WO2023029292A1 - Eha液压同步系统 - Google Patents

Eha液压同步系统 Download PDF

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Publication number
WO2023029292A1
WO2023029292A1 PCT/CN2021/138459 CN2021138459W WO2023029292A1 WO 2023029292 A1 WO2023029292 A1 WO 2023029292A1 CN 2021138459 W CN2021138459 W CN 2021138459W WO 2023029292 A1 WO2023029292 A1 WO 2023029292A1
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Prior art keywords
hydraulic
eha
synchronous
control
oil
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PCT/CN2021/138459
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English (en)
French (fr)
Inventor
张鸿博
金瑶兰
丁建军
赵晓华
王佳君
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上海衡拓液压控制技术有限公司
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Publication of WO2023029292A1 publication Critical patent/WO2023029292A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/22—Synchronisation of the movement of two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps

Definitions

  • the present application relates to a hydraulic system, especially an EHA hydraulic synchronous system.
  • the synchronous working system commonly used in hydraulic systems basically consists of hydraulic pump sources (including motors, hydraulic pumps, hydraulic valves, filters, hydraulic oil tanks and accessories, etc.), synchronous control components, synchronous actuators (hydraulic cylinders) and related hydraulic pipes composed of road joints.
  • the synchronous control components are generally hydraulic components such as synchronous valves and synchronous motors.
  • the synchronous control accuracy of synchronous motor is generally 1-3%, and the synchronous control accuracy of synchronous valve is generally 0.5-1.5%.
  • Such control accuracy can basically meet the requirements in general industrial hydraulic systems, but in the case of high requirements for synchronous accuracy, In a hydraulic system with a large workload, it is far from the requirements.
  • the synchronous control system is composed of two or more EHA hydraulic synchronous actuators, the synchronous control accuracy can reach 0.1-0.01%, and the whole system does not need an external hydraulic pump station, reducing the hydraulic oil tank and related accessory pipelines, The overall volume is small, the weight is light, and the power loss is small.
  • EHA Electro-Hydrostatic Actuator
  • a brand new EHA hydraulic synchronization system is provided.
  • An EHA hydraulic synchronous system includes at least two EHA hydraulic synchronous actuators, a control box, and a control wiring harness.
  • Each EHA hydraulic actuator is an independent control unit.
  • the servo motor of each EHA hydraulic synchronous actuator is connected to the corresponding drive in the control box, and the corresponding drive in the control box controls the action of the EHA hydraulic synchronous actuator.
  • Multiple EHA hydraulic synchronous actuators ensure that the working speed is synchronized and consistent by adjusting the corresponding drive parameters.
  • the synchronous control precision of multiple EHA hydraulic synchronous actuators is in the range of 0.1%-0.01%.
  • the EHA hydraulic synchronous actuator includes a servo motor, a coupling, a hydraulic pump, a functional valve block, a one-way valve, a hydraulically controlled one-way valve, an overflow valve, a miniature closed pressure oil tank, Pressure measurement and air release joints, symmetrical hydraulic cylinders, and position control switches.
  • the hydraulic pump is a two-way hydraulic pump.
  • the servo motor starts to work after receiving the command signal from the driver in the control box.
  • the servo motor drives the hydraulic pump to rotate forward through the coupling, and the A port of the hydraulic pump outputs high-pressure hydraulic oil.
  • the valve and A1 oil circuit enter the left chamber of the symmetrical hydraulic cylinder, so that the piston of the oil cylinder is extended, and the oil in the right chamber of the symmetrical hydraulic cylinder enters the B port of the hydraulic pump through the A2 oil circuit and the hydraulic control check valve.
  • the servo motor drives the hydraulic pump to reverse through the coupling, and the B port of the hydraulic pump outputs high-pressure hydraulic oil, and the high-pressure hydraulic oil passes through the hydraulic control check valve,
  • the A2 oil circuit enters the right cavity of the symmetrical hydraulic cylinder, the cylinder piston retracts, and the oil in the left cavity of the symmetrical hydraulic cylinder enters the A port of the hydraulic pump through the A1 oil circuit and the hydraulic control check valve.
  • two one-way valves are respectively connected to the A and B ports of the hydraulic pump, and are used for supplying oil to the A and B ports when the hydraulic pump is working, and the two relief valves are respectively connected to the two chambers of the symmetrical hydraulic cylinder. It is used to limit the pressure of the two chambers of the symmetrical hydraulic cylinder, and protect the EHA hydraulic synchronization system when the EHA hydraulic synchronization system is overloaded.
  • the two hydraulic control check valves are respectively connected to the two chambers of the symmetrical hydraulic cylinder, which are used to stabilize the EHA hydraulic synchronization system when the symmetrical hydraulic cylinder generates a negative load.
  • two position control switches are arranged on the symmetrical hydraulic cylinder for limiting the minimum and maximum positions of the cylinder piston movement of the symmetrical hydraulic cylinder.
  • control box includes a box body, a driver, and an output terminal module.
  • the driver and the output terminal module are installed in the box, the control wiring harness and the power wiring harness of the driver are connected to the output terminal module, and the EHA hydraulic synchronous actuator located outside the control box is connected through the terminal of the output terminal module.
  • hydraulic oil cylinders controlled by the hydraulic synchronism are made into independent motion control units, and the hydraulic oil circuits between the motion control units do not affect each other, which increases the stability of the actuator.
  • Hydraulic systems generally include hydraulic components such as hydraulic pumps, hydraulic cylinders, and hydraulic valves, and these hydraulic components inevitably have problems such as internal leakage, pressure drop, and throttling, resulting in loss of efficiency of hydraulic components.
  • the EHA hydraulic synchronization system of this application has a novel design concept, compact structure, small size, light weight, high output efficiency, high power-to-weight ratio, easy adjustment of the working speed of the hydraulic cylinder, and high synchronization control accuracy. It can also compensate the asynchronous problem caused by the wear of hydraulic components.
  • the system has high reliability, long service life, strong innovation and practicability, and has achieved good results in practical applications.
  • Figure 1 is a schematic diagram of the EHA hydraulic synchronization system
  • Figure 2 is a hydraulic schematic diagram of the EHA hydraulic synchronous actuator
  • Figure 3 is a front view of the structure of the EHA hydraulic synchronous actuator
  • Fig. 4 is a left side view of Fig. 3 .
  • an EHA hydraulic synchronous system of the present application includes two or more EHA hydraulic synchronous actuators 1 , a control box 2 , and a control wiring harness 3 .
  • EHA hydraulic synchronous actuator 1 includes servo motor 1-1, coupling 1-2, hydraulic pump 1-3, function valve block 1-4, check valve 1-5 (2 pieces), hydraulic control unit Directional valve 1-6 (2 pieces), overflow valve 1-7 (2 pieces), miniature closed pressure oil tank 1-8, pressure measuring and venting joint 1-9 (4 pieces), symmetrical hydraulic cylinder 1-10, Position control switch 1-11 (2 pieces).
  • the control box includes a box body 2-1, a driver 2-2, and an output terminal module 2-.
  • each EHA hydraulic synchronous actuator is controlled by the corresponding driver 2-2 in the control box.
  • the first step is to install the drivers 2-2 in the control box 2-1 respectively.
  • the number and parameters of the drivers 2-2 correspond to the 1 direction of the EHA hydraulic synchronous actuator. Two are drawn in the figure, and two are reserved One, which is determined according to the number of EHA hydraulic synchronous actuators in actual use.
  • the output terminal module 2-3 is installed in the control box 2-1, and the number of output terminals should meet the control output requirements of the driver.
  • the third step is to connect the control wire harness and power wire harness of the driver 2-2 to the output terminal module 2-3, and output from the terminal to the outside of the control box 2-1.
  • EHA hydraulic synchronous actuator mainly includes servo motor 1-1, coupling 1-2, hydraulic pump 1-3, function valve block 1-4, check valve 1-5 (2 pieces), hydraulic control check valve 1-6 (2 pieces), overflow valve 1-7 (2 pieces), micro closed pressure oil tank 1-8, pressure measuring and venting joint 1-9 (4 pieces), symmetrical hydraulic cylinder 1-10, position control Switches 1-11 (2 pcs).
  • the hydraulic principle of the EHA hydraulic synchronous actuator is shown in Figure 2.
  • the hydraulic pump is a two-way hydraulic pump.
  • the servo motor 1-1 receives the instructions from the driver in the control box and starts to work.
  • the servo motor rotates forward and passes through the coupling.
  • the device 1-2 drives the hydraulic pump 1-3 to rotate forward, the hydraulic pump A port outputs high-pressure oil, and the hydraulic oil enters the left cavity of the symmetrical hydraulic cylinder 10-1 through the hydraulic control check valve 1-6 and A1 oil circuit, and the cylinder piston Stretch out, the oil in the right cavity of the symmetrical hydraulic oil cylinder 10-1 enters the B port of the pump through the A2 oil circuit and the hydraulic control check valve 1-6.
  • the servo motor 1-1 When the piston rod of the oil cylinder needs to be retracted, the servo motor 1-1 reverses and drives the hydraulic pump 1-3 to reverse through the coupling 1-2.
  • the B port of the hydraulic pump outputs high-pressure oil, and the hydraulic oil passes through the hydraulic control check valve.
  • A2 oil circuit enters the right chamber of the symmetrical hydraulic cylinder 1-10, the piston of the oil cylinder retracts, and the oil in the left chamber of the symmetrical hydraulic cylinder 1-10 enters the A of the pump through the A1 oil circuit and the hydraulic control check valve 1-6. mouth.
  • the two one-way valves 1-5 are used to supply oil to the A and B ports when the hydraulic pump is working, and the two overflow valves 1-7 are used to limit the pressure in the two chambers of the hydraulic cylinder and protect the system when the system is overloaded.
  • Two hydraulically controlled one-way valves 1-6 play a role in stabilizing the system when a negative load is generated when the oil cylinder is working.
  • Position control switches 1-11 are used to limit the minimum and maximum positions of the actuator piston movement.
  • FIG. 3 is only a schematic diagram of a single hydraulic synchronous actuator.
  • One driver controls one hydraulic synchronous actuator, and the number of drivers and hydraulic synchronous actuators can be two or more according to actual work requirements.
  • first carry out synchronization performance debugging Before the EHA hydraulic synchronization system works, first carry out synchronization performance debugging. First control a group of drivers and hydraulic synchronous actuators, adjust the driver to control the speed of the servo motor, and record the working speed value and the parameters set by the driver after the working speed of the hydraulic synchronous actuator meets the requirements. Then control another group of drivers and hydraulic synchronous actuators, and adjust the parameters of the drivers to ensure that the working speed of the hydraulic synchronous actuators is consistent with the speed of the previous actuator. Similarly, you can continue to adjust and control the third and fourth groups. ...the driver and the hydraulic synchronous actuator make the hydraulic synchronous actuators of each group work at the same speed.
  • the upper computer can be used for control, and the speed sensor can be installed on the hydraulic synchronous actuator for speed detection, and the speed synchronous control accuracy can reach within 0.1%.
  • the position control switch can be replaced by a displacement sensor for closed-loop control, and the synchronous control accuracy can reach 0.01%.
  • This application can be used for two or more hydraulic synchronous working conditions. Because of the same working principle and synchronous control accuracy, the content of this application is mainly introduced according to the work of two hydraulic synchronous actuators, but in practical applications, it can be Equipped with a pair of hydraulic synchronous actuators as required.
  • the EHA hydraulic synchronous system includes two or more hydraulic synchronous actuators.
  • the synchronous actuator has compact structure, small size, light weight, high output efficiency, large power-to-weight ratio, and no pollution. It does not need to be equipped with a hydraulic pump station.
  • Each EHA actuator is an independent control unit, which does not affect each other. According to different loads and working conditions, it can form a synchronous control system of two or more hydraulic synchronizers, with high synchronous control accuracy.
  • the EHA hydraulic synchronous system has compact structure, small size, light weight, high output efficiency, large power-to-weight ratio, and can easily adjust the working speed of the hydraulic cylinder and the synchronous control accuracy. At the same time, it can also compensate for the out-of-synchronization problem caused by the wear of hydraulic components.
  • the system has high reliability, long service life, strong innovation and practicability, and has achieved good results in practical applications.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

一种EHA液压同步系统，其包括至少两个EHA液压同步作动器（1）、控制箱（2）、控制线束（3），每一个EHA液压同步作动器（1）均为一个独立控制单元，每一个EHA液压同步作动器（1）的伺服电机（1-1）连接控制箱（2）内对应的驱动器（2-2），由控制箱（2）内对应的驱动器（2-2）来控制该EHA液压同步作动器（1）动作，每一个EHA液压同步作动器（1）通过调整各自对应的驱动器（2-2）参数来保证工作速度同步一致，同步控制精度高。

Description

EHA液压同步系统
相关申请的交叉引用
本申请要求于2021年08月31日提交中国专利局、申请号为202111012939.6的中国专利申请的优先权，所述专利申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及一种液压系统，尤其是一种EHA液压同步系统。
背景技术
在液压系统工作中，经常有进行同步工作的要求，需要两个及以上液压油缸进行同步工作，这些液压油缸活塞杆同时伸出、同时缩回，要求同时伸出或缩回的速度、位置保持一致。
液压系统中常用的同步工作系统基本上都由液压泵源(包括电机、液压泵、液压阀、过滤器、液压油箱及附件等)、同步控制元件、同步执行元件(液压油缸)及相关液压管路接头组成。同步控制元件一般为同步阀、同步马达等液压元件。同步马达一般的同步控制精度为1-3％，同步阀的同步控制精度一般为0.5-1.5％，这样的控制精度在一般的工业液压系统中基本能满足要求，但在对同步精度要求高，工作负载大的液压系统中就与要求相差很远。如果要求进一步提高同步精度，就需要采用伺服阀、比例阀和伺服油缸进行控制，导致系统成本急剧上升。另外该类液压系统除了液压油缸这样的执行元件，还需要液压泵站给油缸提供动力，系统整体体积及重量过大，功率损失也很大，维护保养很不方便。
为解决上述问题，提高液压同步系统的控制精度，减少系统安装空间及重量，在得到高同步精度控制的同时，使系统功率损耗达到最小，需要采用电静液作动器EHA(Electro-Hydrostatic Actuator)控制原理，同步控制系统由两个及以上EHA液压同步作动器组成，同步控制精度可以达到0.1-0.01％，而且整个系统无需外带液压泵站，减少了液压油箱及相关附件管路，整体体积小，重量轻，功率损失小。
发明内容
根据本申请的实施例，提供一种全新的EHA液压同步系统。
一种EHA液压同步系统包括至少两个EHA液压同步作动器、控制箱、控制线束。每一 个EHA液压作动器均为一个独立控制单元，每一个EHA液压同步作动器的伺服电机连接控制箱内对应的驱动器，由控制箱内对应的驱动器来控制该EHA液压同步作动器动作，多个EHA液压同步作动器通过调整各自对应的驱动器参数来保证工作速度同步一致。
在其中一个实施例中，多个EHA液压同步作动器同步控制精度在0.1％-0.01％的范围内。
在其中一个实施例中，所述EHA液压同步作动器包括伺服电机、联轴器、液压泵、功能阀块、单向阀、液控单向阀、溢流阀、微型闭式压力油箱、测压放气接头、对称液压油缸、位置控制开关。
在其中一个实施例中，所述液压泵为双向液压泵。在工作时，所述伺服电机接收到控制箱内驱动器的指令信号后开始工作，伺服电机通过联轴器带动液压泵正转，液压泵A口输出高压液压油，高压液压油通过液控单向阀、A1油路进入对称液压油缸的左腔，使油缸活塞伸出，对称液压油缸右腔的油通过A2油路、液控单向阀进入液压泵的B口。
在其中一个实施例中，当油缸活塞杆需要缩回时，所述伺服电机通过联轴器，带动液压泵反转，液压泵B口输出高压液压油，高压液压油通过液控单向阀、A2油路进入对称液压油缸的右腔，油缸活塞缩回，对称液压油缸左腔的油通过A1油路、液控单向阀进入液压泵的A口。
在其中一个实施例中，两个单向阀分别连接液压泵的A、B口，用于液压泵工作时A、B口的补油，两个溢流阀分别连接对称液压油缸的两腔，用于限制对称液油压缸的两腔的压力，在EHA液压同步系统超载时起到保护EHA液压同步系统的作用。两个液控单向阀分别连接对称液压油缸的两腔，用于在对称液压油缸工作时产生负负载时起到稳定EHA液压同步系统的作用。
在其中一个实施例中，两个位置控制开关设置在对称液压油缸上，用于限制对称液压油缸的油缸活塞运动的最小和最大位置。
在其中一个实施例中，所述控制箱包括箱体、驱动器、输出端子模块。所述驱动器和输出端子模块安装在箱体内，所述驱动器的控制线束、电源线束连接到输出端子模块上，并通过输出端子模块的端子连接位于控制箱外的EHA液压同步作动器。
本申请将液压同步控制的液压油缸做成各自独立的运动控制单元，各运动控制单元之间的液压油路互不影响，增加了作动器工作的稳定性。通过控制伺服电机的转速来控制液压泵的转速和输出流量，从而控制液压油缸的工作速度。在液压系统中都一般都包括液压泵、液压油缸、液压阀等液压元件，而这些液压元件不可避免的均会存在内泄、压降、节流等问题，造成液压元件效率损失，这些效率损失叠加后最终反应到执行元件(液压油缸)的输出速度及推拉力， 影响液压油缸的同步性能，而且这些液压元件随着使用周期增加，工作效率会进一步降低，加大了对同步精度的影响，使同步精度进一步降低。在本申请中可以定期对伺服电机驱动器的参数进行修改，使液压油缸可以长期保持高同步精度。
综上所述，本申请的EHA液压同步系统设计理念新颖，结构紧凑、体积小、重量轻、输出效率高、功率重量比大、可以很方便的调整液压油缸工作速度，同步控制精度高，同时还可以补偿因液压元件磨损而造成的不同步问题，系统可靠性高，使用寿命长，具有很强的创新性、实用性，在实际应用中取得良好的效果。
附图说明
为了更清楚地说明本申请实施例或传统技术中的技术方案，下面将对实施例或传统技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅是本申请的一些实施例，对于本领域普通技术人员而言，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，其中：
图1为EHA液压同步系统示意图；
图2为EHA液压同步作动器液压原理图；
图3为EHA液压同步作动器结构主视图；
图4为图3的左视图。
具体实施方式
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚、明白，以下结合附图和实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个 元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
下面结合附图与实施例对本申请作进一步说明。
如图1至图4所示，本申请的一种EHA液压同步系统包括两个及以上EHA液压同步作动器1、控制箱2、控制线束3。其中，EHA液压同步作动器1包括伺服电机1-1、联轴器1-2、液压泵1-3、功能阀块1-4、单向阀1-5(2件)、液控单向阀1-6(2件)、溢流阀1-7(2件)、微型闭式压力油箱1-8、测压放气接头1-9(4件)、对称液压油缸1-10、位置控制开关1-11(2件)。控制箱包括箱体2-1、驱动器2-2、输出端子模块2-。
每一个EHA液压同步作动器的伺服电机1-1由控制箱里面对应的驱动器2-2来控制。
实施过程：
一、控制箱装配，参看图1
第一步，将驱动器2-2分别安装在控制箱2-1内，驱动器2-2的数量与参数与EHA液压同步作动器1向对应，图中画了2个，另外预留了两个，在实际使用时是根据EHA液压同步作动器数量来确定。
第二步，再将输出端子模块2-3安装在控制箱体2-1内，输出端子数量应满足驱动器控制输出要求。
第三步，将驱动器2-2的控制线束、电源线束连接到输出端子模块2-3上，并从端子输出到控制箱体2-1外。
二、EHA液压同步作动器装配
EHA液压同步作动器主要包括伺服电机1-1、联轴器1-2、液压泵1-3、功能阀块1-4、单向阀1-5(2件)、液控单向阀1-6(2件)、溢流阀1-7(2件)、微型闭式压力油箱1-8、测压放气接头1-9(4件)、对称液压油缸1-10、位置控制开关1-11(2件)。
EHA液压同步作动器的液压原理如图2所示，液压泵为双向液压泵，在工作时伺服电机1-1接收到控制箱内驱动器的指令，开始工作，伺服电机正转，通过联轴器1-2，带动液压泵1-3正转，液压泵A口输出高压油，液压油通过液控单向阀1-6、A1油路进入对称液压油缸10-1的左腔，油缸活塞伸出，对称液压油缸10-1右腔的油通过A2油路、液控单向阀1-6进入泵的B口。当油缸活塞杆需要缩回时，伺服电机1-1反转，通过联轴器1-2，带动液压泵1-3反转，液压泵B口输出高压油，液压油通过液控单向阀1-6、A2油路进入对称液压油缸1-10 的右腔，油缸活塞缩回，对称液压油缸1-10左腔的油通过A1油路、液控单向阀1-6进入泵的A口。
两个单向阀1-5是用于液压泵工作时A、B口的补油，两个溢流阀1-7是限制液压油缸两腔压力，在系统超载时起到保护系统的作用。两个液控单向阀1-6，在油缸工作时产生负负载时起到稳定系统的作用。
位置控制开关1-11用于限制作动器活塞运动的最小和最大位置。
因工作负载不同，液压同步作动器内部各元件规格也不相同，但工作原理相同，图3仅为单台液压同步作动器示意图。
三、系统安装，参看图1
分别将液压同步作动器的伺服电机及位置开关的电源控制线束3与控制箱内驱动器的线束一一对应连接。
一个驱动器控制一个液压同步作动器，驱动器及液压同步作动器根据实际工作需求数量可以是两个及两个以上。
四、系统同步性控制
在EHA液压同步系统工作前，先进行同步性能调试。先控制一组驱动器及液压同步作动器，调整驱动器控制伺服电机的转速，在液压同步作动器的工作速度达到要求后，记录下工作速度值及驱动器设置的参数。然后再控制另一组驱动器及液压同步作动器，调整驱动器参数保证液压同步作动器的工作速度与前一台作动器的速度一致，同理可以继续调整控制第三组、第四组……驱动器及液压同步作动器，使各组的液压同步作动器工作速度一致。
在调整驱动器控制参数时可以采用上位机进行控制，液压同步作动器上可以安装速度传感器进行速度检测，可以将速度同步控制精度可以达到0.1％以内。
如果实际工作中要求更高的同步控制精度，可以将位置控制开关换成位移传感器进行闭环控制，同步控制精度可以达到0.01％。
本申请可以用于两个及以上液压同步工况，因其工作原理及同步控制精度相同，在本申请内容中主要是按两个液压同步作动器工作来介绍，但在实际应用中，可以根据需要配备对个液压同步作动器。
该EHA液压同步系统包括两个及以上的液压同步作动器，该同步作动器的结构紧凑、体积小、重量轻、输出效率高、功率重量比大、无污染，无需配备液压泵站，每一个EHA作动器均为一个独立控制单元，相互之间互不影响，根据负载和工况的不同，可以组成两个及以上 液压同步器的同步控制系统，具有很高的同步控制精度。
根据本申请，通过对EHA液压同步系统进行设计，使得EHA液压同步系统的结构紧凑、体积小、重量轻、输出效率高、功率重量比大、可以很方便的调整液压油缸工作速度，同步控制精度高，同时还可以补偿因液压元件磨损而造成的不同步问题，系统可靠性高，使用寿命长，具有很强的创新性、实用性，在实际应用中取得良好的效果。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (8)

  1. 一种EHA液压同步系统，其特征在于：该EHA液压同步系统包括至少两个EHA液压同步作动器、控制箱、控制线束，
    每一个EHA液压作动器为一个独立控制单元，每一个EHA液压同步作动器的伺服电机连接控制箱内对应的驱动器，由控制箱内对应的驱动器来控制该EHA液压同步作动器动作，多个EHA液压同步作动器通过调整各自对应的驱动器参数来保证工作速度同步一致。
  2. 根据权利要求1所述的EHA液压同步系统，其特征在于，多个EHA液压同步作动器同步控制精度在0.1％-0.01％的范围内。
  3. 根据权利要求1所述的EHA液压同步系统，其特征在于，所述EHA液压同步作动器包括伺服电机、联轴器、液压泵、功能阀块、单向阀、液控单向阀、溢流阀、微型闭式压力油箱、测压放气接头、对称液压油缸、位置控制开关。
  4. 根据权利要求3所述的EHA液压同步系统，其特征在于，所述液压泵为双向液压泵，在工作时，所述伺服电机接收到控制箱内驱动器的指令信号后开始工作，伺服电机通过联轴器带动液压泵正转，液压泵A口输出高压液压油，高压液压油通过液控单向阀、A1油路进入对称液压油缸的左腔，使油缸活塞伸出，对称液压油缸右腔的油通过A2油路、液控单向阀进入液压泵的B口。
  5. 根据权利要求4所述的EHA液压同步系统，其特征在于，当油缸活塞杆需要缩回时，所述伺服电机通过联轴器，带动液压泵反转，液压泵B口输出高压液压油，高压液压油通过液控单向阀、A2油路进入对称液压油缸的右腔，油缸活塞缩回，对称液压油缸左腔的油通过A1油路、液控单向阀进入液压泵的A口。
  6. 根据权利要求3所述的EHA液压同步系统，其特征在于，两个单向阀分别连接液压泵的A、B口，用于液压泵工作时A、B口的补油，两个溢流阀分别连接对称液压油缸的两腔，用于限制对称液压油缸的两腔的压力，在EHA液压同步系统超载时起到保护EHA液压同步系统的作用；两个液控单向阀分别连接对称液压油缸的两腔，用于在对称液压油缸工作时产生负负载时起到稳定EHA液压同步系统的作用。
  7. 根据权利要求3所述的EHA液压同步系统，其特征在于，两个位置控制开关设置在对称液压油缸上，用于限制对称液压油缸的油缸活塞运动的最小和最大位置。
  8. 根据权利要求1所述的EHA液压同步系统，其特征在于，所述控制箱包括箱体、驱动器、输出端子模块，所述驱动器和输出端子模块安装在箱体内，所述驱动器的控制线束、电源线束连接到输出端子模块上，并通过输出端子模块的端子连接位于控制箱外的EHA液压 同步作动器。
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