CN111237280A - Rigidity-adjustable corner self-servo valve control hydraulic joint - Google Patents

Abstract

The invention relates to a self-servo valve-controlled hydraulic joint with adjustable stiffness. In the hydraulic joint provided by the invention, when the pressure in the first working chamber/the second working chamber is greater than a threshold value, the floating valve core descends and makes the first pressure relief flow The third pressure relief channel is communicated with the second pressure relief channel, and the high hydraulic pressure in the first working chamber/second working chamber flows into the second working chamber/first working chamber; when the first working chamber/second working chamber When the pressure in the cavity drops and returns to the threshold value, the floating spool moves upward and resets, and the high-pressure oil in the first working cavity/second working cavity stops flowing into the second working cavity/first working cavity. In the present invention, the on/off of the first pressure relief channel and the second pressure relief channel is realized by the floating of the floating valve core, so as to control whether the pressure oil in the high pressure chamber is unloaded to the low pressure chamber and change the stiffness of the joint.

Description

A Rotary Angle Self-Servo-Valve Controlled Hydraulic Joint with Adjustable Stiffness

technical field

The invention relates to a hydraulic joint, in particular to a rotational angle self-servo valve-controlled hydraulic joint with adjustable stiffness.

Background technique

The working principle of hydraulic angle servo technology is to use the small torque of the motor to directly drive the valve core to open the valve port, so that the high-pressure oil can push the valve body to rotate, and then obtain a large output torque.

The hydraulic angle self-servo valve is the core component of the hydraulic control system. It has the characteristics of high precision and fast response. It is widely used in high-precision mechatronic systems, aerospace airborne drive systems, and large-scale test equipment. Therefore, Get the attention of domestic and foreign scientific and technological personnel.

At present, hydraulic manipulator robots with large output torque are widely used in industrial production, but such robots have poor human-machine contact safety and do not have the ability to handle contact at the moment of accidental contact, which is an urgent need. problem solved.

SUMMARY OF THE INVENTION

In view of the above problems, a self-servo valve-controlled hydraulic joint with adjustable stiffness and overload protection is provided.

The specific technical solutions are as follows:

An angle self-servo valve-controlled hydraulic joint with adjustable stiffness, comprising a cylinder body, a left end cover, a right end cover, a driving steering gear, a cylinder inner ring, an outer valve body, a fixed stop, a blade, an inner valve body, a valve core, The shaft of the valve body and the flange plate, the two ends of the cylinder body are sealed by the left end cover and the right end cover respectively and form a sealing cavity, the cylinder body and the outer valve body are all set in the above-mentioned sealing cavity, and the inner valve body is penetrated in the cylinder body. Between the ring and the outer valve body, the valve core is set in the inner valve body, and one end of the valve core passes through the left end cover and is connected with the steering gear plate that drives the steering gear, and one end of the valve body shaft is connected to the inner valve body. The other end of the rotating shaft passes through the right end cover and is connected with the flange plate, the vane and the fixed stopper are arranged between the inner ring of the cylinder and the outer valve body, and the vane is fixedly connected to the outer wall of the inner valve body, and the fixed stopper is connected to the On the inner wall of the cylinder body, the fixed block and the vanes separate the sealing cavity formed by the cylinder body, the inner valve body, the inner ring of the cylinder and the outer valve body to form the first working chamber and the second working chamber, which has the following characteristics: The fixed block is provided with a floating valve core cavity, a first pressure relief flow channel and a second pressure relief flow channel. One end of the first pressure relief flow channel and the second pressure relief flow channel is connected with the floating valve core cavity. The other ends of the pressure relief flow channel and the second pressure relief flow channel are respectively communicated with the first working chamber and the second working chamber. The floating valve core cavity is provided with a floating valve core, and the floating valve core is slidably sealed in the floating valve core cavity. Inside, and the floating valve core is provided with a third pressure relief channel;

Wherein, when the pressure in the first working chamber/second working chamber is greater than the threshold value, the floating spool goes down and makes the first pressure relief flow passage communicate with the second pressure relief flow passage through the third pressure relief flow passage, and the first working chamber/ The high hydraulic pressure in the second working chamber flows into the second working chamber/the first working chamber; when the pressure in the first working chamber/the second working chamber drops and returns to the threshold value, the floating spool moves up and resets, and the first working chamber/the first working chamber The high-pressure oil in the second working chamber stops flowing into the second working chamber/first working chamber.

The above-mentioned rotary angle self-servo valve-controlled hydraulic joint also has the feature that the hydraulic joint further includes a first return spring, a second return spring and an external joint arranged on the cylinder body, and the external joint is provided with an oil flow channel, and The external joint is communicated with the floating valve core cavity through the oil flow channel, the first return spring and the second return spring are both arranged in the floating valve core cavity, and one end of the floating valve core is connected to the external joint through the first return spring, floating The other end of the valve core is connected to the fixed block through a second return spring.

The above-mentioned rotary angle self-servo valve-controlled hydraulic joint also has the feature that the fixed stop is further provided with a fourth pressure relief flow channel, one end of which is communicated with the floating valve core cavity, and the other end of the fourth pressure relief flow channel passes through the cylinder located in the cylinder. The connecting flow channel in the body communicates with the first oil discharge joint located on the left end cover.

The above-mentioned rotary angle self-servo valve-controlled hydraulic joint also has the feature that a mounting through hole is provided on the contact surface between the fixed stopper and the inner wall of the cylinder, and the cylinder body is provided with a fixing screw installed in the mounting through hole. The matching countersunk hole and the fixed block are installed on the cylinder body through the fixing screw.

The beneficial effects of the above scheme are:

In the present invention, the on/off of the first pressure relief channel and the second pressure relief channel is realized by the floating of the floating valve core, so as to control whether the pressure oil in the high pressure chamber is unloaded to the low pressure chamber and change the stiffness of the joint.

Description of drawings

1 is a schematic cross-sectional structural diagram of a rotary angle self-servo valve-controlled hydraulic joint provided in an embodiment of the present invention;

Fig. 2 is the sectional structure schematic diagram along the letter A-A line in Fig. 1;

3 is a schematic diagram of a partially exploded structure of a rotary angle self-servo valve-controlled hydraulic joint provided in an embodiment of the present invention;

FIG. 4 is a partial enlarged view of the part corresponding to the letter A in FIG. 3 .

In the drawings: 1. Cylinder block; 2. Left end cover; 3. Right end cover; 4. Driving steering gear; 5. Cylinder inner ring; 6. Outer valve body; 7. Fixed stop; 8. Blade; 9. Inner valve body; 10, valve core; 11, valve body shaft; 12, flange plate; 13, floating valve core cavity; 14, first pressure relief channel; 15, second pressure relief channel; 16, floating valve Core; 17, the third pressure relief flow channel; 18, the first return spring; 19, the second return spring; 20, the external joint; 21, the fourth pressure relief flow channel; 22, the connection flow channel; 23, the first release oil joint; 24, fixing screw; 25, first working chamber; 26, second working chamber.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict.

The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but it is not intended to limit the present invention.

As shown in FIGS. 1 to 4 , the angle self-servo valve-controlled hydraulic joint provided in the embodiment of the present invention includes a cylinder block 1 , a left end cover 2 , a right end cover 3 , a driving steering gear 4 , a cylinder inner ring 5 , and an outer valve. Body 6, fixed block 7, vane 8, inner valve body 9, valve core 10, valve body shaft 11 and flange 12, both ends of cylinder body 1 are sealed by left end cap 2 and right end cap 3 respectively and form a sealed cavity The inner ring 5 of the cylinder and the outer valve body 6 are arranged in the above-mentioned sealed cavity, the inner valve body 9 is inserted between the inner ring 5 of the cylinder and the outer valve body 6, and the valve core 10 is arranged in the inner valve body 9 , and one end of the valve core 10 passes through the left end cover 2 and is connected with the steering gear plate that drives the steering gear 4 , one end of the valve body rotating shaft 11 is connected to the inner valve body 9 , and the other end of the valve body rotating shaft 11 passes through the right end cover 3 . And connected to the flange 12, the vane 8 and the fixed stop 7 are arranged between the inner ring 5 of the cylinder and the outer valve body 6, and the vane 8 is fixedly connected to the outer wall of the inner valve body 9, and the fixed stop 7 is connected to On the inner wall of the cylinder body 1, the fixed block 7 and the vanes 8 separate the annular sealing cavity formed by the cylinder body 1, the inner valve body 9, the cylinder inner ring 5 and the outer valve body 6 to form the first working chamber 25, The second working chamber 26, in the present invention, the fixed block 7 is provided with a floating valve core chamber 13, a first pressure relief channel 14 and a second pressure relief channel 15, and the first pressure relief channel 14 and the second pressure relief channel One end of the flow channel 15 is communicated with the floating valve core cavity 13 , and the other ends of the first pressure relief flow channel 14 and the second pressure relief flow channel 15 are respectively communicated with the first working chamber 25 and the second working chamber 26 respectively. The valve core cavity 13 is provided with a floating valve core 16 , the floating valve core 16 is slidably sealed in the floating valve core cavity 13 , and the floating valve core 16 is provided with a third pressure relief channel 17 .

Different from the prior art, in the present invention, when the pressure in the first working chamber 25/the second working chamber 26 is greater than the threshold value, the floating spool 16 descends and causes the first pressure relief channel 14 to pass through the third pressure relief channel 17 and the first pressure relief channel 17. The two pressure relief channels 15 are connected, and the high hydraulic pressure in the first working chamber 25/second working chamber 26 flows into the second working chamber 26/first working chamber 25, so that the pressure oil from the high pressure chamber is unloaded to the low pressure chamber, and further Change the joint stiffness; when the pressure in the first working chamber 25/second working chamber 26 drops and returns to the threshold value, the floating spool 16 goes up and resets, and the high-pressure oil in the first working chamber 25/second working chamber 26 stops flowing into the second working chamber 25. In the working chamber 26/the first working chamber 25, the hydraulic joint operates normally like the hydraulic joint provided in the prior art.

When the hydraulic joint provided by the present invention operates normally, its working principle is the same as that of the prior art, especially the hydraulic joint researched and provided by this research group (for example, the application number is CN201822233651.1, and the name of the invention is "an easy-to-process hydraulic angle self-servo compliance"). The working principle of the hydraulic joint provided in this application is the same, so the working principle of the hydraulic joint provided in this application will not be further described in this application.

Specifically, the hydraulic joint provided by the present invention further includes a first return spring 18, a second return spring 19 and an external joint 20 provided on the cylinder body 1. In the present invention, the external joint 20 is provided with an oil flow channel, and The external joint 20 is communicated with the floating valve core cavity 13 through the oil flow channel, and the first return spring 18 and the second return spring 19 are both arranged in the floating valve core cavity 13 , and one end of the floating valve core 16 passes through the first return spring 18 It is connected to the external joint 20, and the other end of the floating valve core 16 is connected to the fixed block 7 through the second return spring 19. In the present invention, the pressure in the first working chamber 25/the second working chamber 26 may be greater than the threshold value. The high-pressure oil flows into the floating spool cavity 13 through the external joint 20. At this time, the floating spool 16 can descend under the action of the high-pressure oil and make the first pressure relief flow passage 14 pass through the third pressure relief flow passage 17 and the second pressure relief flow passage 17. The pressure flow channel 15 is connected, so that the high hydraulic pressure in the first working chamber 25/the second working chamber 26 flows into the second working chamber 26/the first working chamber 25; when the pressure in the first working chamber 25/the second working chamber 26 When it falls and returns to the threshold value, high-pressure oil can be pumped out from the floating spool cavity 13. At this time, the floating spool 16 can ascend and reset under the action of the first return spring 18 and the second return spring 19, so that the first The pressure relief flow channel 14 is separated from the second pressure relief flow channel 15, and further, the high hydraulic pressure in the first working chamber 25/second working chamber 26 stops flowing into the second working chamber 26/first working chamber 25. At this time, the hydraulic pressure The joints can function normally.

On the basis of the above technical solution, further, the fixed stopper 7 in the hydraulic joint provided in this embodiment is further provided with a fourth pressure relief channel 21 whose one end communicates with the floating valve core cavity 13 . The other end of the pressure flow channel 21 is communicated with the first oil discharge joint 23 located on the left end cover 2 through the connecting flow channel 22 located in the cylinder block 1 . The sealing performance of the valve core 16 will decrease with the increase of operating time. Therefore, the oil infiltrating the bottom of the floating valve core cavity 13 can be pumped out in time by arranging the fourth pressure relief flow channel 21 and the corresponding connecting flow channel.

On the basis of the above technical solutions, further, in the hydraulic joint provided by this embodiment, the contact surface between the fixed block 7 and the inner wall of the cylinder body 1 is provided with an installation through hole, and the cylinder body 1 is provided with an installation through hole. The fixing screw in the hole is matched with the countersunk hole. In the present invention, the fixing block 7 is installed on the cylinder block 1 through the fixing screw 24. Different from the hydraulic joint provided by this research group, the fixing screw 24 in the present invention is from the fixing block. After the block 7 is penetrated and then driven into the countersunk hole on the cylinder block 1, the fixed block 7 can be effectively fastened on the cylinder block 1 by the contact between the screw head of the fixing screw 24 and the countersunk hole, and the above-mentioned The change of the structure can also avoid the difficulty of milling out the connection flow channel matched with the external joint 20 and the floating valve core cavity 13 on the cylinder block 1 due to the limited space caused by the installation through holes in the cylinder block 1 in the prior art. this technical problem.

The above are only preferred embodiments of the present invention, and are not intended to limit the embodiments and protection scope of the present invention. For those skilled in the art, they should be aware of the equivalent replacement and Solutions obtained by obvious changes shall all be included in the protection scope of the present invention.

Claims (4)

1. A rigidity-adjustable corner self-servo valve-controlled hydraulic joint comprises a cylinder body (1), a left end cover (2), a right end cover (3), a driving steering engine (4), a cylinder body inner ring (5), an outer valve body (6), a fixed stop block (7), blades (8), an inner valve body (9), a valve core (10), a valve body rotating shaft (11) and a flange plate (12), wherein two ends of the cylinder body (1) are respectively sealed by the left end cover (2) and the right end cover (3) to form a sealed cavity, the cylinder body inner ring (5) and the outer valve body (6) are arranged in the sealed cavity, the inner valve body (9) is arranged between the cylinder body inner ring (5) and the outer valve body (6) in a penetrating manner, the valve core (10) is arranged in the inner valve body (9), and one end of the valve core (10) penetrates through the left end cover (2) and is connected with the steering engine plate of the driving steering engine, one end of the valve body rotating shaft (11) is connected to the inner valve body (9), the other end of the valve body rotating shaft (11) penetrates through the right end cover (3) and is connected with the flange plate (12), the blade (8) and the fixed stop block (7) are arranged on the inner cylinder body ring (5) and between the outer valve bodies (6), the blade (8) is fixedly connected to the outer wall of the inner valve body (9), the fixed stop block (7) is connected to the inner wall of the cylinder body (1), the fixed stop block (7) and the blade (8) divide a sealed cavity formed by surrounding the inner cylinder body (1), the inner valve body ring (9), the inner cylinder body ring (5) and the outer valve body (6) into a first working cavity (25) and a second working cavity (26), and the valve core sealing structure is characterized in that a floating stop cavity (13) and a floating valve core cavity (26) are arranged in the fixed stop block (7), A first pressure relief flow passage (14) and a second pressure relief flow passage (15), wherein one end of each of the first pressure relief flow passage (14) and the second pressure relief flow passage (15) is communicated with the floating valve core cavity (13), the other end of each of the first pressure relief flow passage (14) and the second pressure relief flow passage (15) is correspondingly communicated with the first working cavity (25) and the second working cavity (26), a floating valve core (16) is arranged in the floating valve core cavity (13), the floating valve core (16) is sealed in the floating valve core cavity (13) in a sliding manner, and a third pressure relief flow passage (17) is arranged in the floating valve core (16);

wherein when the pressure in the first working chamber (25)/the second working chamber (26) is greater than a threshold value, the float valve spool (16) descends and connects the first pressure relief flow passage (14) to the second pressure relief flow passage (15) through the third pressure relief flow passage (17), and high hydraulic pressure in the first working chamber (25)/the second working chamber (26) flows into the second working chamber (26)/the first working chamber (25); when the pressure in the first working chamber (25)/the second working chamber (26) is reduced and is recovered to a threshold value, the floating valve core (16) moves upwards and is reset, and high-pressure oil in the first working chamber (25)/the second working chamber (26) stops flowing into the second working chamber (26)/the first working chamber (25).

2. The corner self-servo valve-controlled hydraulic joint according to claim 1, further comprising a first return spring (18), a second return spring (19) and an external connector (20) arranged on the cylinder body (1), wherein an oil flow channel is arranged in the external connector (20), the external connector (20) is communicated with the floating valve core cavity (13) through the oil flow channel, the first return spring (18) and the second return spring (19) are both arranged in the floating valve core cavity (13), one end of the floating valve core (16) is connected to the external connector (20) through the first return spring (18), and the other end of the floating valve core (16) is connected to the fixed stop block (7) through the second return spring (19).

3. The corner self-servo valve-controlled hydraulic joint according to claim 1 or 2, wherein a fourth pressure relief flow passage (21) with one end communicated with the floating valve core cavity (13) is further arranged in the fixed stop block (7), and the other end of the fourth pressure relief flow passage (21) is communicated with a first oil discharge joint (23) on the left end cover (2) through a connecting flow passage (22) in the cylinder body (1).

4. The corner self-servo valve-controlled hydraulic joint according to claim 3, wherein a mounting through hole is formed in a contact surface between the fixed stop block (7) and the inner wall of the cylinder body (1), a counter bore matched with a fixing screw (24) mounted in the mounting through hole is formed in the cylinder body (1), and the fixed stop block (7) is mounted on the cylinder body (1) in a matched manner through the fixing screw (24).

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