CN209228784U - A kind of the multifunctional servo hydraulic cylinder and its hydraulic control circuit of the control of three chambers - Google Patents
A kind of the multifunctional servo hydraulic cylinder and its hydraulic control circuit of the control of three chambers Download PDFInfo
- Publication number
- CN209228784U CN209228784U CN201822021270.7U CN201822021270U CN209228784U CN 209228784 U CN209228784 U CN 209228784U CN 201822021270 U CN201822021270 U CN 201822021270U CN 209228784 U CN209228784 U CN 209228784U
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- cylinder
- piston rod
- hydraulic cylinder
- cavity
- stem
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Abstract
The utility model relates to the multifunctional servo hydraulic cylinders and its hydraulic control circuit of a kind of three chambers control.Piston rod is hollow structure, stem is put in piston rod, piston rod and core cylindrical are at piston rod cavity, and inner cavity of cylinder is separated into hydraulic cylinder cavity of resorption and hydraulic cylinder epicoele by piston rod, and pressure oil is equal to the active area in hydraulic cylinder epicoele in the active area of piston rod cavity.Servo hydraulic cylinder inner cavity oil inlet connects electrohydraulic servo valve with epicoele oil inlet in hydraulic control circuit, and cavity of resorption oil inlet connects branch where accumulator and solenoid directional control valve.Though the utility model servo hydraulic cylinder is single-piston-rod hydraulic cylinder in structure, there is the characteristics of double piston-rod servo hydraulic cylinder and single-piston rod servo hydraulic cylinder simultaneously；Not only can carry out SERVO CONTROL, but can balancing gravity load, occupy little space, save energy；The switching of multiple functions can be achieved；Displacement sensor is mounted on inside hydraulic cylinder piston rod and concentric with piston rod, and output signal is accurate.
Description
Technical field
The utility model relates to the multifunctional servo hydraulic cylinders and its hydraulic control circuit of a kind of three chambers control.
Background technique
Hydraulic servocontrol is frequently used for the position control with gravity load mechanism, especially for Large marine six
Freedom degree connects the Pose Controls such as goods platform, multiple degrees of freedom tilter, it is desirable that control precision is high, and mechanism is compact, high-efficient.Due to sky
Between structure limit, currently used servo hydraulic cylinder is single-piston rod servo hydraulic cylinder, the effect of rod chamber and rodless cavity
Area is unequal, and hydraulic parameter is asymmetric, can not achieve symmetrical control.There is compensating cylinder balance simultaneously in order to overcome gravity load also
Two ways is balanced with servo valve, if needing to connect accumulator using individual compensating cylinder, is responsible for balancing gravity and loads, two
Kind hydraulic cylinder can make platform, and structure is complicated, excessively occupies space.If loaded using servo valve balancing gravity, regardless of uplink
Or downlink, then can consume power, energy cannot recycle, and cause system installed power excessive, and system effectiveness is low, Yi Fare.
Utility model content
The purpose of this utility model is to provide a kind of multifunctional servo hydraulic cylinders of three chambers control and its hydraulic control to return
Road, although making servo hydraulic cylinder be single-piston-rod hydraulic cylinder in structure, both with the pressure of double piston-rod servo hydraulic cylinder
Power oil is equal in upper and lower two chambers active area, and hydraulic parameter is symmetrical, the characteristics of symmetrically controlling may be implemented, and have single-piston rod
Servo hydraulic cylinder size is short, the simple advantage of structure；Meanwhile accurate SERVO CONTROL can be not only carried out, but also can be with balancing gravity
Load, makes a hydraulic cylinder have the function of two hydraulic cylinders, occupies little space, and structure is simple, saves energy；It is more in complexity
Under the operating condition of change, the switching of multiple functions may be implemented；Displacement sensor design is mounted on inside hydraulic cylinder, is guaranteed defeated
Signal out has enough precision.
In order to reach the goals above, the technical solution of the utility model is: a kind of multifunctional servo of three chambers control is hydraulic
Cylinder and its hydraulic control circuit, servo hydraulic cylinder include end cap, cylinder bottom, cylinder bottom flange, piston rod, stem, cylinder barrel, cylinder head method
Orchid, cylinder head, guide sleeve, cylinder cap, displacement sensor, spacer, earrings, magnet ring, non-magnetic gasket are equipped on the cylinder head and lead
To set and cylinder cap, the piston rod can seal sliding along the inner wall of guide sleeve and the inner wall of cylinder cap, and the cylinder end flange is logical
It crosses screw to connect with cylinder head and cylinder cap, the cylinder barrel is connected by welding with cylinder bottom flange and cylinder end flange, the cylinder
Bottom passes through screw and cylinder bottom flanged joint, and end cap is equipped on the cylinder bottom, and the end cap is connected by screw with cylinder bottom,
The cylinder bottom is equipped with stem, and the stem is fixed on end cap, and the stem is connected by screw with end cap, described
Piston rod be hollow structure, the stem puts in the inner cavity of piston rod, and the piston rod is survived with the core cylindrical
Stopper rod inner cavity, the piston rod can be sealed along stem and be slided, and the inner cavity of the cylinder barrel is separated under hydraulic cylinder by piston rod
Chamber and hydraulic cylinder epicoele, the piston rod can be sealed along the inner wall of cylinder barrel and be slided, and the stem has deep hole, the depth
Hole is concentric with stem, and the stem upper surface is equipped with magnet ring and non-magnetic gasket, magnet ring and non-magnetic gasket and stem
Concentric, the center of the piston rod upper surface is provided with through-hole, and through-hole and piston rod are concentric, is equipped in the through-hole
The magnetic bar of displacement sensor, the displacement sensor passes through through-hole, magnet ring and non-magnetic gasket, and protrudes into deep hole, described
Piston rod upper surface spacer is installed, the spacer is connected by screw with piston rod, the bar of the displacement sensor
Head is located in the spacer, earrings is equipped on the spacer, spacer and earrings are connected through a screw thread, and the stem has
Internal oil passages, the internal oil passages are in eccentric position, and the internal oil passages are connected to piston rod cavity, the cylinder bottom
With inner cavity oil inlet and cavity of resorption oil inlet, the inner cavity oil inlet is connected to internal oil passages, the cavity of resorption oil inlet with
The connection of hydraulic cylinder cavity of resorption, the cylinder head have epicoele oil inlet, and the epicoele oil inlet is connected to the hydraulic cylinder epicoele.
The piston rod cavity have first end face, the hydraulic cylinder epicoele have second end face, described first
The area equation of end face and second end face.
The inner cavity oil inlet connects electrohydraulic servo valve with epicoele oil inlet, and it is hydraulic that electrohydraulic servo valve connects constant-pressure variable
Pump, branch where the cavity of resorption oil inlet connection accumulator, and balance pressure is adjusted by proportional pressure control valve, under described
Chamber oil inlet is also connected with branch where solenoid directional control valve, and the obstructed oil liquid of B mouth of solenoid directional control valve, A mouthfuls are connected into cavity of resorption oil inlet, P
Mouth connection proportional pressure control valve, check valve and hydraulic pump, T mouthfuls of connection fuel tanks.
Although the beneficial effects of the utility model are: 1, the utility model servo hydraulic cylinder be single-piston-rod hydraulic cylinder,
It is that both the pressure oil with double piston-rod servo hydraulic cylinder was equal in upper and lower two chambers active area, hydraulic parameter is symmetrical, Ke Yishi
Now the characteristics of symmetrical control, and have single-piston rod servo hydraulic cylinder size short, the simple advantage of structure.2, the utility model is watched
Accurate SERVO CONTROL can not only be carried out by taking hydraulic cylinder, but also can be loaded with balancing gravity, the liquid for making a hydraulic cylinder have two
The function of cylinder pressure, occupies little space, and structure is simple, saves energy 3, a variety of differences may be implemented in the utility model servo hydraulic cylinder
The switching of function, to meet operating condition complicated and changeable.4, displacement sensor is mounted on inside hydraulic cylinder, guarantees the letter of output
Number have enough precision.
Detailed description of the invention
Fig. 1 is structural schematic diagram when the utility model servo hydraulic cylinder is fully retracted.
Fig. 2 is structural schematic diagram when the utility model servo hydraulic cylinder is fully extended.
Fig. 3 is the side view of the utility model servo hydraulic cylinder.
Fig. 4 is the principle sketch of the utility model hydraulic control circuit.
Specific embodiment
With reference to the accompanying drawing, specific embodiment of the present utility model is further described.
As shown in Figure 1, a kind of the multifunctional servo hydraulic cylinder and its hydraulic control circuit of the control of three chambers, servo hydraulic cylinder packet
Include end cap 1, cylinder bottom 2, cylinder bottom flange 3, piston rod 4, stem 5, cylinder barrel 6, cylinder end flange 7, cylinder head 8, guide sleeve 9, cylinder cap 10, position
Displacement sensor 11, spacer 12, earrings 13, magnet ring 14, non-magnetic gasket 15 are equipped with guide sleeve 9 and cylinder cap on the cylinder head 8
10, the piston rod 4 can seal sliding along the inner wall of guide sleeve 9 and the inner wall of cylinder cap 10, and the cylinder end flange 7 passes through spiral shell
Nail a4 is connect with cylinder head 8 and cylinder cap 10, and the cylinder barrel 6 is connected by welding with cylinder bottom flange 3 and cylinder end flange 7, described
Cylinder bottom 2 connected by screw a1 and cylinder bottom flange 3, end cap 1 is installed on the cylinder bottom 2, the end cap 1 passes through screw
A2 and cylinder bottom 2 connect, and the cylinder bottom 2 is equipped with stem 5, and the stem 5 is fixed on end cap 1, and the stem 5 is logical
It crosses screw a3 and end cap 1 connects, the piston rod 4 is hollow structure, and the stem 5 is put in the inner cavity of piston rod 4, institute
The piston rod 4 and the stem 5 stated form piston rod cavity γ, and the piston rod 4 can be sealed along stem 5 and be slided, described
The inner cavity of cylinder barrel 6 is separated into hydraulic cylinder cavity of resorption α and hydraulic cylinder epicoele β by piston rod 4, and the piston rod 4 can be along cylinder barrel 6
Wall sealing sliding, the stem 5 have deep hole 5-1, and the deep hole 5-1 and stem 5 are concentric, 5 upper end of stem
Face is equipped with magnet ring 14 and non-magnetic gasket 15, magnet ring 14 and non-magnetic gasket 15 and concentric, the described piston rod 4 of stem 5
The center of upper surface is provided with through-hole 4-1, and through-hole 4-1 and piston rod 4 are concentric, is equipped with displacement sensing in the through-hole 4-1
The magnetic bar of device 11, the displacement sensor 11 passes through through-hole 4-1, magnet ring 14 and non-magnetic gasket 15, and protrudes into deep hole 5-1
In, 4 upper surface of piston rod is equipped with spacer 12, and the spacer 12 is connected by screw a5 and piston rod 4, described
The head of displacement sensor 11 is located in the spacer 12, and earrings 13, spacer 12 and earrings 13 are equipped on the spacer 12
It is connected through a screw thread, the stem 5 has internal oil passages 5-2, and the internal oil passages 5-2 is in eccentric position, described
Internal oil passages 5-2 is connected to piston rod cavity γ, and the cylinder bottom 2 has inner cavity oil inlet b1 and cavity of resorption oil inlet b2, described
Inner cavity oil inlet b1 be connected to internal oil passages 5-2, the cavity of resorption oil inlet b2 is connected to hydraulic cylinder cavity of resorption α, the cylinder
First 8 there is epicoele oil inlet b3, the epicoele oil inlet b3 to be connected to the hydraulic cylinder epicoele β.
There is the piston rod cavity γ first end face S1, the hydraulic cylinder epicoele β to have second end face S2, described
First end face S1 and second end face S2 area equation.
As shown in figure 4, the inner cavity oil inlet b1 connects electrohydraulic servo valve 16, electrohydraulic servo valve with epicoele oil inlet b3
16 connection constant-pressure variable hydraulic pumps 19, the 17 place branch of cavity of resorption oil inlet b2 connection accumulator, and pass through proportional overflow
Valve 21 adjusts balance pressure, and the cavity of resorption oil inlet b2 is also connected with 22 place branch of solenoid directional control valve, solenoid directional control valve 22
The obstructed oil liquid of B mouth, A mouthfuls are connected into b2, P mouthfuls of connection proportional pressure control valves 21 of cavity of resorption oil inlet, check valve 23 and hydraulic pump 20, T mouthfuls
Connect fuel tank 18.
The course of work is as follows:
When piston rod 4 stretches out upwards, 19 pressure oil output of constant-pressure variable hydraulic pump, electrohydraulic servo valve 16 controls pressure oil and changes
To pressure oil passes sequentially through inner cavity oil inlet b1 and internal oil passages 5-2 again and enters piston rod cavity γ, pushes piston rod 4 upward
It stretches out, the oil liquid in hydraulic cylinder epicoele β passes sequentially through epicoele oil inlet b3 and electrohydraulic servo valve 16 returns to fuel tank, accumulator 17
Place branch is in dissengaged positions, and solenoid directional control valve 22 switches to right position, and fuel tank 18 prevents hydraulic to hydraulic cylinder cavity of resorption α repairing
Cylinder cavity of resorption α vacuum；When piston rod 4 retracts downwards, 19 pressure oil output of constant-pressure variable hydraulic pump, electrohydraulic servo valve 16 controls pressure
Oil commutation, pressure oil enter piston rod epicoele β by epicoele oil inlet b3, push piston rod 4 to retract downwards, piston rod cavity γ
In oil liquid pass sequentially through internal oil passages 5-2, inner cavity oil inlet b1 and electrohydraulic servo valve 16 and return to fuel tank；
Active area of the pressure oil that constant-pressure variable hydraulic pump 19 exports in end face S1 and end face S2 is equal, electrohydraulic servo valve
16 pairs of hydraulic cylinders carry out SERVO CONTROL, make hydraulic cylinder that can either realize symmetrical control, and can be realized accurate SERVO CONTROL.
When servo hydraulic cylinder needs balancing gravity to load, solenoid directional control valve 22 is in middle position state, hydraulic cylinder cavity of resorption α and storage
Energy 17 place branch of device connection, accumulator 17 are used to balancing gravity and load, to be greatly saved to hydraulic cylinder cavity of resorption α fuel feeding
Energy；When piston rod 4 retracts downwards, solenoid directional control valve 22 is in middle position state, hydraulic cylinder cavity of resorption α and 17 place branch of accumulator
Connection, the oil liquid of hydraulic cylinder cavity of resorption α are pressed into accumulator 17, can convert hydraulic energy for most position and be stored in accumulator 17
In, in case next time uses.
When 17 balancing gravity of accumulator loads, if necessary to adjustment pressure, solenoid directional control valve 22 switches to left position, than
Example 21 place branch of overflow valve is connected into, adjustment pressure；
When solenoid directional control valve 22 switches to middle position, proportional pressure control valve 21 is adjusted to lower oil pressure relief, proportional pressure control valve
21 place branches are in unloading condition.
When solenoid directional control valve 22 switches to right position, hydraulic cylinder cavity of resorption α is connected to 18 place branch of fuel tank, in accumulator 17
Oil liquid is all vented, and flows into fuel tank 18, and the utility model servo hydraulic cylinder is the equal of the single-piston rod that can be achieved symmetrically to control
Servo hydraulic cylinder, fuel tank 18 play repairing.When piston rod 4 stretches out upwards, constant-pressure variable hydraulic pump 19 is to piston rod cavity
γ fuel feeding, piston rod 4 stretch out upwards under the effect of the pressure, and fuel tank 18 is to hydraulic cylinder cavity of resorption α repairing；Piston rod 4 retracts downwards
When, constant-pressure variable hydraulic pump 19 retracts downwards under the effect of the pressure to hydraulic cylinder epicoele β fuel feeding, piston rod 4, hydraulic cylinder cavity of resorption
The oil liquid of α is pushed back fuel tank 18.
When servo-hydraulic cylinder working, displacement sensor 11 is moved up and down with stopper rod 4, magnet ring 14 and non-magnetic gasket 15
It is mounted on stem 5, it is fixed, relative displacement is generated between displacement sensor 11 and magnet ring 14, non-magnetic gasket 15, is exported
Displacement signal.
Claims (3)
1. a kind of multifunctional servo hydraulic cylinder of three chambers control, which is characterized in that servo hydraulic cylinder includes end cap (1), cylinder bottom
(2), cylinder bottom flange (3), piston rod (4), stem (5), cylinder barrel (6), cylinder end flange (7), cylinder head (8), guide sleeve (9), cylinder cap
(10), displacement sensor (11), spacer (12), earrings (13), magnet ring (14), non-magnetic gasket (15), on the cylinder head (8)
Guide sleeve (9) and cylinder cap (10) are installed, the piston rod (4) can be along the inner wall of guide sleeve (9) and the inner wall of cylinder cap (10)
Sealing sliding, the cylinder end flange (7) are connect by screw (a4) with cylinder head (8) and cylinder cap (10), and the cylinder barrel (6) is logical
It crosses welding to be connected with cylinder bottom flange (3) and cylinder end flange (7), the cylinder bottom (2) passes through screw (a1) and cylinder bottom flange (3)
It connects, is equipped with end cap (1) on the cylinder bottom (2), the end cap (1) is connected by screw (a2) and cylinder bottom (2), described
Cylinder bottom (2) be equipped with stem (5), the stem (5) is fixed on end cap (1), the stem (5) pass through screw (a3)
It is connected with end cap (1), the piston rod (4) is hollow structure, and the stem (5) is put in the inner cavity of piston rod (4), institute
The piston rod (4) stated and the stem (5) form piston rod cavity (γ), and the piston rod (4) can be sealed along stem (5) and be slided
Dynamic, the inner cavity of the cylinder barrel (6) is separated into hydraulic cylinder cavity of resorption (α) and hydraulic cylinder epicoele (β), the work by piston rod (4)
Stopper rod (4) can along the inner wall of cylinder barrel (6) seal slide, the stem (5) have deep hole (5-1), the deep hole (5-1) with
Stem (5) is concentric, and described stem (5) upper surface is equipped with magnet ring (14) and non-magnetic gasket (15), magnet ring (14) and non-
Magnetic conduction gasket (15) and stem (5) are concentric, and the center of described piston rod (4) upper surface is provided with through-hole (4-1), through-hole (4-
1) and piston rod (4) are concentric, are equipped with displacement sensor (11), the displacement sensor in the through-hole (4-1)
(11) magnetic bar passes through through-hole (4-1), magnet ring (14) and non-magnetic gasket (15), and protrudes into deep hole (5-1), the piston
Bar (4) upper surface is equipped with spacer (12), and the spacer (12) is connected by screw (a5) and piston rod (4), the position
The head of displacement sensor (11) is located in the spacer (12), is equipped with earrings (13) on the spacer (12), spacer (12)
It is connected through a screw thread with earrings (13), the stem (5) has internal oil passages (5-2), and the internal oil passages (5-2) are in
Eccentric position, the internal oil passages (5-2) are connected to piston rod cavity (γ), and the cylinder bottom (2) has inner cavity oil inlet
(b1) it is connected to cavity of resorption oil inlet (b2), the inner cavity oil inlet (b1) with internal oil passages (5-2), the cavity of resorption oil inlet
(b2) it is connected to hydraulic cylinder cavity of resorption (α), the cylinder head (8) has epicoele oil inlet (b3), the epicoele oil inlet (b3)
It is connected to the hydraulic cylinder epicoele (β).
2. a kind of multifunctional servo hydraulic cylinder of three chambers control according to claim 1, which is characterized in that the piston
Bar inner cavity (γ) has first end face (S1), and the hydraulic cylinder epicoele (β) has second end face (S2), the first end face
(S1) and the area equation of second end face (S2).
3. a kind of hydraulic control circuit, be used to control as claimed in claim 1 or 22 described in the control of three chamber of one kind multifunctional servo liquid
Cylinder pressure, which is characterized in that the inner cavity oil inlet (b1) and epicoele oil inlet (b3) connection electrohydraulic servo valve (16), it is electro-hydraulic to watch
Valve (16) connection constant-pressure variable hydraulic pump (19) is taken, the cavity of resorption oil inlet (b2) connects branch where accumulator (17), and
Balance pressure is adjusted by proportional pressure control valve (21), the cavity of resorption oil inlet (b2) is also connected with where solenoid directional control valve (22)
Branch, the obstructed oil liquid of B mouth of solenoid directional control valve (22), A mouthfuls are connected into cavity of resorption oil inlet (b2), P mouthfuls of connection proportional pressure control valves (21),
Check valve (23) and hydraulic pump (20), T mouthfuls of connection fuel tanks (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822021270.7U CN209228784U (en) | 2018-12-04 | 2018-12-04 | A kind of the multifunctional servo hydraulic cylinder and its hydraulic control circuit of the control of three chambers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822021270.7U CN209228784U (en) | 2018-12-04 | 2018-12-04 | A kind of the multifunctional servo hydraulic cylinder and its hydraulic control circuit of the control of three chambers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209228784U true CN209228784U (en) | 2019-08-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822021270.7U Expired - Fee Related CN209228784U (en) | 2018-12-04 | 2018-12-04 | A kind of the multifunctional servo hydraulic cylinder and its hydraulic control circuit of the control of three chambers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209228784U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112283181A (en) * | 2020-09-25 | 2021-01-29 | 哈尔滨工业大学 | High-power-density auxiliary boosting hydraulic cylinder for foot type robot |
| CN112610542A (en) * | 2020-12-15 | 2021-04-06 | 库卡机器人(广东)有限公司 | Balance cylinder hydraulic system |
| CN115263850A (en) * | 2022-06-24 | 2022-11-01 | 苏州施米特机械有限公司 | Multi-stage electrohydraulic servo cylinder |
-
2018
- 2018-12-04 CN CN201822021270.7U patent/CN209228784U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112283181A (en) * | 2020-09-25 | 2021-01-29 | 哈尔滨工业大学 | High-power-density auxiliary boosting hydraulic cylinder for foot type robot |
| CN112610542A (en) * | 2020-12-15 | 2021-04-06 | 库卡机器人(广东)有限公司 | Balance cylinder hydraulic system |
| CN112610542B (en) * | 2020-12-15 | 2022-03-25 | 库卡机器人(广东)有限公司 | Balance cylinder hydraulic system |
| CN115263850A (en) * | 2022-06-24 | 2022-11-01 | 苏州施米特机械有限公司 | Multi-stage electrohydraulic servo 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 |
Granted publication date: 20190809 Termination date: 20191204 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |