CN206988515U - One kind rotation fork type servo-electric actuator - Google Patents
One kind rotation fork type servo-electric actuator Download PDFInfo
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- CN206988515U CN206988515U CN201720818004.XU CN201720818004U CN206988515U CN 206988515 U CN206988515 U CN 206988515U CN 201720818004 U CN201720818004 U CN 201720818004U CN 206988515 U CN206988515 U CN 206988515U
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Abstract
The utility model discloses one kind to rotate fork type servo-electric actuator, including control module, power plant module, fork type executing agency, valve position feedback module；The output end of the control module is connected with the input of power plant module；Power plant module drives 0~90 ° of angle stroke rotary valve by fork type executing agency；The valve shaft of the input of the valve position feedback module and 0~90 ° of angle stroke rotary valve is connected, and output end is connected with control module；The angular displacement actual for feeding back valve shaft, the valve opening of reality is fed back into control module.The utility model is used to control 0~90 ° of angle stroke rotary valve, can realize continuously adjust, precision is high, speed is fast, efficiency high.
Description
Technical field
It the utility model is related to a kind of rotation fork type servo-electric actuator.
Background technology
The angle itinerary part revolution YE of main flow at present, more using Induction Motor Drive, worm and gear, reduction box
Transmission, Hall sensor or potentiometer provide valve position feedback, using three phase alternating current motor control technology, form 0~90 ° of angle stroke
Actuator.But its induction machine for using start-stop number within a certain period of time and starting conditions are restricted, are not suitable for continuous
Adjustment work, such as regulating frequency do not allow more than 1200 times/hour；Moreover, the driver being made up of worm and gear, reduction box
There is larger gap in structure, valve position feedback precision is relatively low, and actuator elementary error is typically more than 1.0%；This transmission mechanism
It is less efficient, generally below 50%；It is more defeated than transmission mechanism, actuator using big retarding when needing high pulling torque to export
It is slow to go out speed, the total travel time needs 30s even longer；Rotary valve is opening and closing the big torque of valve moment needs, is
Guarantee valve opening and closing, generally require to increase motor or use bigger speed reducing ratio so that actuator efficiency reduces, speed
Degree is slower.Therefore, this YE need continuously adjust, high accuracy (elementary error<Or quick acting 0.1%)
Occasion does not apply to, it is necessary to design it is a kind of can be suitably used for continuously adjusting, the angle itinerary part of high accuracy and quick acting occasion returns
Turn YE.
Utility model content
The technical problem that the utility model solves is, in view of the shortcomings of the prior art, there is provided one kind rotation fork type is watched
YE is taken, for controlling 0~90 ° of angle stroke rotary valve (such as ball valve, plug valve, butterfly valve, eccentric rotary valve, air door, gear
Plate, louver valve etc.), can realize continuously adjust, precision is high, speed is fast, efficiency high.
Technical scheme provided by the utility model is：
One kind rotation fork type servo-electric actuator, including control module, power plant module, fork type executing agency, valve
Position feedback module；
The output end of the control module is connected with the input of power plant module；Power plant module passes through fork type executing agency
Drive 0~90 ° of angle stroke rotary valve；
The valve shaft of the input of the valve position feedback module and 0~90 ° of angle stroke rotary valve is connected, output end and control
Molding block is connected；The angular displacement actual for feeding back valve shaft, the valve opening of reality is fed back into control module.
The control module is connected with host computer, is received control signal, is realized condition monitoring.
The control module is connected with warning device, realizes fault alarm.
The power plant module includes servomotor, tooth form belt transmission system and leading screw；Servomotor drive shaft passes through tooth form
Belt transmission system connects leading screw, and the rotary motion of servomotor and moment of torsion are converted to linear motion and thrust by leading screw.
The servomotor uses permanent magnet synchronous servo motor, closed-loop control, high accuracy response.
The leading screw uses planetary roller screw, the characteristics of having high accuracy, invertibity and high efficiency, high speed concurrently, due to it
The frictional resistance of very little, efficiency is up to 90%.Planetary roller screw has high service life, high rigidity and impact resistance,
It is suitable for long-time intensive work, position positioning precision is very high.Thrust is bigger when using the output of heavy-duty motor peak value,
Speed, acceleration are fast.
The control module, power plant module and connection terminal module are installed in drive control box；Connection terminal module
Power supply, control signal, feedback signal interface and communication interface are provided, for control module and power supply, host computer and valve position feedback
Module connects.
The fork type executing agency includes push rod, rolling bearing and shift fork；Leading screw is connected with push rod, promotes push rod reciprocal
Motion, push rod are flexibly connected by rolling bearing with shift fork, and straight-line displacement and thrust are converted into 0~90 ° of corner and torsion by shift fork
Square, and valve shaft is transferred to by the axle sleeve in shift fork, so as to drive valve.
Connected between push rod and shift fork using rolling bearing, reducing friction resistance.
Axle sleeve is connected with valve shaft by involute spline, to reduce mechanical clearance, improves precision.
The fork type executing agency is arranged in shift fork case；Shift fork case is connected with drive control box；Shift fork case both ends are equal
Guide bearing is installed.Push rod moves reciprocatingly through the guide bearing at shift fork case both ends, operates steadily.
Shift fork case is connected with valve rack, and size meets the GB/T 12223-2005 (companies of part rotary valve driving device
Connect).
Shift fork torque output puts maximum in stroke start stop bit, minimum in centre position, and torque output curve needs with rotary valve
The torque curve asked is consistent, for driving the more efficient of valve.
The valve position feedback module is installed on the outside of shift fork case.
The valve position feedback module uses absolute displacement individual pen rotary encoder, and precision is high, resolution ratio 17Bit, for complete
The angular displacement resolution ratio of 0~90 ° of stroke is>0.01%.
Operation principle of the present utility model is as follows：
Control module receives the given valve position signal (valve opening signal) of host computer, defeated according to preset value, controlled motor
Go out displacement, while receive the angular displacement signal of valve position feedback module feedback, valve angular displacement is fed back into control module, controls mould
Valve angular displacement compared with the valve position letter that host computer gives, computing is adjusted by PID by block, control servomotor rotation
Moment of torsion, rotating speed and displacement；Servomotor drive shaft drives leading screw by tooth form belt transmission system, and leading screw is by the rotation of servomotor
Motion and moment of torsion are converted to linear motion and thrust；Leading screw promotes the push rod of shift fork case to do straight reciprocating motion；Push rod passes through rolling
Dynamic bearing is flexibly connected with shift fork, and rectilinear path and thrust are converted to torque output, valve position feedback module tracks valve shaft by shift fork
Angular displacement, and control module is fed back to, until valve is accurately located at into predeterminated position.
Beneficial effect：
Compared with prior art, rotation fork type servo-electric actuator provided by the utility model has and can continuously adjusted
The advantages of section, precision is high, and speed is fast, and control function is strong, expansible.
(1) permanent magnet synchronous ac servomotor, S9 dutys are used, load and rotating speed are made aperiodic in allowed limits
Property change, can continuously adjust for a long time.
(2) continuous high-precision valve position Real-time Feedback is provided using absolute displacement individual pen rotary encoder, total travel is differentiated
Rate<0.01%；Using the Close loop servo control technology of servomotor, response faster, precision it is higher, without overshoot or late during positioning
It is stagnant, and moment of torsion (thrust) feedback can be provided.When using actual valve position feedback control for big closed loop feedback control pattern, only with
It is small closed-loop control during servomotor closed-loop control, two kinds of control models can switch.When actual valve position feedback breaks down,
Control module, by valve position position curve, controls servo automatically from large closed-loop control pattern switching to small closed loop control mode
Motor movement, it is ensured that valve still can keep high precision position positioning trip, while be alarmed to operator.
(3) it is driven using planetary roller screw, efficiency high, rigidity is good, and shift fork torque output is the same as valve actual demand moment of torsion
It is consistent, whole efficiency is up to more than 90%.
(4) actuator output speed is fast, and the total travel time is up to 1S.
(5) integral structure is used, control module, power plant module and connection terminal module are integrated in drive control box
In, connected with shift fork case, it is compact-sized.
(6) different drive modules can be used, is very easy to realize Function Extension, can provide current main flow electronic execution
Mechanism without control function.
(7) there is variable-speed operation, become torque output function.Control module can with controlled motor at different rates, accelerate
Degree operation, electric operator very easily can be applied to need change down pass (anti-surge of such as compressor) or quick closing valve soon
Slowly open, and occasion fast after first slow rear fast (such as water hammer-resistant) or first slow.Load is followed to change, control module can be with controlled motor
Increase moment of torsion with different torque outputs, when being closed such as valve with tight closing, increase moment of torsion during valve opening opens to overcome
Friction.
(8) have and characterize output function.Using serve motor control technology, various characteristic curves can be pre-entered
Into control module, change actuator curve of output.
(9) presence tracking and alarm.Real time displaying deviation of stroke is alarmed, and stroke height is alarmed, the high alarm of stroke
With low alarm, input current alarm, the accumulative alarm of valve event number, the accumulative alarm of stroke.
(10) there is valve output monitoring function, and can be generated according to reality output with lower curve：
Valve characteristic curve.Original paper is detected in push rod installed thrust, in the case of valve zero load, characteristic curve is to push away
The curve of power --- total travel, carry out the test of valve switch total travel and draw characteristic curve, practical filling material friction can be provided
Force value and frictional force scope, measure actual valve seat and fasten power.
Valve dynamic error band curve.Dynamic error is total travel --- the curve of input signal, there is provided valve with curve
Dead band and precision data.
Valve provides step response curve.Whether step response curve can reflect the trace performance of valve, and have super
Harmonic lag.
Brief description of the drawings
Fig. 1 is the utility model principle figure；
Fig. 2 is 0~90 ° of angle stroke rotary valve control principle drawing；
Fig. 3 is the utility model fork type executing agency top view；
Fig. 4 is the utility model fork type executing agency partial exploded view；
Fig. 5 is fork type executing agency motion principle figure；
Description of reference numerals：
In figure, 1 it is push rod, 2 is guide bearing, 3 is shift fork, 4 is axle sleeve, 5 is rolling bearing, 6 is fork slot.
Embodiment
Further details of explanation with reference to accompanying drawing to the invention.
As shown in Fig. 1~5, the utility model discloses one kind to rotate fork type servo-electric actuator, including control mould
Block, power plant module, fork type executing agency, valve position feedback module；
The output end of the control module is connected with the input of power plant module；Power plant module passes through fork type executing agency
Drive 0~90 ° of angle stroke rotary valve；
The valve shaft of the input of the valve position feedback module and 0~90 ° of angle stroke rotary valve is connected, output end and control
Molding block is connected；The angular displacement actual for feeding back valve shaft, the valve opening of reality is fed back into control module.
Control module input/output is 4~20mA.
Preferably, the control module is connected with host computer, is received control signal, is realized condition monitoring.
Preferably, the control module is connected with warning device, realizes fault alarm.
Preferably, the power plant module includes servomotor, tooth form belt transmission system and leading screw；Servomotor drive shaft is led to
Tooth form belt transmission system connecting filament thick stick is crossed, the rotary motion of servomotor and moment of torsion are converted to linear motion and thrust by leading screw.
Preferably, the servomotor uses permanent magnet synchronous servo motor, closed-loop control, high accuracy response.
Preferably, the leading screw uses planetary roller screw, the characteristics of having high accuracy, invertibity and high efficiency, high speed concurrently,
Due to the frictional resistance of its very little, efficiency is up to 90%.Planetary roller screw has high service life, high rigidity and shock resistance
Ability, is suitable for long-time intensive work, and position positioning precision is very high.Thrust when using the output of heavy-duty motor peak value
Bigger, speed, acceleration are fast.
Preferably, the control module, power plant module and connection terminal module are installed in drive control box；Terminals
Submodule provides power supply, control signal, feedback signal interface and communication interface, for control module and power supply, host computer and valve
Position feedback module connection.
Preferably, the fork type executing agency includes push rod 1, rolling bearing 5 and shift fork 3；Leading screw is connected with push rod 1,
Push rod 1 is promoted to move back and forth, push rod 1 is flexibly connected by rolling bearing 5 with shift fork 3, and shift fork 3 converts straight-line displacement and thrust
For 0~90 ° of corner and moment of torsion, and valve shaft is transferred to by the axle sleeve 4 in shift fork 3, so as to drive valve.Pushed away as shown in figure 5, working as
When bar does horizontal rectilinear motion, shift fork will rotate.
Connected between push rod and shift fork using rolling bearing, reducing friction resistance.
Preferably, axle sleeve is connected with valve shaft by involute spline, to reduce mechanical clearance, improves precision.
Preferably, the fork type executing agency is arranged in shift fork case；Shift fork case is connected with drive control box；Shift fork case
Both ends are mounted on guide bearing.Push rod moves reciprocatingly through the guide bearing at shift fork case both ends, operates steadily.
Shift fork case is connected with valve rack, and size meets the GB/T 12223-2005 (companies of part rotary valve driving device
Connect).
Shift fork torque output puts maximum in stroke start stop bit, minimum in centre position, and torque output curve needs with rotary valve
The torque curve asked is consistent, for driving the more efficient of valve.
Preferably, the valve position feedback module is installed on the outside of shift fork case.
Preferably, the valve position feedback module uses absolute displacement individual pen rotary encoder, and precision is high, encoder resolution
17Bit, it is for 0~90 ° of angular displacement resolution ratio of total travel>0.01%.
The utility model is used to control 0~90 ° of angle stroke rotary valve (such as ball valve, plug valve, butterfly valve, eccentric rotary valve, wind
Door, baffle plate, louver valve etc.), can realize continuously adjust, precision is high, speed is fast, efficiency high；Regulating frequency is not limited by number,
Position positions elementary error<0.1% (90 ° of total travel), total travel speed are up to 1s even faster.
Claims (10)
1. one kind rotation fork type servo-electric actuator, it is characterised in that held including control module, power plant module, fork type
Row mechanism and valve position feedback module；
The output end of the control module is connected with the input of power plant module；Power plant module is driven by fork type executing agency
0~90 ° of angle stroke rotary valve；
The valve shaft of the input of the valve position feedback module and 0~90 ° of angle stroke rotary valve is connected, output end and control mould
Block is connected；The angular displacement actual for feeding back valve shaft.
2. it is according to claim 1 rotation fork type servo-electric actuator, it is characterised in that the control module also with
Host computer connects with warning device.
3. rotation fork type servo-electric actuator according to claim 1, it is characterised in that the power plant module includes
Servomotor, tooth form belt transmission system and leading screw；The drive shaft of servomotor passes through tooth form belt transmission system connecting filament thick stick, leading screw
The rotary motion of servomotor and moment of torsion are converted into linear motion and thrust.
4. rotation fork type servo-electric actuator according to claim 3, it is characterised in that the servomotor uses
Permanent magnet synchronous servo motor.
5. rotation fork type servo-electric actuator according to claim 3, it is characterised in that the leading screw uses planet
Roller screw.
6. rotation fork type servo-electric actuator according to claim 1, it is characterised in that control module, power mould
Block and connection terminal module are installed in drive control box；Connection terminal module provides power supply, control signal, feedback signal and connect
Mouth and communication interface, are connected for control module with power supply, host computer and valve position feedback module.
7. rotation fork type servo-electric actuator according to claim 1, it is characterised in that the fork type performs machine
Structure includes push rod, rolling bearing and shift fork；Leading screw is connected with push rod, promote push rod move back and forth, push rod by rolling bearing with
Shift fork is flexibly connected, and straight-line displacement and thrust are converted into 0~90 ° of corner and moment of torsion by shift fork, and are passed by the axle sleeve in shift fork
Valve shaft is handed to, so as to drive valve.
8. rotation fork type servo-electric actuator according to claim 7, it is characterised in that axle sleeve passes through gradually with valve shaft
The spline that bursts at the seams connects.
9. rotation fork type servo-electric actuator according to claim 7, it is characterised in that the fork type performs machine
Structure is arranged in shift fork case；Shift fork case both ends are mounted on guide bearing, and push rod is made past through the axis of guide at shift fork case both ends
Multiple motion.
10. according to rotation fork type servo-electric actuator according to any one of claims 1 to 9, it is characterised in that described
Valve position feedback module uses absolute displacement individual pen rotary encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720818004.XU CN206988515U (en) | 2017-07-07 | 2017-07-07 | One kind rotation fork type servo-electric actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720818004.XU CN206988515U (en) | 2017-07-07 | 2017-07-07 | One kind rotation fork type servo-electric actuator |
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| Publication Number | Publication Date |
|---|---|
| CN206988515U true CN206988515U (en) | 2018-02-09 |
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ID=61403909
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720818004.XU Active CN206988515U (en) | 2017-07-07 | 2017-07-07 | One kind rotation fork type servo-electric actuator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882634A (en) * | 2019-03-22 | 2019-06-14 | 深圳市新可优科技有限公司 | A kind of digital type intelligent angle distance electric executor |
| CN110360374A (en) * | 2018-03-26 | 2019-10-22 | 保定市新华石化设备制造有限公司 | Electro-hydraulic actuator position detecting device |
| CN112555493A (en) * | 2020-12-07 | 2021-03-26 | 上海基恩自动化设备有限公司 | Corner resetting electro-hydraulic actuator and control method thereof, and closed-loop hydraulic circuit |
| CN112611260A (en) * | 2020-11-27 | 2021-04-06 | 河北汉光重工有限责任公司 | Full-automatic motion control method of photoelectric sight based on moving platform |
| CN115933463A (en) * | 2022-11-23 | 2023-04-07 | 中国工程物理研究院材料研究所 | Numerical control valve control system with closed-loop feedback control |
-
2017
- 2017-07-07 CN CN201720818004.XU patent/CN206988515U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110360374A (en) * | 2018-03-26 | 2019-10-22 | 保定市新华石化设备制造有限公司 | Electro-hydraulic actuator position detecting device |
| CN109882634A (en) * | 2019-03-22 | 2019-06-14 | 深圳市新可优科技有限公司 | A kind of digital type intelligent angle distance electric executor |
| CN112611260A (en) * | 2020-11-27 | 2021-04-06 | 河北汉光重工有限责任公司 | Full-automatic motion control method of photoelectric sight based on moving platform |
| CN112555493A (en) * | 2020-12-07 | 2021-03-26 | 上海基恩自动化设备有限公司 | Corner resetting electro-hydraulic actuator and control method thereof, and closed-loop hydraulic circuit |
| CN115933463A (en) * | 2022-11-23 | 2023-04-07 | 中国工程物理研究院材料研究所 | Numerical control valve control system with closed-loop feedback control |
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