CN215890632U - EHA hydraulic synchronization system - Google Patents
EHA hydraulic synchronization system Download PDFInfo
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- CN215890632U CN215890632U CN202122085538.5U CN202122085538U CN215890632U CN 215890632 U CN215890632 U CN 215890632U CN 202122085538 U CN202122085538 U CN 202122085538U CN 215890632 U CN215890632 U CN 215890632U
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Abstract
The utility model relates to an EHA hydraulic synchronous system, which consists of at least two EHA hydraulic synchronous actuators, a control box and a control wire harness, wherein each EHA hydraulic synchronous actuator is an independent control unit, a servo motor of each EHA hydraulic synchronous actuator is connected with a corresponding driver in the control box, the corresponding driver in the control box controls the EHA hydraulic synchronous actuators to act, and a plurality of EHA hydraulic synchronous actuators ensure synchronous and consistent working speeds by adjusting parameters of the corresponding drivers. The hydraulic oil cylinder has the advantages of novel design concept, compact structure, small volume, light weight, high output efficiency, large power-weight ratio, high synchronous control precision, high reliability of the system, long service life, strong innovation and practicability, can conveniently adjust the working speed of the hydraulic oil cylinder, and can compensate the asynchronous problem caused by the abrasion of hydraulic elements.
Description
Technical Field
The utility model relates to a hydraulic system, in particular to an EHA hydraulic synchronous system.
Background
In the operation of a hydraulic system, the requirement of synchronous operation is frequently met, two or more hydraulic oil cylinders are required to synchronously operate, piston rods of the hydraulic oil cylinders extend out and retract simultaneously, and the speed and the position of the simultaneous extension or retraction are required to be consistent.
The common synchronous working systems in hydraulic systems are basically composed of a hydraulic pump source (including a motor, a hydraulic pump, a hydraulic valve, a filter, a hydraulic oil tank, accessories and the like), a synchronous control element, a synchronous execution element (a hydraulic oil cylinder) and a relevant hydraulic pipeline joint. The synchronous control element is generally a hydraulic element such as a synchronous valve and a synchronous motor. The general synchronous control precision of the synchronous motor is 1-3%, the synchronous control precision of the synchronous valve is 0.5-1.5%, and the control precision can basically meet the requirements in a general industrial hydraulic system, but the requirement on the synchronous precision is high, and the difference between the requirement and the requirement is far in a hydraulic system with large working load. If the requirement is further improved, a servo valve, a proportional valve and a servo oil cylinder are required to be adopted for control, so that the system cost is increased sharply. In addition, the hydraulic system needs a hydraulic pump station to provide power for the oil cylinder besides the actuating element like the hydraulic oil cylinder, the whole volume and the weight of the system are overlarge, the power loss is also large, and the maintenance is inconvenient.
In order to solve the problems, the control precision of a hydraulic synchronous system is improved, the installation space and the weight of the system are reduced, the power loss of the system is minimized while high-synchronous-precision control is achieved, an Electro-Hydrostatic Actuator (EHA) control principle is adopted, the synchronous control system is composed of two or more EHA hydraulic synchronous actuators, the synchronous control precision can reach 0.1-0.01%, a hydraulic pump station is not required to be arranged outside the whole system, a hydraulic oil tank and related accessory pipelines are reduced, and the hydraulic synchronous system is small in overall size, light in weight and small in power loss.
Disclosure of Invention
The utility model provides a brand new EHA hydraulic synchronous system, which consists of two or more hydraulic synchronous actuators, wherein the synchronous actuators have the advantages of compact structure, small volume, light weight, high output efficiency, large power-weight ratio and no pollution, a hydraulic pump station is not required to be arranged, each EHA actuator is an independent control unit and does not mutually influence, the synchronous control systems of two or more hydraulic synchronizers can be formed according to different loads and working conditions, and the synchronous control system has high synchronous control precision.
In order to achieve the purpose, the technical scheme of the utility model is as follows: the EHA hydraulic synchronous system comprises at least two EHA hydraulic synchronous actuators, a control box and a control wire harness, wherein each EHA hydraulic synchronous actuator is an independent control unit, a servo motor of each EHA hydraulic synchronous actuator is connected with a corresponding driver in the control box, the corresponding driver in the control box controls the EHA hydraulic synchronous actuators to act, and a plurality of EHA hydraulic synchronous actuators guarantee synchronous consistency of working speed by adjusting parameters of the corresponding drivers.
Furthermore, the synchronous control precision of the plurality of EHA hydraulic synchronous actuators reaches 0.1-0.01%.
Furthermore, the EHA hydraulic synchronous actuator consists of a servo motor, a coupler, a hydraulic pump, a functional valve block, a check valve, a hydraulic control check valve, an overflow valve, a miniature closed pressure oil tank, a pressure measurement air release joint, a symmetrical hydraulic oil cylinder and a position control switch.
Furthermore, the hydraulic pump is a bidirectional hydraulic pump, when the hydraulic pump works, the servo motor starts to work after receiving an instruction signal of a driver in the control box, the servo motor drives the hydraulic pump to rotate forwards through the coupler, a port A of the hydraulic pump outputs high-pressure hydraulic oil, the high-pressure hydraulic oil enters a left cavity of the symmetrical hydraulic oil cylinder through the hydraulic control one-way valve and an oil path A1 to enable an oil cylinder piston to extend out, and oil in a right cavity of the symmetrical hydraulic oil cylinder enters a port B of the hydraulic pump through an oil path A2 and the hydraulic control one-way valve.
Further, when the piston rod of the oil cylinder needs to retract, the servo motor drives the hydraulic pump to rotate reversely through the coupler, the port B of the hydraulic pump outputs high-pressure hydraulic oil, the high-pressure hydraulic oil enters the right cavity of the symmetrical hydraulic oil cylinder through the hydraulic control one-way valve and the oil circuit A2, the piston of the oil cylinder retracts out, and oil in the left cavity of the symmetrical hydraulic oil cylinder enters the port A of the hydraulic pump through the oil circuit A1 and the hydraulic control one-way valve.
Furthermore, the two check valves are respectively connected with an A, B port of the hydraulic pump and used for oil supplement of a A, B port when the hydraulic pump works, and the two overflow valves are respectively connected with two cavities of the hydraulic cylinder and used for limiting the pressure of the two cavities of the hydraulic cylinder and playing a role in protecting the system when the system is overloaded; the two hydraulic control one-way valves are respectively connected with the two cavities of the hydraulic cylinder and are used for playing a role in stabilizing the system when the hydraulic cylinder generates a negative load during working.
Furthermore, two position control switches are arranged on the symmetrical hydraulic oil cylinders and used for limiting the minimum and maximum positions of the movement of the pistons of the symmetrical hydraulic oil cylinders.
Furthermore, the control box is composed of a box body, a driver and an output terminal module, the driver and the output terminal module are installed in the box body, a control wire harness and a power wire harness of the driver are connected to the output terminal module, and the control wire harness and the power wire harness of the driver are connected with the EHA hydraulic synchronous actuator outside the control box through an output terminal module terminal.
The utility model has the beneficial effects that:
according to the utility model, hydraulic oil cylinders which are controlled hydraulically and synchronously are made into independent motion control units, hydraulic oil paths among the motion control units are not influenced mutually, and the working stability of the actuator is improved. The rotating speed and the output flow of the hydraulic pump are controlled by controlling the rotating speed of the servo motor, so that the working speed of the hydraulic oil cylinder is controlled. The hydraulic system generally comprises hydraulic elements such as a hydraulic pump, a hydraulic cylinder and a hydraulic valve, the hydraulic elements inevitably have problems such as internal leakage, pressure drop and throttling, efficiency losses of the hydraulic elements are caused, the efficiency losses are superposed and finally reflect the output speed and the push-pull force of an execution element (hydraulic oil cylinder), the synchronization performance of the hydraulic oil cylinder is influenced, the working efficiency of the hydraulic elements is further reduced along with the increase of the service cycle, the influence on the synchronization precision is increased, and the synchronization precision is further reduced. The utility model can periodically modify the parameters of the servo motor driver, so that the hydraulic oil cylinder can keep high synchronization precision for a long time.
In conclusion, the EHA hydraulic synchronization system has the advantages of novel design concept, compact structure, small volume, light weight, high output efficiency, large power-weight ratio, high synchronization control precision, high reliability, long service life, strong innovation and practicability, can conveniently adjust the working speed of the hydraulic oil cylinder, can compensate the asynchronous problem caused by the abrasion of hydraulic elements, and has good effect in practical application.
The utility model can be used for two or more hydraulic synchronous working conditions, and because the working principle and the synchronous control precision are the same, the utility model is mainly introduced according to the working of two hydraulic synchronous actuators, but in practical application, the hydraulic synchronous actuators can be equipped according to the requirements.
Drawings
FIG. 1 is a schematic diagram of an EHA hydraulic synchronization system;
FIG. 2 is a hydraulic schematic diagram of an EHA hydraulic synchronous actuator;
FIG. 3 is a front view of an EHA hydraulic synchronous actuator configuration;
fig. 4 is a left side view of fig. 3.
Detailed Description
The utility model is further described with reference to the following figures and examples.
As shown in fig. 1 to 4, the EHA hydraulic synchronization system of the present invention comprises two or more EHA hydraulic synchronization actuators 1, a control box 2, and a control harness 3, wherein the EHA hydraulic synchronization actuators 1 comprise servo motors 1-1, couplers 1-2, hydraulic pumps 1-3, function valve blocks 1-4, check valves 1-5 (2), hydraulic control check valves 1-6 (2), overflow valves 1-7 (2), micro closed pressure oil tanks 1-8, pressure measurement and air release joints 1-9 (4), symmetrical hydraulic oil cylinders 1-10, and position control switches 1-11 (2). The control box is composed of a box body 2-1, a driver 2-2 and an output terminal module 2-3.
The servo motor 1-1 of each EHA hydraulic synchronous actuator is controlled by a corresponding driver 2-2 in the control box.
The implementation process comprises the following steps:
first, control box assembly, see FIG. 1
Firstly, the drivers 2-2 are respectively arranged in the control box 2-1, the number of the drivers 2-2 and the number of the parameters correspond to the number of the EHA hydraulic synchronous actuators 1, 2 drivers are drawn in the figure, and two drivers are reserved and are determined according to the number of the EHA hydraulic synchronous actuators in actual use.
And secondly, installing the output terminal modules 2-3 in the control box body 2-1, wherein the number of output terminals meets the control output requirement of the driver.
And thirdly, connecting the control wiring harness and the power wiring harness of the driver 2-2 to the output terminal module 2-3, and outputting the control wiring harness and the power wiring harness to the outside of the control box body 2-1 from terminals.
Assembly of two, EHA hydraulic synchronous actuator
The EHA hydraulic synchronous actuator mainly comprises a servo motor 1-1, a coupler 1-2, a hydraulic pump 1-3, a functional valve block 1-4, a one-way valve 1-5 (2), a hydraulic control one-way valve 1-6 (2), an overflow valve 1-7 (2), a micro closed pressure oil tank 1-8, a pressure measuring air release joint 1-9 (4), a symmetrical hydraulic oil cylinder 1-10 and a position control switch 1-11 (2).
The hydraulic principle of the EHA hydraulic synchronous actuator is shown in figure 2, the hydraulic pump is a bidirectional hydraulic pump, when the hydraulic synchronous actuator works, a servo motor 1-1 receives an instruction of a driver in a control box to start working, the servo motor rotates forwards to drive the hydraulic pump 1-3 to rotate forwards through a coupler 1-2, a port A of the hydraulic pump outputs high-pressure oil, the hydraulic oil enters a left cavity of a symmetrical hydraulic oil cylinder 10-1 through oil passages of hydraulic control one-way valves 1-6 and A1, a cylinder piston extends out, and oil in a right cavity of the symmetrical hydraulic oil cylinder 10-1 enters a port B of the pump through an oil passage A2 and the hydraulic control one-way valves 1-6. When the piston rod of the oil cylinder needs to retract, the servo motor 1-1 rotates reversely, the hydraulic pump 1-3 is driven to rotate reversely through the coupler 1-2, high-pressure oil is output from the port B of the hydraulic pump, the hydraulic oil enters the right cavity of the symmetrical hydraulic oil cylinder 1-10 through the hydraulic control one-way valve 1-6 and the oil path A2, the piston of the oil cylinder retracts, and oil in the left cavity of the symmetrical hydraulic oil cylinder 1-10 enters the port A of the pump through the oil path A1 and the hydraulic control one-way valve 1-6.
The two check valves 1-5 are used for supplying oil to A, B ports when the hydraulic pump works, and the two overflow valves 1-7 are used for limiting the pressure of two cavities of the hydraulic cylinder and play a role in protecting the system when the system is overloaded. The two hydraulic control one-way valves 1-6 play a role of stabilizing the system when the oil cylinder generates a negative load during working.
The position control switches 1-11 are used to limit the minimum and maximum positions of the actuator piston movement.
Due to different working loads, specifications of all elements in the hydraulic synchronous actuator are different, but working principles are the same, and fig. 3 is a schematic diagram of a single hydraulic synchronous actuator.
Thirdly, system installation, see fig. 1
And respectively connecting the servo motor of the hydraulic synchronous actuator and the power supply control wiring harness 3 of the position switch with the wiring harnesses of the drivers in the control box in a one-to-one correspondence manner.
One driver controls one hydraulic synchronous actuator, and the number of the drivers and the hydraulic synchronous actuators can be two or more according to the actual working requirement.
Fourthly, system synchronism control
Before the EHA hydraulic synchronous system works, synchronous performance debugging is firstly carried out. Firstly, a group of drivers and a hydraulic synchronous actuator are controlled, the drivers are adjusted to control the rotating speed of a servo motor, and after the working speed of the hydraulic synchronous actuator meets the requirement, the working speed value and the parameters set by the drivers are recorded. Then another group of drivers and hydraulic synchronous actuators are controlled, the parameters of the drivers are adjusted to ensure that the working speed of the hydraulic synchronous actuators is consistent with the speed of the previous actuator, and similarly, the drivers … … of the third group and the fourth group and the hydraulic synchronous actuators can be continuously adjusted and controlled to ensure that the working speeds of the hydraulic synchronous actuators of all groups are consistent.
The upper computer can be adopted to control when adjusting the control parameters of the driver, the hydraulic synchronous actuator can be provided with a speed sensor to detect the speed, and the speed synchronous control precision can reach within 0.1 percent.
If higher synchronous control precision is required in actual work, the position control switch can be replaced by a displacement sensor for closed-loop control, and the synchronous control precision can reach 0.01 percent.
Claims (8)
1. An EHA hydraulic synchronization system, characterized by: the system comprises at least two EHA hydraulic synchronous actuators, a control box and a control wire harness, wherein each EHA hydraulic synchronous actuator is an independent control unit, a servo motor of each EHA hydraulic synchronous actuator is connected with a corresponding driver in the control box, the corresponding driver in the control box controls the EHA hydraulic synchronous actuators to act, and the plurality of EHA hydraulic synchronous actuators ensure that the working speeds are synchronous and consistent by adjusting the parameters of the corresponding drivers.
2. The EHA hydraulic synchronization system of claim 1, wherein: the synchronous control precision of the plurality of EHA hydraulic synchronous actuators reaches 0.1-0.01%.
3. The EHA hydraulic synchronization system of claim 1, wherein: the EHA hydraulic synchronous actuator consists of a servo motor, a coupler, a hydraulic pump, a functional valve block, a one-way valve, a hydraulic control one-way valve, an overflow valve, a miniature closed pressure oil tank, a pressure measurement air release joint, a symmetrical hydraulic oil cylinder and a position control switch.
4. The EHA hydraulic synchronization system of claim 3, wherein: the hydraulic pump is a bidirectional hydraulic pump, when the hydraulic pump works, the servo motor starts to work after receiving an instruction signal of a driver in the control box, the servo motor drives the hydraulic pump to rotate forwards through the coupler, high-pressure hydraulic oil is output from an A port of the hydraulic pump, the high-pressure hydraulic oil enters a left cavity of the symmetrical hydraulic oil cylinder through the hydraulic control one-way valve and an A1 oil path, an oil cylinder piston extends out, and oil in a right cavity of the symmetrical hydraulic oil cylinder enters a B port of the hydraulic pump through an A2 oil path and the hydraulic control one-way valve.
5. The EHA hydraulic synchronization system of claim 4, wherein: when the piston rod of the oil cylinder needs to retract, the servo motor drives the hydraulic pump to rotate reversely through the coupler, the port B of the hydraulic pump outputs high-pressure hydraulic oil, the high-pressure hydraulic oil enters the right cavity of the symmetrical hydraulic oil cylinder through the hydraulic control one-way valve and the oil circuit A2, the piston of the oil cylinder retracts, and oil in the left cavity of the symmetrical hydraulic oil cylinder enters the port A of the hydraulic pump through the oil circuit A1 and the hydraulic control one-way valve.
6. The EHA hydraulic synchronization system of claim 3, wherein: the two check valves are respectively connected with an A, B port of the hydraulic pump and used for supplementing oil of a A, B port when the hydraulic pump works, and the two overflow valves are respectively connected with two cavities of the hydraulic cylinder and used for limiting the pressure of the two cavities of the hydraulic cylinder and playing a role in protecting the system when the system is overloaded; the two hydraulic control one-way valves are respectively connected with the two cavities of the hydraulic cylinder and are used for playing a role in stabilizing the system when the hydraulic cylinder generates a negative load during working.
7. The EHA hydraulic synchronization system of claim 3, wherein: the two position control switches are arranged on the symmetrical hydraulic oil cylinders and used for limiting the minimum and maximum positions of the movement of the pistons of the symmetrical hydraulic oil cylinders.
8. The EHA hydraulic synchronization system of claim 1, wherein: the control box is composed of a box body, a driver and an output terminal module, the driver and the output terminal module are installed in the box body, a control wire harness and a power wire harness of the driver are connected to the output terminal module, and the control wire harness and the power wire harness of the driver are connected with the EHA hydraulic synchronous actuator outside the control box through an output terminal module terminal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122085538.5U CN215890632U (en) | 2021-08-31 | 2021-08-31 | EHA hydraulic synchronization system |
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| CN202122085538.5U CN215890632U (en) | 2021-08-31 | 2021-08-31 | EHA hydraulic synchronization system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023029292A1 (en) * | 2021-08-31 | 2023-03-09 | 上海衡拓液压控制技术有限公司 | Eha hydraulic synchronization system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023029292A1 (en) * | 2021-08-31 | 2023-03-09 | 上海衡拓液压控制技术有限公司 | Eha hydraulic synchronization system |
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