CN209228748U - A kind of screw thread inserting type rotation with harmonic wave speed reducing machine is straight to drive electrohydraulic servo valve - Google Patents
A kind of screw thread inserting type rotation with harmonic wave speed reducing machine is straight to drive electrohydraulic servo valve Download PDFInfo
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- CN209228748U CN209228748U CN201822181954.3U CN201822181954U CN209228748U CN 209228748 U CN209228748 U CN 209228748U CN 201822181954 U CN201822181954 U CN 201822181954U CN 209228748 U CN209228748 U CN 209228748U
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- spool
- mouthfuls
- speed reducing
- harmonic wave
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Abstract
The utility model provides a kind of straight drive electrohydraulic servo valve of screw thread inserting type rotation with harmonic wave speed reducing machine, its power stage uses the square window cooperating of quincunx spool and valve pocket circumferencial direction, it can be conducive to reduce power stage processing technology difficulty and assembly technology difficulty, to reduce its production cost, make this electrohydraulic servo valve that there are better practicability and market prospects.It includes direct current brushless servo motor, valve component, harmonic wave speed reducing machine, the valve component includes spool, valve pocket, upper end cover, lower cover, the input shaft of the affixed harmonic wave speed reducing machine of the output shaft of the direct current brushless servo motor, the convex part of the central axis of spool described in the output axis connection of the harmonic wave speed reducing machine, the outer circumferential surface of the upper end cover is equipped with external screw thread, the external screw thread with the installation of integrated valve block for connecting, it is characterized in that, the valve pocket is set in the working edge outer peripheral surface of the spool, and the spool is specially quincunx spool.
Description
Technical field
The utility model relates to the technical field of electrohydraulic servo valve, specially a kind of screw thread inserting type with harmonic wave speed reducing machine
Rotation is straight to drive electrohydraulic servo valve.
Background technique
Key element of the electrohydraulic servo valve as electrohydraulic servo-controlling system, it is both electro-hydraulic converting element and power
Amplifier element, it connects electric part and hydraulic part, realizes the conversion and amplification of electro-hydraulic signal, performance is very big
The performance of entire electrohydraulic servo-controlling system is determined in degree, the feature high with its precision, response is fast is widely used in machine
The fields such as tool, automobile, ship, Aeronautics and Astronautics and robot.
Currently, widening with electrohydraulic servo system application field, the application of robot also mentions electrohydraulic servo valve
Gone out higher requirement: high frequency sound, high reliability, contamination resistance are strong, structure is simple, small in size, working service is convenient, it is low at
And this is convenient for integrated etc., and traditional electrohydraulic servo valve has been difficult to reach above-mentioned requirements again, existing market mainstream it is miniature electro-hydraulic
Servo valve product is 30 series of Moog, E024 is serial and 242 are respectively mounted complexity, and the inner elastomeric member of electrohydraulic servo valve at present
Part makes its service life not be able to satisfy the application of robot.
Therefore robot field be badly in need of independent development it is a it is small in size, light-weight, convenient for integrated and service life extremely
The electrohydraulic servo valve of reliable high frequency sound, especially screw thread inserting type rotation is straight drives electrohydraulic servo valve.Previous band harmonic wave speed reducing machine
The straight electrohydraulic servo valve that drives of screw thread inserting type rotation since structure is complicated, requirement on machining accuracy is high, assembly precision requirement for power stage
The disadvantages of high, keeps its production cost expensive.
Summary of the invention
In view of the above-mentioned problems, the utility model provide it is a kind of with harmonic wave speed reducing machine screw thread inserting type rotation directly drive it is electro-hydraulic
Servo valve, power stage use the square window cooperating of quincunx spool and valve pocket circumferencial direction, can be conducive to reduce power
Grade processing technology difficulty and assembly technology difficulty have this electrohydraulic servo valve preferably practical to reduce its production cost
Property and market prospects.
A kind of screw thread inserting type rotation with harmonic wave speed reducing machine is straight to drive electrohydraulic servo valve, and technical solution is such that it
Including direct current brushless servo motor, valve component, harmonic wave speed reducing machine, the valve component include spool, valve pocket, upper end cover,
Lower cover, the input shaft of the affixed harmonic wave speed reducing machine of the output shaft of the direct current brushless servo motor, the harmonic wave speed reducing machine
Output axis connection described in spool central axis convex part, the outer circumferential surface of the upper end cover is equipped with external screw thread, described outer
Screw thread with the installation of integrated valve block for connecting, it is characterised in that: and the valve pocket is set in the working edge outer peripheral surface of the spool,
The spool is specially quincunx spool, and the cross circular section circumferential direction in the region corresponding to the valve pocket of the spool is evenly equipped with
Four sides are convex, and the convex height in the side covers height region corresponding to the valve pocket, and the working edge of the spool is described
The convex outer arc side in side, the circumferencial direction different location of the inner ring working edge of the valve pocket, different height position are respectively arranged with four
Kind different hydraulic fluid ports, specially A mouthful, B mouthfuls, P mouthfuls, T mouthfuls, A mouthfuls described, B mouthfuls, P mouthfuls, T mouthfuls it is respective there are two, same model
Oil circuit mouth arranges setting, the arc range of the working edge of the spool at the sustained height position of valve pocket, the both ends of corresponding diameter
The coverage area for covering P corresponding to the valve pocket mouthfuls He T mouthfuls of circumferencial directions, when servo valve is in zero-bit, P mouthfuls, A mouthfuls, B mouthfuls, T
Mouth is mutually isolated.
It is further characterized by:
The circumferencial direction arrangement setting of 90 ° of the convex central axis interval in each side, it is uniformly distributed there are four side is convex on the spool,
Diametrical position where described P mouthfuls and T mouthfuls is orthogonal, and the diametrical position where described A mouthfuls and B mouthfuls is hung down mutually
Directly, adjacent the P mouthfuls, A mouthfuls of radian be 45 °；
A mouthfuls described, B mouthfuls, P mouthfuls, T mouthfuls be same size rectangular hydraulic fluid port, it is ensured that it is easy to process reliable；
The arc range of the working edge of the spool is equal to P mouthfuls corresponding to the valve pocket and the covering model of T mouthfuls of circumferencial directions
It encloses, so that position adjustment is accurate and reliable；
Convex portion is positioned in the centre bore of lower cover under the central axis of the spool, the lower cover relative to adjacent
The convex face domain in two sides within the scope of be fixed with pin, the upper convex portion quartile of the pin within the scope of the convex face domain in two sides,
It is limited in Spool rotating within positive and negative 45 °；
The direct current brushless servo motor is located at axial one end arrangement of the harmonic wave speed reducing machine, and the valve component is located at
The axial other end arrangement of the harmonic wave speed reducing machine, the outer housing of the direct current brushless servo motor and the harmonic wave speed reducing machine
It is connected by screw to fixation between the corresponding end surface of shell, the other end of the shell of the harmonic wave speed reducing machine and the upper end cover
Corresponding end surface is connected by screw to fixation, ensures that total axial direction upper volume is small；
It is tight that the input shaft of the output shaft of the direct current brushless servo motor and the harmonic wave speed reducing machine passes through hexagonal in first
Determine screw locking connection；The convex part of the output shaft of the harmonic wave speed reducing machine and the central axis for stating spool is threadedly coupled
Afterwards, pass through hexagonal holding screw locking connection in second again；
The valve pocket it is interior it is intracavitary be disposed with the spool, the upper end cover of the valve pocket is equipped with the upper end cover, described
The lower end cover of valve pocket is equipped with the lower cover, and the upper surface of the valve pocket corresponds to the first positioning concave ring groove of the upper end cover
Place is provided with the first convex positioning ring, first positioning ring and the first positioning concave ring groove clearance fit installation, the valve pocket
Lower end surface correspond to lower cover second and position and be provided with down the second convex positioning ring at concave ring groove, second positioning ring and the
Two positioning concave ring groove clearance fit installations；
The lower end of the spool is provided with flat recess structure, debugging convenient for assembly；
The center of the upper end cover is run through in the convex part of the central axis of the spool, and the first fastening screw is fastenedly connected
The correspondence upper surface of the upper end cover, valve pocket, it is ensured that easy to assembly reliable；Second fastening screw be fastenedly connected the lower cover,
The correspondence lower end surface of valve pocket, it is ensured that easy to assembly reliable；
The convex extrados clearance fit in the side of the internal ring wall of the valve pocket and quincunx spool；Under the central axis of the spool
The centre bore clearance fit of protrusion split axle and lower cover, between the convex part of the central axis of the spool and the centre bore of upper end cover
Gap cooperation, fitting closely with the internal diameter of the Glais ring in upper end cover gland for the convex part reach sealing effect；
The exterior annular slot of the upper end cover lower surface, the valve pocket circumferencial direction groove part be used for mounting O-shaped rings, with
Just prevent oil liquid from revealing.
After the utility model, power stage uses the square window cooperating of quincunx spool and valve pocket circumferencial direction,
The advantages of electrohydraulic servo valve is directly driven in the screw thread inserting type rotation with harmonic wave speed reducing machine in the past is inherited, and overcomes band harmonic reduction
The complexity of screw thread inserting type rotation straight the power stage working edge processing technology for driving electrohydraulic servo valve and assembly technology of machine, makes it
With better practicability and market prospects.
Detailed description of the invention
Fig. 1 is the main view sectional structure simplified schematic diagram of the utility model；
Fig. 2 is the schematic cross-sectional view of the valve component of the utility model；
Fig. 3 is that the A-A of Fig. 2 cuts open structural schematic diagram；
Fig. 4 is that the B-B of Fig. 2 cuts open structural schematic diagram；
Fig. 5 is that the C-C of Fig. 2 cuts open structural schematic diagram；
Fig. 6 is that the D-D of Fig. 2 cuts open structural schematic diagram；
Title corresponding to serial number is as follows in figure:
Direct current brushless servo motor 1, valve component 2, harmonic wave speed reducing machine 3, spool 4, central axis 41, convex part 42, side
Convex 43, outer arc side 431, lower convex portion 44, flat recess structure 45, valve pocket 5, working edge 51, the first positioning ring 52, the second positioning ring
53, groove 54, upper end cover 6, external screw thread 61, first position concave ring groove 62, exterior annular slot 63, lower cover 7, second and position concave ring
Slot 71, A mouth 8, B mouth 9, P mouth 10, T mouth 11, hexagonal holding screw 13, the first fastening screw 14, second are tight in pin 12, second
Gu screw 15, upper end cover gland 16, Glais ring 17.
Specific embodiment
A kind of screw thread inserting type rotation with harmonic wave speed reducing machine is straight to drive electrohydraulic servo valve, sees Fig. 1-Fig. 6: it include direct current without
Brush servo motor 1, valve component 2, harmonic wave speed reducing machine 3, valve component 2 include spool 4, valve pocket 5, upper end cover 6, lower cover 7,
The output shaft of the input shaft of the affixed harmonic wave speed reducing machine 3 of the output shaft of direct current brushless servo motor 1, harmonic wave speed reducing machine 3 connects spool 4
Central axis 41 convex part 42, the outer circumferential surface of upper end cover 6 is equipped with external screw thread 61, and external screw thread 61 is used for and integrated valve block
Installation connection, valve pocket 5 are set in the working edge outer peripheral surface of spool 4, and spool 4 is specially quincunx spool, and spool 4 corresponds to valve
The cross circular section circumferential direction in the region of set 5 is evenly equipped with four sides convex 43, height area corresponding to the height covering valve pocket 5 of side convex 43
Domain, the working edge of spool 4 are the outer arc side 431 of side convex 43, the circumferencial direction different location of the inner ring working edge 51 of valve pocket 5,
Different height position is respectively set there are four types of different hydraulic fluid ports, specially A mouth 8, B mouth 9, P mouth 10, T mouth 11, A mouth 8, B mouth 9, P
There are two mouth 10, T mouth 11 are respective, the oil circuit mouth of same model is in the sustained height position of valve pocket 5, the both ends cloth of corresponding diameter
It installs, the corresponding P mouth 8 of working edge 51 of arc range covering valve pocket 5 of the working edge of spool 4 and covering for 11 circumferencial direction of T mouth
Lid range, when servo valve is in zero-bit, P mouth 8, A mouth 9, B mouth 10, T mouth 11 are mutually isolated.
The radial arrangement in 90 ° of central axis interval of each side convex 43 is arranged, and convex 43 arrangement in 4 sides is evenly equipped on spool 4,
Diametrical position where P mouth 10 and T mouth 11 is orthogonal, and the diametrical position where A mouth 8 and B mouth 9 is orthogonal,
The radian of adjacent P mouth 10, A mouth 8 is 45 °；
A mouth 8, B mouth 9, P mouth 10, T mouth 11 are the rectangular hydraulic fluid port of same size, it is ensured that easy to process reliable；
51 valve of working edge that the arc range of the working edge of spool 4 is equal to valve pocket 5 corresponds to 11 circumferencial direction of P mouth 8 and T mouth
Coverage area, so that position adjustment is accurate and reliable；
The lower convex portion 44 of the central axis 41 of spool 4 is positioned in the centre bore of lower cover 7, lower cover 7 relative to phase
It is fixed with pin 12 within the scope of the face domain of adjacent two sides convex 43, the upper convex portion quartile of pin 12 is in the face domain model of two sides convex 43
In enclosing, the rotation of spool 4 is limited within positive and negative 45 °；
Direct current brushless servo motor 1 is located at axial one end arrangement of harmonic wave speed reducing machine 3, and valve component 2 is located at harmonic reduction
The axial other end of machine 3 is arranged, between the corresponding end surface of the shell of the outer housing and harmonic wave speed reducing machine 3 of direct current brushless servo motor 1
It is connected by screw to fixation, the other end of the shell of harmonic wave speed reducing machine 3 and the corresponding end surface of upper end cover 6 are connected by screw to solid
It is fixed, ensure that total axial direction upper volume is small；
The output shaft of direct current brushless servo motor 1 and the input shaft of harmonic wave speed reducing machine 3 pass through hexagonal holding screw in first
(be not drawn into figure, belong to existing mature structure) locking connection；The output shaft of harmonic wave speed reducing machine 3 and the central axis 41 for stating spool 4
Convex part 42 be threadedly coupled after, again by the locking of hexagonal holding screw 13 connection in second；
Valve pocket 5 it is interior it is intracavitary be disposed with spool 4, the upper end cover of valve pocket 5 is equipped with upper end cover 6, and the lower end cover of valve pocket 5 fills
There is lower cover 7, the upper surface of valve pocket 5 is positioned corresponding to the first of upper end cover 6 is provided with the first convex positioning at concave ring groove 62
Ring 52, the first positioning ring 52 and the first positioning 62 clearance fit of concave ring groove installation, the lower end surface of valve pocket 5 corresponds to lower cover 7
The second convex positioning ring 53, the second positioning ring 53 and the second positioning 71 gap of concave ring groove are provided with down at second positioning concave ring groove 71
It is coupled；
The lower end of spool 4 is provided with flat recess structure 45, debugging convenient for assembly；
The center of upper end cover 6 is run through in the convex part 42 of the central axis 41 of spool 4, and the fastening of the first fastening screw 14 connects
Connect the correspondence upper surface of end cap 6, valve pocket 5, it is ensured that easy to assembly reliable；Second fastening screw 15 is fastenedly connected lower cover 7, valve
The correspondence lower end surface of set 5, it is ensured that easy to assembly reliable；
431 clearance fit of extrados of the side convex 43 of the internal ring wall of valve pocket 5 and quincunx spool；The central axis of spool 4
The centre bore clearance fit of lower convex portion 44 and lower cover 7, in the convex part 42 of the central axis 41 of spool 4 and upper end cover 6
The cooperation of heart interporal lacuna, fitting closely with the internal diameter of the Glais ring 17 in upper end cover gland 16 for convex part 42 reach sealing effect
Fruit；
The exterior annular slot 63 of 6 lower surface of upper end cover, the groove 54 of 5 circumferencial direction of valve pocket are all used for mounting O-shaped rings, so as to
Prevent oil liquid from revealing.
Power stage uses the square window cooperating of quincunx spool and valve pocket circumferencial direction, inherits previous band harmonic wave and subtracts
The advantages of electrohydraulic servo valve is directly driven in the screw thread inserting type rotation of fast machine, and overcome the screw thread inserting type rotation with harmonic wave speed reducing machine
The complexity of straight the power stage working edge processing technology for driving electrohydraulic servo valve and assembly technology, make it have better practicability and
Market prospects.
Specific embodiment of the utility model is described in detail above, but content is only what the utility model was created
Preferred embodiment should not be construed as limiting the practical range of the utility model creation.All create according to the utility model is applied
All the changes and improvements made by range etc., shall still fall within the scope of this patent.
Claims (10)
1. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine is straight to drive electrohydraulic servo valve comprising direct current brushless servo motor,
Valve component, harmonic wave speed reducing machine, the valve component include spool, valve pocket, upper end cover, lower cover, and the brush DC is watched
The input shaft of the affixed harmonic wave speed reducing machine of output shaft of motor is taken, spool described in the output axis connection of the harmonic wave speed reducing machine
The convex part of central axis, the outer circumferential surface of the upper end cover are equipped with external screw thread, and the external screw thread is for the peace with integrated valve block
Load connects, it is characterised in that: the valve pocket is set in the working edge outer peripheral surface of the spool, and the spool is specially quincunx valve
Core, it is convex that the cross circular section circumferential direction in the region corresponding to the valve pocket of the spool is evenly equipped with four sides, the convex height in the side
Degree covers height region corresponding to the valve pocket, and the working edge of the spool is the convex outer arc side in the side, the valve pocket
The circumferencial direction different location of inner ring working edge, different height position be respectively set that there are four types of different hydraulic fluid ports, specially A
Mouthful, B mouthful, P mouthfuls, T mouthfuls, A mouthfuls described, B mouthfuls, P mouthfuls, T mouthfuls it is respective there are two, the same height of the oil circuit mouth of same model in valve pocket
Spend position, the both ends of corresponding diameter arrange and be arranged that the arc range of the working edge of the spool covers corresponding to the valve pocket P mouthfuls
With the coverage area of T mouthfuls of circumferencial directions, when servo valve is in zero-bit, P mouthfuls, A mouthfuls, B mouthfuls, T mouthfuls it is mutually isolated.
2. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine as described in claim 1 is straight to drive electrohydraulic servo valve, feature
Be: convex 90 ° of the central axis interval circumferencial direction arrangement in each side is arranged, and it is convex to be evenly equipped with four sides on the spool.
3. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine as claimed in claim 2 is straight to drive electrohydraulic servo valve, feature
Be: the diametrical position where described P mouthfuls and T mouthfuls is orthogonal, and the diametrical position where described A mouthfuls and B mouthfuls is orthogonal, phase
Adjacent the P mouthful, A mouthfuls of radian be 45 °.
4. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine as claimed in claim 3 is straight to drive electrohydraulic servo valve, feature
Be: A mouthfuls described, B mouthfuls, P mouthfuls, T mouthfuls be same size rectangular hydraulic fluid port.
5. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine as described in claim 1 is straight to drive electrohydraulic servo valve, feature
Be: the arc range of the working edge of the spool is equal to P mouthfuls corresponding to the valve pocket and the coverage area of T mouthfuls of circumferencial directions.
6. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine as described in claim 1 is straight to drive electrohydraulic servo valve, feature
Be: convex portion is positioned in the centre bore of lower cover under the central axis of the spool, the lower cover relative to adjacent
Pin is fixed within the scope of the convex face domain in two sides, the upper convex portion quartile of the pin is within the scope of the convex face domain in two sides.
7. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine as described in claim 1 is straight to drive electrohydraulic servo valve, feature
Be: the direct current brushless servo motor is located at axial one end arrangement of the harmonic wave speed reducing machine, and the valve component is located at institute
State the axial other end arrangement of harmonic wave speed reducing machine, the outer housing of the direct current brushless servo motor and the harmonic wave speed reducing machine it is outer
Fixation, pair of the other end of the shell of the harmonic wave speed reducing machine and the upper end cover are connected by screw between the corresponding end surface of shell
End face is answered to be connected by screw to fixation.
8. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine as described in claim 1 is straight to drive electrohydraulic servo valve, feature
Be: the valve pocket it is interior it is intracavitary be disposed with the spool, the upper end cover of the valve pocket is equipped with the upper end cover, the valve pocket
Lower end cover the lower cover is housed, the upper surface of the valve pocket, which corresponds at the first positioning concave ring groove of the upper end cover, to be set
It is equipped with the first convex positioning ring, first positioning ring and the first positioning concave ring groove clearance fit are installed, under the valve pocket
End face, which corresponds at the positioning concave ring groove of lower cover second, is provided with down the second convex positioning ring, and second positioning ring and second are determined
Position concave ring groove clearance fit installation.
9. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine as described in claim 1 is straight to drive electrohydraulic servo valve, feature
Be: the center of the upper end cover is run through in the convex part of the central axis of the spool, and the first fastening screw is fastenedly connected institute
The correspondence upper surface of upper end cover, valve pocket is stated, the second fastening screw is fastenedly connected the correspondence lower end surface of the lower cover, valve pocket.
10. a kind of screw thread inserting type rotation with harmonic wave speed reducing machine as described in claim 1 is straight to drive electrohydraulic servo valve, feature
It is: the convex extrados clearance fit in the side of the internal ring wall of the valve pocket and quincunx spool；It is convex under the central axis of the spool
The centre bore clearance fit of part axis and lower cover, the convex part of the central axis of the spool and the center interporal lacuna of upper end cover
Cooperation, the convex part are closely pasted with the internal diameter of the Glais ring in upper end cover gland.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822181954.3U CN209228748U (en) | 2018-12-25 | 2018-12-25 | A kind of screw thread inserting type rotation with harmonic wave speed reducing machine is straight to drive electrohydraulic servo valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822181954.3U CN209228748U (en) | 2018-12-25 | 2018-12-25 | A kind of screw thread inserting type rotation with harmonic wave speed reducing machine is straight to drive electrohydraulic servo valve |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209228748U true CN209228748U (en) | 2019-08-09 |
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ID=67508987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822181954.3U Active CN209228748U (en) | 2018-12-25 | 2018-12-25 | A kind of screw thread inserting type rotation with harmonic wave speed reducing machine is straight to drive electrohydraulic servo valve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209228748U (en) |
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2018
- 2018-12-25 CN CN201822181954.3U patent/CN209228748U/en active Active
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