JPS62106106A - Control valve directly coupled to linear pulse motor - Google Patents

Abstract

PURPOSE:To make the control valve in the caption to well cope with electric noise by providing a spool for hydraulic control which changes its position step by step owing to its connection to a hydraulic power magnification system driven by a linear pulse motor. CONSTITUTION:Linear pulse motors 13A, 13B are fixed to a body 11 and a hydraulic power magnification system A is also provided while comprising an operation chamber M composed of a small chamber 15 and a large chamber 16, a small diameter piston 18 and a large diameter piston 19. A motor driver 21 drives the linear pulse motors 13A, 13B on the basis of a control pulse signal so as to move a motor rod 14 in digital steps. A spool 2 is displaced step by step in response to the control pulse signal. Linear pulse motors are driven by a digital control signal in order to well cope with noise by the above mecha nism.

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Field of Industrial Application) The present invention relates to a linear pulse motor direct-coupled control valve in which a linear pulse motor serves as a driving section for a valve body.

(Prior art) Generally speaking, electrically controllable hydraulic control valves include proportional solenoid valves,
There are servo valves, etc. The servo valve is a valve C that converts an electric signal 8 as an input into hydraulic pressure, and is suitable for a robot mechanism that requires a high-speed response.

For example, in a feedback type servo valve, when a current flows as an input to the magnet coil 42 of the torque motor 41 as shown in FIGS. Due to the magnetic relationship between the two, it tilts in response to the magnitude and polarity of the input current. This tilting of the armature 43 causes the nozzle flapper 44 provided at the tip of the armature 43 to
is displaced. As a result, the clearance between the left and right nozzles 45.46 arranged on both sides of the nozzle flapper 44 changes, and the back pressure of both nozzles 45.46 changes.
The oil pressures acting on both end faces of the spool 47 become unbalanced, and the difference in oil pressure causes the spool 47 to move.

At this time, since the feedback spring 48 provided at the tip of the nozzle flapper 44 is engaged with the center of the spool 47, it generates a torque opposite to the magnetic torque of the armature 43, moving the nozzle flapper 44 to the neutral position. Pull back until. When the nozzle flapper 44 returns to the neutral position, the back pressures of the left and right nozzles 45 and 46 become equal, and the spool 47 stops working at that position. In this way, the spool 47 of the servo valve can maintain a valve opening proportional to the polarity and magnitude of the input current to the torque motor 41.

(Problems to be Solved by the Invention) However, as described above, since the torque motor 41 is conventionally used to drive the nozzle flapper 44, there is a problem that the coil 42 generates heat due to the input current, increasing power consumption. Since it is an analog control, it is susceptible to the effects of temperature, etc., and in particular, the control device that controls the motors 1 to 41 is susceptible to electrical noise in the case of analog control, and is susceptible to temperature drift. be.

In addition, since many precision parts such as the armature 43 and the nozzle flapper 44 are used, there is also the problem that they are susceptible to dust and are expensive. Furthermore, the nozzle flapper 44 has the problem of a large flow loss due to the constant flow of hydraulic oil, and the tilting angle of the armadure 43 of the torque motor 41 tends to cause hysteresis due to friction, etc., and there is a problem that the machine difference becomes large. Ta.

This invention was made in view of the problems that the conventional analog control valves have, such as their susceptibility to electrical noise, and the problems that the conventional techniques cannot deal with when it is desired to perform complex control.

Structure of the Invention (Means for Solving Problems) The linear pulse motor direct-coupled control valve of the present invention includes a linear pulse motor controlled and driven by a digital control signal,
a hydraulic booster mechanism driven by the linear pulse motor; a hydraulic control spool connected to the hydraulic booster mechanism and directly driven by a drive CJ motor amplified by the hydraulic booster mechanism and displaced in steps; It is equipped with the following.

Based on the above configuration, when a digital control signal is input to the linear pulse motor, the digital control (based on No. 3)
Drives the hydraulic boost mechanism. Then, the hydraulic control spool is directly driven by the driving force amplified by the hydraulic 18 force mechanism and is displaced in steps.

(Embodiments) Hereinafter, preferred embodiments embodying the present invention will be described with reference to FIGS. 1 to 4.

A spool 2 constituting a four-way pilot valve is disposed in the valve hole 1a of the valve body 1 so as to be movable in the left-right direction. An actuator port 4 leads from the supply boat 3 to a cylinder (not shown) via the same spool 2 when located at the position.
/\While the hydraulic oil flows, the hydraulic oil also flows from the other actuator boat 1-5 to the return boat 6a.

When the spool 2 is positioned to the right of the valve hole 1a as shown in FIG. Return from 4 Bo 1-6
Hydraulic oil flows to b.

The supply boat 3 is connected to an oil tank 9 via an oil line 7 and an oil pump 8, and the return boats i to
6a and 6b are connected to an oil tank 9 via an oil path 10.

Hydraulic booster mechanism A arranged on both left and right ends of the spool 2,
B will be explained.

Note that since both hydraulic pressure 18 force ti34mA and B have the same configuration, for convenience of explanation, one hydraulic booster mechanism A will be explained, and the other hydraulic pressure 18 force mechanism B will be given the same reference numerals and the explanation thereof will be omitted.

A linear pulse motor 13A is fixed to one side of the body 11 via a bracket 12.

6 is written and body 1 corresponds to near pulse motor-13A.
1 has an operating chamber 17 formed on both the left and right sides, each consisting of a small chamber 15 and a large chamber 16. In the small chamber 15, a small-diameter piston 18 as a driving body with a small cross-sectional area is arranged so as to be slidable in the left-right direction, and in the large chamber 16, a large-diameter piston 19 as a driven body with a large cross-sectional area is similarly arranged. A working chamber 17, which is arranged so as to be slidable in the left-right direction and is surrounded by both pistons 18 and 19, is sealed with fluid such as hydraulic oil.

A working chamber 17 consisting of the small chamber 15 and the large chamber 16, a small diameter piston 18 and a large diameter piston 19 constitute a hydraulic 18 force mechanism A.

And the motor rod 1 of the pulse motor 13A
4 is brought into contact with the small diameter piston 18 and presses the small diameter piston 18 via the motor rod 14 when the linear pulse motor 13A is driven. Further, the driving end of the large diameter piston 19 is bent against the left end of the spool 2 before coming into contact with it. The other hydraulic booster mechanism B is driven by a linear pulse smoke 13B, and its large diameter piston 19 is placed in contact with the right end of the spool 2.

The device that controls the linear pulse motors 13A and 13B that drive the two hydraulic doubler sides A and B is a microcomputer-controlled control device (hereinafter referred to as a microcomputer controller) as shown in Figure 2. A control pulse signal as a digital control signal is sent from the motor driver 20 to the motor driver 21.
It is designed to output appropriately. Then, the motor driver 21 outputs a drive signal to the linear pulse motors 13A, 13B based on the control pulse signal, and the linear pulse sweater 13Δ, 1
3B is designed to step drive the motor rod 14 in the same direction and with the same amount of movement.

The operation of the linear pulse motor direct-coupled control valve configured as described above will be explained.

Now, in FIG. 1, the spool 2 is in a neutral position. In this state, when the microcomputer controller 20 outputs a control pulse signal to the motor driver 21 to fully open the spool to the left position, the motor driver 21 controls each linear pulse motor 1 based on the control pulse signal.
A drive signal is output to 3A and 13B. Then, the linear pulse motor 13B digitally advances the motor rod 14 to the left based on the drive signal, thereby suppressing and driving the small diameter piston 18. Then, large diameter piston 1
The two are similarly driven via hydraulic oil in the working chamber 17.

At this point, the amount of displacement of the large diameter piston 19 is smaller than the displacement M of the small diameter piston 18 in proportion to [area of the small diameter piston 18/area 1 of the large diameter piston 19].

Moreover, the driving force of the large diameter piston 19 is
The driving force of the small diameter piston 18 is increased by 6 in proportion to the area of 9/area of the small diameter piston 18]. On the other hand, the linear pulse motor 13A operates its motor rod 1 based on the drive signal simultaneously with the operation of the linear pulse motor 13B.
4 is the motor rod 1 of the linear pulse motor 13B.
Digitally retreat to the left by the same amount of movement as No. 4.

As a result, the spool 2 is moved to the hydraulic booster mechanism B located on the right side.
is pushed and driven by the large diameter piston 19, and moves to the left to the full position.

This movement of the spool 2 to the left causes the supply boat 3 and the actuator boat 4, and the return boat 6a and the actuator boat 5 to communicate with each other, as shown in FIG. As hydraulic oil flows to boat 4, actuator boat 1
- Hydraulic oil flows from 5 to the return boat 6a.

Contrary to the above, when the microcomputer controller 20 outputs a control pulse signal to the motor driver 21 to fully open the spool to the right position while the spool 2 is in the neutral position,
The motor driver 21 outputs a drive signal to each linear pulse motor 13A, 13[3 based on the control pulse No. 13. Then, the linear pulse motor 13A moves the motor rod 14 in a rightward direction based on the drive signal, and presses and drives the small diameter piston 18. Then, the large diameter piston is similarly driven via the hydraulic oil in the working chamber 17.

At this time, the amount of displacement of the large diameter piston 19 is smaller than the amount of displacement of the small diameter piston 18 in proportion to [area of the small diameter piston 18/area of the large diameter piston 19].

In addition, the driving force of the large diameter screw (19) is [large diameter piston 1
The driving force of the small diameter piston 18 is increased in proportion to the area of 9/the surface Vi1 of the small diameter piston 18. On the other hand, the linear pulse motor 13B is connected to the linear pulse motor 13A.
Simultaneously with the operation of , the motor rod 14 moves back digitally to the right by the amount of movement of the motor rod 14 of the linear pulse motor 13A.

As a result, the spool 2 is moved by the hydraulic booster mechanism △ located on the left side.
It is pushed by one large diameter piston and moves to the right to the fully open position.

By this movement of the spool 2 to the right, the spool 2 is brought into communication with the sea urchin supply boat 3 and the actuator port 5, and the return boat 1-6b and the actuator boats 1 and 4 as shown in FIG. Hydraulic oil flows from the supply boat 3 to the actuator port 5 of the actuator 1, and from the actuator boat 4 to the return boat 6b.

In the above description, the spool 2 is opened at the fully open position, but when the control pulse signal output from the microcomputer controller 20 means, for example, a half-way position to the right, the spool 2 is opened based on the control pulse signal from the motor driver 211. The drive eJJ signal is output to the linear pulse motors 13A and 13B, respectively. Then, the same linear pulse motor 13△
, 13B is the motor rod 14 based on the drive signal.
By stepping forward and retreating to the right, respectively, the spool 2 is digitally driven to the right via the hydraulic boosters tilA and tilB, and is brought into a half-open state.

In this way, the amount of displacement of the spool 2 can be arbitrarily set in response to the control pulse signal from the microcomputer controller 20. However, when a solenoid is used in the drive section, the solenoid must be energized and deenergized only by on/off control, and in this case, the valve has only two strokes, either closed or fully open. On the other hand, the linear pulse motors 13Δ, 13B can control the opening degree of the spool 2 digitally and arbitrarily with high precision.

Therefore, it has excellent stability and less hysteresis. As a result, the spool 2 is fixed at the positive 1if[t, so open loop control becomes possible.

In addition, the driving force of the linear pulse motors 13A and 13B is generally small, but the driving force of the motor rod 4 is amplified by the hydraulic pressure 18 - 4A, [3, so the driving force required to drive the spool 2 is Sufficient driving force can be provided. Furthermore, due to the holding force of the linear pulse motors 13Δ, 13B, when the spool 2 is opened at a constant degree (13), no power is required to be supplied.

Furthermore, since the linear pulse motors 13A and 13B are used, connection with a microcomputer is easy, and the delta regarding the flow rate of the actuator boat 4.5 that realizes the displacement of the actuator (not shown) with respect to the microcomputer controller 20 can be easily connected. If the input is shifted.

It is possible to use a programmable control valve.

Next, a second embodiment will be explained with reference to FIG.

In this embodiment, in the configuration of the first embodiment, a pair of linear pulse motors 13 are arranged on the left and right sides of the valve body 1.
A and 13B are replaced by one linear pulse motor 23, and the motor roller 2 is driven by the linear pulse motor 23 in the same direction from both left and right ends of the motor 23 with the same amount of movement.
4a and 24b are provided in a protruding manner. Further, both ends of the bracket 12 supporting the linear pulse motor 23 are hard-frosted to the bodies 11 of a pair of hydraulic boosters △ and B, which are arranged so that their small diameter screws 1 to 18 face each other. Hydraulic pressure (8) [Structure △, B small-diameter screws (~ 18) are in contact with both the motor rods 24a, 24b.The small diameter screws 15 of the hydraulic boosting mechanisms A, B are connected to the valve body 1.
The difference is that it extends to both the left and right sides.

Therefore, in this embodiment, unlike the first embodiment, only one linear pulse motor is required, which facilitates control, provides a simple structure, and reduces manufacturing costs.

Next, a third embodiment will be explained with reference to FIG.

In this embodiment, instead of driving both ends of the spool 2 with the large-diameter piston 19 in the configuration of the second embodiment, a drive rod 26 is connected and fixed to the left end of the spool 2 via a connecting rod 25. Driven protrusions 27 and 28 are provided at both ends of the blonde 26 in a protruding manner. Then, the small chambers 15 of the hydraulic booster mechanisms A and B disposed on both sides of the linear pulse motor 23 are formed short, and the linear pulse motor 23 and both hydraulic mechanisms Δ and B are integrated into a unit. Both driven protrusions 27 of the drive rod 26.
The difference is that the large-diameter pistons 19 of both hydraulic boosting mechanisms A and B are arranged between the driven protrusions 27 and 28, respectively, in contact with the driven protrusions 27 and 28.

Therefore, in this embodiment, the displacement of the motor rods 24a, 24b of one linear pulse smoke 23 appears as the displacement of the spool 2. In this embodiment, the linear pulse motor 23 and both hydraulic booster compensation mechanisms A
, B have been changed to unit j~, so it can be used as a v3 dense positioning device.

It should be noted that the present invention is not limited to the above-described embodiments, and may be modified as desired without departing from the spirit of the present invention.

Effects of the Invention As detailed above, according to the present invention, the amount of displacement can be arbitrarily set in response to the digital control signal of the control device, and the opening degree of the spool can be digitally arbitrarily set by exactly 1αJ. Furthermore, since the linear pulse motor is driven by a digital control signal, it is resistant to noise, provides stability, and has less hysteresis. .

In addition, since it uses a pulse motor, it is easy to connect to a microcomputer, and by inputting data to the control device, it can be made into a control valve that can be programmed, and the spool can be precisely positioned. Therefore, oven loop control becomes possible. Furthermore, since the number of component parts is small, the circuit configuration is relatively simple and the response when systemized is quick.

Further, due to the sustaining force of the linear pulse motor, electric power is not required for the spool for a certain period of time, resulting in energy saving. In addition, unlike conventional models, there is no need for precision parts such as nozzle flappers, which makes it resistant to dust in the hydraulic oil, highly reliable, and has the effect of reducing manufacturing costs, making it an excellent product for industrial publication. It is an invention.

[Brief Description of the Drawings] Fig. 1 is a sectional view of one embodiment embodying the present invention, Fig. 2 is a sectional view of an embodiment embodying the present invention;
The figure is an electrical circuit diagram, and Figure 3 is a sectional view of the main parts without showing the action of the spool. Figure A4 is a cross-sectional view of the main part similarly showing the action of the spool pond, Figure 5 is a cross-sectional view of the main part of the second embodiment, Figure 6 is a cross-sectional view of the main part of the third embodiment, and Figure 7 is the conventional one. A cross-sectional view of the servo valve, Figure 8, is a cross-sectional view of the state in which the spool maintains the valve opening from the state shown in Figure 7. 1 is the valve body, 2 is the spool, 3 is the supply bow i~, 4.5
is the actuator boat, 6a, 6b are the return ports, 8
is an oil pump, 9 is an oil tank, 13△, 13B is a linear pulse generator, 15 is a small chamber, 16 is a large chamber, 17
is a working chamber, 18 is a small diameter piston, 19 is a large diameter piston,
20 is a microcomputer controller (control device), 21 is a motor driver, and 23 is a linear pulse motor-1A, B.
is the ilJl pressure doubler mechanism. Patent applicant Toyota Industries Co., Ltd. representative
Person Patent Attorney On 1) 1 (9 Sensation, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6)

Claims (1)

[Claims] 1. A linear pulse motor controlled and driven by a digital control signal, a hydraulic booster mechanism driven by the linear pulse motor, and a hydraulic booster coupled to the hydraulic booster mechanism. A linear pulse motor direct-coupled control valve equipped with a hydraulic control spool that is directly driven by amplified driving force and displaced in steps. 2. The hydraulic booster mechanism has a small chamber and a large chamber that communicate with each other, and a driving body with a small cross-sectional area is slidably arranged in the small chamber, and a driven body with a large cross-sectional area is arranged in the large chamber. The linear pulse according to claim 1, wherein the linear pulse is configured to be slidably arranged, and a working chamber formed between the driving body and the driven body is sealed with a fluid. Motor directly connected control valve.