrel is provided with feedback nut, and the feedback nut constitutes feed screw nut pair with screw mandrel, wherein,
The crank block type feedback digital hydraulic cylinder also includes that the slider-crank mechanism of feedback nut rotation, the slide crank can be driven
Block mechanism includes piston rod, connecting rod, crank, connector and rotating shaft, and the piston-rod lower end is fixed with piston, the piston rod
Upper end is extend out to out of hydraulic cylinder upper cavity above upper cavity, and the piston rod upper end is twisted by one end of connector and connecting rod
Connect, the other end and the crank of the connecting rod are linked, and the crank is connected by rotating shaft with feedback nut.
Preferably, the connecting rod includes a montant and a cross bar, the lower end of the montant and one end of cross bar are solid
Fixed composition " L " shape bar, upper end and the connector of the montant are hinged, and the other end and the crank of the cross bar are hinged.Wherein connecting rod
For " L " shape bar, make the rotary motion trace plane of crank vertical with plane where piston thrust or pulling force, nut rotation is more put down
Surely.
Preferably, the guiding valve is four convex shoulder four-sides.Using four convex shoulder four-sides compared to the side of two convex shoulder four
Guiding valve, three convex shoulder four-sides have more preferable linear relation.
Preferably, the crank block type feedback digital hydraulic cylinder also includes programmable controller, the programmable control
Output pulse signal is transferred directly to motor driver by device processed, and the motor driver drives stepper motor running.By can
Output pulse signal is directly transferred to stepper motor driver and drives stepper motor to rotate by programmable controller, is turned without D/A
The conversion of parallel operation, realizes " numeral " control truly and solves interference of the analog signal in transmitting procedure and ask
Topic, makes control system more stablize.
Preferably, the output pulse signal of the programmable controller run according to hydraulic cylinder displacement, speed and
Direction is set.
The advantage of the invention is that：
1, drive feedback nut rotation to complete the feedback procedure of Numeric hydraulic cylinder using slider-crank mechanism in the present invention,
This feedback is compared to traditional sensory feedback, and slider-crank mechanism response is more rapid and is not disturbed and is influenceed by signal,
It is more continuous compared to this slider-crank mechanism of pinion and rack feedback so that hydraulic cylinder the speed of service with displacement more
Plus it is accurate.
2, traditional Numeric hydraulic cylinder, which is used in the closed-loop control (such as Fig. 4) to stepper motor, the present invention, passes through song
Handle slide block mechanism directly carries out closed-loop control (such as Fig. 5) to guiding valve, is then opened loop control for stepper motor, overcomes stepping electricity
There is complicated, delayed, non-linear and anti-interference in machine closed-loop control.
3, the output pulse signal of programmable controller is big according to valve port opening in guiding valve in existing Numeric hydraulic cylinder
It is small to be set, and the Position And Velocity signal for gathering hydraulic cylinder by sensor feeds back to stepper motor and opened to adjust valve port
Size is spent, compared to this control method, the displacement directly run according to hydraulic cylinder, speed and direction carry out setting output arteries and veins
Rush signal more direct, simply, and avoid the defect that sensor is easily disturbed.
Brief description of the drawings
Fig. 1 is structural representation (the crank block type feedback digital liquid of crank block type feedback digital hydraulic cylinder of the present invention
Cylinder pressure remains static)；
When Fig. 2 is that stepper motor is rotated forward, the structural representation of crank block type feedback digital hydraulic cylinder；
When Fig. 3 is that stepper motor is inverted, the structural representation of crank block type feedback digital hydraulic cylinder；
Fig. 4 is schematic diagram of the conventional digital hydraulic cylinder to Closed-Loop Control of Stepping Motor；
Fig. 5 is schematic diagram of the crank block type feedback digital hydraulic cylinder of the present invention to guiding valve closed-loop control；
Each part numbers are as follows in figure：Guiding valve 1, hydraulic cylinder 2 are (wherein, including hydraulic cylinder cavity 21, upper cavity 21a, cavity of resorption
Body 21b, piston 22), stepper motor 3, valve pocket 4 (wherein, including high pressure oil inlet 4a, the first oil-out 4b, the second oil-out
4c, the first communication port 4d, the second communication port 4e), valve element 5, shaft coupling 6, screw mandrel 7, feedback nut 8, (its of slider-crank mechanism 9
In, including piston rod 9a, connecting rod 9b, crank 9c, connector 9d, rotating shaft 9e), montant 10, cross bar 11, programmable controller 12,
Motor driver 13.
Embodiment
To more fully understand the present invention, invention is described in detail below with reference to accompanying drawing and instantiation.
As shown in figure 1, crank block type feedback digital hydraulic cylinder, including four convex shoulder four-sides 1, hydraulic cylinder 2 and stepping
Motor 3, hydraulic cylinder 2 includes hydraulic cylinder cavity 21 and the work that can be moved up and down in hydraulic cylinder cavity 21 along the hydraulic pressure inside wall of cylinder
Plug 22,21 points by hydraulic cylinder cavity of the piston 22 is upper cavity 21a and lower chamber 21b；The four convex shoulders four-side 1 includes
High pressure oil inlet 4a, the first oil-out 4b, second are provided with the valve element 5 of side-to-side movement in valve pocket 4 and valve pocket 4, the valve pocket 4
Oil-out 4c, second connected with the upper cavity 21a of hydraulic cylinder 2 the first communication port 4d connected and with the lower chamber 21b of hydraulic cylinder 2
Communication port 4e；The one end of valve element 5 is connected by shaft coupling 6 with stepper motor 3, and one end of the other end of valve element 5 and screw mandrel 7 is fixed, silk
The other end of bar 7 constitutes feed screw nut pair provided with feedback nut 8, feedback nut 8 with screw mandrel 7, wherein, crank block type feedback digital
Hydraulic cylinder also includes the slider-crank mechanism 9 that feedback nut 8 can be driven to rotate, and slider-crank mechanism 9 includes piston rod 9a, connecting rod
9b, crank 9c, connector 9d and rotating shaft 9e, piston rod 9a lower ends are fixed with piston 22, and piston rod 9a upper ends are from hydraulic cylinder 2
It is extend out in cavity 21a above upper cavity 21a, piston rod 9a upper ends are linked by connector 9d and connecting rod 9b one end, connecting rod
The 9b other ends are linked with crank 9c, and crank 9c is connected by rotating shaft 9e with feedback nut 8, wherein, connecting rod 9b includes a montant
10 and a cross bar 11, composition " L " shape bar, the upper end of the montant 10 and company are fixed in the lower end of montant 10 with one end of cross bar 11
Fitting 9d is hinged, and the other end of cross bar 11 is hinged with crank 9c.
Crank block type feedback digital hydraulic cylinder also includes programmable controller 12, and programmable controller 12 is by the arteries and veins of output
Rush signal and be transferred directly to motor driver 13, motor driver 13 drives stepper motor 3 to operate, wherein, programmable controller
Displacement, speed and the direction that the pulse signal of 12 outputs is run according to hydraulic cylinder 2 are set.
Guiding valve 1, hydraulic cylinder 2 (wherein, including hydraulic cylinder cavity 21, upper cavity 21a, lower chamber 21b, piston 22), stepping
Motor 3, valve pocket 4 are (wherein, including high pressure oil inlet 4a, the first oil-out 4b, the second oil-out 4c, the first communication port 4d, second
Communication port 4e), valve element 5, shaft coupling 6, screw mandrel 7, feedback nut 8, slider-crank mechanism 9 (wherein, including piston rod 9a, connecting rod
9b, crank 9c, connector 9d, rotating shaft 9e), montant 10, cross bar 11, programmable controller 12, motor driver 13.
The operation principle of the present invention：With reference to shown in Fig. 1 and Fig. 5, programmable controller 12 is by the pulse signal transmission of output
To motor driver 13, motor driver 13 drives stepper motor 3 to rotate, and certain corner is produced, because stepper motor passes through
Shaft coupling 6 is connected with one end of valve element 5, therefore the rotational band movable valve plug 5 of stepper motor 3 is rotated, and valve element 5 is rotated and then driven and valve
The screw mandrel 7 that core is fixedly connected is rotated, and feedback nut 8 is combined with screw mandrel 7, because feedback nut 8 connects with slider-crank mechanism 9
Connect, and the driving force that hydraulic cylinder 2 is moved is more much bigger than the driving force required for rotational valve core 5, so, when stepper motor 3
When rotational band movable valve plug 5 is rotated, feedback nut 8 is not rotated, therefore, forces screw mandrel 7 with the axial displacement of movable valve plug 5, and then open
First communication port 4d and the second communication port 4e, the direction of the displacement of valve element 5 determine the first communication port 4d and the second communication port 4e be into
Oily direction or fuel-displaced direction, as shown in figure 1, motor stalls, valve element 5 blocks the first communication port 4d and the second communication port
4e, hydraulic oil Ps does not circulate, and whole device remains static, as shown in Fig. 2 motor is rotated forward, band movable valve plug 5 moves right,
Hydraulic oil is flowed into from high pressure oil inlet 4a, and the lower chamber 21b of hydraulic cylinder 2 is flowed into through the second communication port 4e, promotes piston 22 upward
Low pressure oil Po in motion, upper cavity 21a flows out through the first 4d mouthfuls of circulation and the first oil-out 4b successively, is transported upwards in piston 22
While dynamic, cranking lever slide block mechanism 9, slider-crank mechanism 9 drives feedback nut 8 to rotate, the direction that feedback nut 8 is rotated
In opposite direction, feedback nut 8 and the composition feed screw nut pair of screw mandrel 7 rotated with stepper motor 3, feedback nut 8, which is rotated, drives silk
Bar 7 produces displacement to the left, so as to give valve element 5 one feedback forces to the left, this feedback makes hydraulic cylinder 2 operably more steady,
And the mechanism by slider-crank mechanism 9 compared to other transmission mechanisms such as rack pinion, this feedback is more
Continuously so that the operation displacement of hydraulic cylinder and speed are more accurate, compared to sensory feedback, slider-crank mechanism is responded more
Not disturbed rapidly and by signal is influenceed.Motor reversal is as shown in figure 3, its principle is identical with above-mentioned motor rotating forward, here not
Repeat again.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (5)
1. a kind of crank block type feedback digital hydraulic cylinder, including guiding valve (1), hydraulic cylinder (2) and stepper motor (3), the liquid
Cylinder pressure (2) includes hydraulic cylinder cavity (21) and the piston that can be moved up and down in hydraulic cylinder cavity (21) along the hydraulic pressure inside wall of cylinder
(22), hydraulic cylinder cavity (21) is divided into upper cavity (21a) and lower chamber (21b) by the piston (22)；The guiding valve (1) includes
High pressure oil inlet (4a) is provided with valve pocket (4) and the valve element (5) of valve pocket (4) interior side-to-side movement, the valve pocket (4), first is gone out
Hydraulic fluid port (4b), the second oil-out (4c), the first communication port (4d) connected with hydraulic cylinder (2) upper cavity (21a) and and hydraulic pressure
The second communication port (4e) of cylinder (2) lower chamber (21b) connection；Described valve element (5) one end passes through shaft coupling (6) and stepper motor
(3) connect, one end of valve element (5) other end and screw mandrel (7) is fixed, screw mandrel (7) other end is provided with feedback nut
(8), the feedback nut (8) constitutes feed screw nut pair with screw mandrel (7), it is characterised in that：The crank block type feedback digital
Hydraulic cylinder also includes that the slider-crank mechanism (9) of feedback nut (8) rotation can be driven, and the slider-crank mechanism (9) includes living
Stopper rod (9a), connecting rod (9b), crank (9c), connector (9d) and rotating shaft (9e), piston rod (9a) lower end and piston
(22) fixed, piston rod (9a) upper end is extend out to out of hydraulic cylinder (2) upper cavity (21a) above upper cavity (21a), described
Piston rod (9a) upper end is linked by one end of connector (9d) and connecting rod (9b), the other end and crank of the connecting rod (9b)
(9c) is linked, and the crank (9c) is connected by rotating shaft (9e) with feedback nut (8).
2. crank block type feedback digital hydraulic cylinder according to claim 1, it is characterised in that：The connecting rod (9b) includes
Composition " L " shape bar is fixed in a piece montant (10) and a cross bar (11), the lower end of the montant (10) with one end of cross bar (11),
The upper end of the montant (10) is hinged with connector (9d), and the other end and the crank (9c) of the cross bar (11) are hinged.
3. crank block type feedback digital hydraulic cylinder according to claim 1, it is characterised in that：The guiding valve (1) is four
Convex shoulder four-side.
4. according to crank block type feedback digital hydraulic cylinder according to any one of claims 1 to 3, it is characterised in that：It is also
Including programmable controller (12), the pulse signal of output is transferred directly to motor driver by the programmable controller (12)
(13), the motor driver (13) drives stepper motor (3) running.
5. crank block type feedback digital hydraulic cylinder according to claim 4, it is characterised in that：The programmable controller
(12) displacement, speed and the direction that the pulse signal of output is run according to hydraulic cylinder (2) are set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720121936.9U CN206592380U (en) | 2017-02-10 | 2017-02-10 | Crank block type feedback digital hydraulic cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720121936.9U CN206592380U (en) | 2017-02-10 | 2017-02-10 | Crank block type feedback digital hydraulic cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206592380U true CN206592380U (en) | 2017-10-27 |
Family
ID=60127850
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720121936.9U Expired - Fee Related CN206592380U (en) | 2017-02-10 | 2017-02-10 | Crank block type feedback digital hydraulic cylinder |
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| Country | Link |
|---|---|
| CN (1) | CN206592380U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106812761A (en) * | 2017-02-10 | 2017-06-09 | 武汉科技大学 | Crank block type feedback digital hydraulic cylinder |
| CN113323928A (en) * | 2021-05-24 | 2021-08-31 | 安徽工程大学 | Hydraulic pressure reposition of redundant personnel system of controllable and improvement pressure of proportion |
| CN113494502A (en) * | 2021-08-05 | 2021-10-12 | 六盘水师范学院 | Digital hydraulic cylinder |
-
2017
- 2017-02-10 CN CN201720121936.9U patent/CN206592380U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106812761A (en) * | 2017-02-10 | 2017-06-09 | 武汉科技大学 | Crank block type feedback digital hydraulic cylinder |
| CN113323928A (en) * | 2021-05-24 | 2021-08-31 | 安徽工程大学 | Hydraulic pressure reposition of redundant personnel system of controllable and improvement pressure of proportion |
| CN113494502A (en) * | 2021-08-05 | 2021-10-12 | 六盘水师范学院 | Digital hydraulic cylinder |
| CN113494502B (en) * | 2021-08-05 | 2022-07-12 | 六盘水师范学院 | Digital hydraulic cylinder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 Termination date: 20200210 |