CN104847749A - Electro-hydraulic combined type linear actuator and energy-saving working method thereof - Google Patents
Electro-hydraulic combined type linear actuator and energy-saving working method thereof Download PDFInfo
- Publication number
- CN104847749A CN104847749A CN201510116566.5A CN201510116566A CN104847749A CN 104847749 A CN104847749 A CN 104847749A CN 201510116566 A CN201510116566 A CN 201510116566A CN 104847749 A CN104847749 A CN 104847749A
- Authority
- CN
- China
- Prior art keywords
- ball valve
- oil
- port
- hydraulic control
- push rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000002131 composite material Substances 0.000 claims abstract description 23
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 7
- 238000004146 energy storage Methods 0.000 claims description 6
- 238000010248 power generation Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 claims 1
- 230000005611 electricity Effects 0.000 abstract description 3
- 230000020169 heat generation Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract 1
- 239000002828 fuel tank Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
-
- 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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Power Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
本发明公开的一种电液复合式直线作动器及其节能工作方法，涉及直线作动器及其节能工作方法，属于机电一体化技术领域。本发明包括编码器、电机、螺母、丝杠、推杆、内筒、外筒、液控口A、液控口B、控制阀A、控制阀B、无泄漏球阀A、无泄漏球阀B、无泄漏球阀C、无泄漏球阀D和回油油箱，具备电液复合式工作模式。本发明的优点在于实现了直线作动器负载口的独立控制，当所需的油液压力与负载的运动方向相反时，供油油路无需进行高压供油，只需低压补油即可，因此，节约能量，减少发热。此外，本发明通过带动电机发电，在提供所需的与负载运动方向相反的油液压力的同时，将多余的能量以电能的形式储存起来，节约能量。
The invention discloses an electro-hydraulic composite linear actuator and its energy-saving working method, relates to a linear actuator and its energy-saving working method, and belongs to the technical field of electromechanical integration. The invention includes encoder, motor, nut, lead screw, push rod, inner cylinder, outer cylinder, hydraulic control port A, hydraulic control port B, control valve A, control valve B, non-leakage ball valve A, non-leakage ball valve B, The non-leakage ball valve C, the non-leakage ball valve D and the oil return tank have an electro-hydraulic composite working mode. The advantage of the present invention is that the independent control of the load port of the linear actuator is realized. When the required oil pressure is opposite to the movement direction of the load, the oil supply circuit does not need high-pressure oil supply, only low-pressure oil supply is sufficient. Thus, energy is saved and heat generation is reduced. In addition, the present invention drives the motor to generate electricity, while providing the required oil pressure opposite to the direction of load movement, and at the same time storing excess energy in the form of electric energy to save energy.
Description
技术领域technical field
本发明涉及一种直线作动器及其节能工作方法，尤其涉及一种电液复合式的直线作动器及其节能工作方法，属于机电一体化技术领域。The invention relates to a linear actuator and an energy-saving working method thereof, in particular to an electro-hydraulic composite linear actuator and an energy-saving working method thereof, belonging to the technical field of mechatronics.
背景技术Background technique
液压缸可以将活塞两腔的压力和流量转化为推力与直线速度，从而将液压能转变为机械能，实现了直线式往复运动。液压缸结构简单、工作可靠，功率密度高，负载能力强，运动平稳。液压缸通常无法单独工作，需要控制阀的配合，传统液压阀控系统中，控制阀的两个控制口是机械固联的，在对液压缸进行控制时，只能对其中一个控制口的开口度进行控制，另外一个控制口会随之变化，当油路通过随动的控制口回油时，由于控制口的节流作用，会产生发热，将能量以热能的形式浪费掉。The hydraulic cylinder can convert the pressure and flow of the two chambers of the piston into thrust and linear velocity, thereby converting hydraulic energy into mechanical energy and realizing linear reciprocating motion. The hydraulic cylinder has simple structure, reliable operation, high power density, strong load capacity and stable movement. Hydraulic cylinders usually cannot work alone and require the cooperation of control valves. In traditional hydraulic valve control systems, the two control ports of the control valve are mechanically connected. When controlling the hydraulic cylinder, only one of the control ports can be opened. Control the speed, and the other control port will change accordingly. When the oil circuit returns oil through the follow-up control port, due to the throttling effect of the control port, heat will be generated, and the energy will be wasted in the form of heat.
如何减少直线作动器能量的浪费，并且回收多余的能量成为一个急需解决的问题。How to reduce the energy waste of linear actuators and recover excess energy has become an urgent problem to be solved.
发明内容Contents of the invention
本发明要解决的技术问题是实现直线作动器节约能量，减少发热，并能实现将负载运动过程中多余的能量以电能形式回收。本发明公开一种电液复合式直线作动器及其节能工作方法。The technical problem to be solved by the present invention is to realize the linear actuator to save energy, reduce heat generation, and realize the recovery of excess energy in the form of electric energy during the movement of the load. The invention discloses an electro-hydraulic composite linear actuator and an energy-saving working method thereof.
本发明的目的是通过以下技术方案实现的：The purpose of the present invention is achieved through the following technical solutions:
本发明公开的一种电液复合式直线作动器，包括编码器、电机、螺母、丝杠、推杆、内筒、外筒、液控口A、液控口B、控制阀A、控制阀B、无泄漏球阀A、无泄漏球阀B、无泄漏球阀C、无泄漏球阀D和回油油箱，其中，内筒、外筒和推杆的中心轴线重合，外筒、内筒和推杆均为中空结构；内筒和外筒通过螺栓紧固在一起，推杆嵌套在内筒与外筒之间，并可沿中心轴线滑动；外筒和推杆之间形成液控腔A，油液通过液控口A进入液控腔A，外筒和推杆之间的移动接触面用密封圈密封；推杆和内筒之间形成液控腔B，油液通过液控口B进入液控腔B，推杆和内筒之间的移动接触面用密封圈密封；电机与编码器同轴安装在推杆的外端，电机轴与丝杠加工为一体化工件或采用联轴器固定在一起；丝杠和螺母构成了一对丝杠副，螺母固定在内筒的外端，丝杠可随着推杆沿中心轴线移动；控制阀A的供油口P、控制阀B的供油口P与高压油相连，控制阀A的回油口T、控制阀B的回油口T与回油油箱相连；控制阀A的控制口A通过无泄漏球阀A、液控口A与液控腔A相连，控制阀A的控制口B堵死；控制阀B的控制口A通过无泄漏球阀B、液控口B与液控腔B相连，控制阀B的控制口B堵死；无泄漏球阀C的一个端口与无泄漏球阀A相连，另一个端口与回油油箱相连；无泄漏球阀D的一个端口与无泄漏球阀B相连，另一个端口与回油油箱相连。An electro-hydraulic composite linear actuator disclosed in the present invention includes an encoder, a motor, a nut, a lead screw, a push rod, an inner cylinder, an outer cylinder, a hydraulic control port A, a hydraulic control port B, a control valve A, a control Valve B, non-leakage ball valve A, non-leakage ball valve B, non-leakage ball valve C, non-leakage ball valve D and oil return tank, wherein the central axes of the inner cylinder, outer cylinder and push rod coincide, and the outer cylinder, inner cylinder and push rod Both are hollow structures; the inner cylinder and the outer cylinder are fastened together by bolts, and the push rod is nested between the inner cylinder and the outer cylinder, and can slide along the central axis; a hydraulic control chamber A is formed between the outer cylinder and the push rod, The oil enters the hydraulic control chamber A through the hydraulic control port A, and the moving contact surface between the outer cylinder and the push rod is sealed with a sealing ring; the hydraulic control chamber B is formed between the push rod and the inner cylinder, and the oil enters through the hydraulic control port B The hydraulic control chamber B, the moving contact surface between the push rod and the inner cylinder is sealed with a sealing ring; the motor and the encoder are coaxially installed on the outer end of the push rod, and the motor shaft and the lead screw are processed as an integrated workpiece or a coupling is used They are fixed together; the lead screw and the nut form a pair of lead screw pairs, the nut is fixed at the outer end of the inner cylinder, and the lead screw can move along the central axis with the push rod; the oil supply port P of control valve A and the port of control valve B The oil supply port P is connected to the high-pressure oil, and the oil return port T of the control valve A and the oil return port T of the control valve B are connected to the oil return tank; the control port A of the control valve A is connected to the non-leakage ball valve A, the hydraulic control port A and the oil return tank. The hydraulic control chamber A is connected, and the control port B of the control valve A is blocked; the control port A of the control valve B is connected to the hydraulic control chamber B through the non-leakage ball valve B and the hydraulic control port B, and the control port B of the control valve B is blocked; One port of the non-leakage ball valve C is connected to the non-leakage ball valve A, and the other port is connected to the oil return tank; one port of the non-leakage ball valve D is connected to the non-leakage ball valve B, and the other port is connected to the oil return tank.
上述电机和推杆通过螺栓固联在一起，电机能够驱动丝杠产生旋转运动，由于内筒、外筒和螺母通过螺栓固联在一起，因此推杆和外筒之间就产生了相对直线运动，通过控制电机的电流信号能够控制直线运动的速度和方向，丝杠的旋转同时也带动了编码器的转动，产生用于位置检测的脉冲信号，这是典型的电动缸运动特征。The above-mentioned motor and push rod are fixedly connected together by bolts, and the motor can drive the lead screw to generate rotational motion. Since the inner cylinder, outer cylinder and nut are fixedly connected by bolts, relative linear motion is generated between the push rod and the outer cylinder The speed and direction of linear motion can be controlled by controlling the current signal of the motor. The rotation of the screw also drives the rotation of the encoder to generate a pulse signal for position detection, which is a typical electric cylinder motion feature.
油液能够通过液控口A进入外筒和推杆之间形成液控腔A，从而驱动推杆缩回外筒；油液能够通过液控口B进入内筒和推杆之间形成液控腔B，从而驱动推杆缩回外筒；也就是说，通过控制液控腔A和液控腔B的油液压力和流量，能够控制推杆直线运动的速度和方向，这是典型的液压缸运动特征。推杆与外筒和内筒的移动接触面均采用了液压缸活塞的密封形式，保证了油液不会进入电机的工作区域，影响电机的正常工作。推杆直线运动会带动电机产生空转，但阻力极小，通常情况下可忽略。The oil can enter between the outer cylinder and the push rod through the hydraulic control port A to form a hydraulic control cavity A, thereby driving the push rod to retract the outer cylinder; the oil can enter between the inner cylinder and the push rod through the hydraulic control port B to form a hydraulic control cavity. Chamber B, so as to drive the push rod to retract the outer cylinder; that is, by controlling the oil pressure and flow in the hydraulic control chamber A and hydraulic control chamber B, the speed and direction of the linear motion of the push rod can be controlled, which is a typical hydraulic pressure Cylinder motion characteristics. The moving contact surfaces of the push rod, the outer cylinder and the inner cylinder adopt the sealing form of the piston of the hydraulic cylinder, which ensures that the oil will not enter the working area of the motor and affect the normal operation of the motor. The linear motion of the push rod will drive the motor to produce idling, but the resistance is very small, usually negligible.
本发明公开的一种电液复合式直线作动器节能工作方法为：设向上为正方向，负载质量为m，油液压力为F，考虑平衡方程F＝mg+ma，则通过控制油液压力F即可控制负载的加速度，而油液压力F可以通过对油路的控制实现，具体分为四种工作模式：The energy-saving working method of an electro-hydraulic composite linear actuator disclosed by the present invention is as follows: set up as the positive direction, the load mass is m, the oil pressure is F, and considering the balance equation F=mg+ma, then by controlling the oil hydraulic pressure The force F can control the acceleration of the load, and the oil pressure F can be realized through the control of the oil circuit, which is divided into four working modes:
工作模式①当v＞0，F＞0时，控制阀B处于直通模式，通过调节控制口A的开口度来控制推杆的位移,打开无泄漏球阀B，高压油液通过控制阀B的供油口P、控制阀B的控制口A、泄漏球阀B、液控口B进入液控腔B；打开无泄漏球阀C，液控腔A中的油液通过液控口A、无泄漏球阀C回到回油油箱。此时，也可以给电机通电，使直线作动器处于电液复合工作模式，所述的电液复合工作模式具有液压缸的运动特征又具有电动缸的运动特征。Working mode ① When v>0, F>0, the control valve B is in the straight-through mode, the displacement of the push rod is controlled by adjusting the opening of the control port A, the non-leakage ball valve B is opened, and the high-pressure oil is supplied through the control valve B. Oil port P, control port A of control valve B, leakage ball valve B, and hydraulic control port B enter hydraulic control chamber B; open non-leakage ball valve C, the oil in hydraulic control chamber A passes through hydraulic control port A, non-leakage ball valve C Go back to the return fuel tank. At this time, the motor can also be energized, so that the linear actuator is in the electro-hydraulic composite working mode, and the electro-hydraulic composite working mode has the motion characteristics of the hydraulic cylinder and the motion characteristics of the electric cylinder.
工作模式②当v＞0，F＜0时，打开无泄漏球阀D，通过液控口B、无泄漏球阀D从回油油箱向液控腔B中补油；打开无泄漏球阀C，液控腔A中的油液通过液控口A、无泄漏球阀C回到回油油箱；使电机处于发电工作模式，与储能元件形成闭合回路，将电能储存起来，通过控制电机的扭矩来控制推杆的位移。Working mode ② When v>0, F<0, open the non-leakage ball valve D, supply oil from the oil return tank to the hydraulic control chamber B through the hydraulic control port B and the non-leakage ball valve D; open the non-leakage ball valve C, the hydraulic control The oil in the cavity A returns to the oil return tank through the hydraulic control port A and the non-leakage ball valve C; the motor is in the power generation mode, forming a closed circuit with the energy storage element, storing the electric energy, and controlling the thrust by controlling the torque of the motor rod displacement.
工作模式③当v＜0，F＞0时，打开无泄漏球阀C，通过液控口A、无泄漏球阀C从回油油箱向液控腔A中补油；打开无泄漏球阀D，液控腔B中的油液通过液控口B、无泄漏球阀D回到回油油箱；使电机处于发电工作模式，与储能元件形成闭合回路，将电能储存起来，通过控制电机的扭矩来控制推杆的位移。Working mode ③ When v<0, F>0, open the non-leakage ball valve C, supply oil from the oil return tank to the hydraulic control chamber A through the hydraulic control port A and the non-leakage ball valve C; open the non-leakage ball valve D, the hydraulic control The oil in the chamber B returns to the oil return tank through the hydraulic control port B and the non-leakage ball valve D; the motor is in the power generation mode, forming a closed circuit with the energy storage element, storing the electric energy, and controlling the thrust by controlling the torque of the motor rod displacement.
工作模式④当v＜0，F＜0时，控制阀A处于直通模式，通过调节控制口A的开口度来控制推杆的位移，打开无泄漏球阀A，高压油液通过控制阀A的供油口P、控制阀A的控制口A、泄漏球阀A、液控口A进入液控腔A；打开无泄漏球阀D，液控腔B中的油液通过液控口B、无泄漏球阀D回到回油油箱。此时，也可以给电机通电，使直线作动器处于电液复合工作模式，所述的电液复合工作模式具有液压缸的运动特征又具有电动缸的运动特征。Working mode ④ When v<0, F<0, the control valve A is in the straight-through mode, the displacement of the push rod is controlled by adjusting the opening of the control port A, the non-leakage ball valve A is opened, and the high-pressure oil passes through the supply of the control valve A Oil port P, control port A of control valve A, leakage ball valve A, and hydraulic control port A enter hydraulic control chamber A; open non-leakage ball valve D, the oil in hydraulic control chamber B passes through hydraulic control port B, non-leakage ball valve D Go back to the return fuel tank. At this time, the motor can also be energized, so that the linear actuator is in the electro-hydraulic composite working mode, and the electro-hydraulic composite working mode has the motion characteristics of the hydraulic cylinder and the motion characteristics of the electric cylinder.
有益效果：Beneficial effect:
本发明公开的一种电液复合式直线作动器及其节能工作方法的优点在于实现了负载口的独立控制，当所需的油液压力与负载的运动方向相反时，供油油路无需进行高压供油，只需低压补油即可，因此，节约能量，减少发热。此外，本发明通过带动电机发电，在提供所需的与负载运动方向相反的油液压力的同时，将多余的能量以电能的形式储存起来。The advantage of the electro-hydraulic composite linear actuator and its energy-saving working method disclosed in the present invention is that the independent control of the load port is realized. For high-pressure oil supply, only low-pressure oil replenishment is required, so energy is saved and heat generation is reduced. In addition, the present invention drives the motor to generate electricity, while providing the required oil pressure opposite to the load movement direction, and at the same time storing excess energy in the form of electric energy.
附图说明Description of drawings
图1是本发明的一种电液复合式直线作动器剖视图；Fig. 1 is a sectional view of an electro-hydraulic composite linear actuator of the present invention;
图中：1-编码器、2-电机，3-电机轴、4-螺母、5-内筒、6-液控口A、7-丝杠、8-推杆、9-外筒、10-液控腔A、11-液控腔B、12-液控口B、13-控制阀A、14-控制阀B、15-无泄漏球阀A、16-无泄漏球阀B、17-无泄漏球阀C、18-无泄漏球阀D、19-回油油箱。In the figure: 1-encoder, 2-motor, 3-motor shaft, 4-nut, 5-inner cylinder, 6-hydraulic control port A, 7-screw, 8-push rod, 9-outer cylinder, 10- Hydraulic control chamber A, 11-hydraulic control chamber B, 12-hydraulic control port B, 13-control valve A, 14-control valve B, 15-non-leakage ball valve A, 16-non-leakage ball valve B, 17-non-leakage ball valve C, 18-non-leakage ball valve D, 19-return oil tank.
具体实施方式Detailed ways
下面结合附图对本发明进行详细描述。本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The present invention will be described in detail below in conjunction with the accompanying drawings. This embodiment is carried out on the premise of the technical solution of the present invention, and the detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
实施例1Example 1
如图1所示，本实施例公开的一种电液复合式直线作动器，包括编码器1、电机2、螺母4、丝杠7、推杆8、内筒5、外筒9、液控口A6、液控口B12、控制阀A13、控制阀B14、无泄漏球阀A15、无泄漏球阀B16、无泄漏球阀C17、无泄漏球阀D18和回油油箱19，其中内筒5、外筒9和推杆8的中心轴线重合，外筒9、内筒5和推杆8均为中空结构；内筒5和外筒9通过螺栓紧固在一起，推杆8嵌套在内筒5与外筒9之间，并可沿中心轴线滑动；外筒9和推杆8之间形成液控腔A10，油液通过液控口A6进入液控腔A10，外筒9和推杆8之间的移动接触面用密封圈密封；推杆8和内筒5之间形成液控腔B11，油液通过液控口B12进入液控腔B11，推杆8和内筒5之间的移动接触面用密封圈密封；电机2与编码器1同轴安装在推杆8的外端，电机轴3与丝杠7加工为一体化工件或采用联轴器固定在一起；丝杠7和螺母4构成了一对丝杠副，螺母4固定在内筒5的外端，丝杠7可随着推杆8沿中心轴线移动；控制阀A13的供油口P、控制阀B14的供油口P与高压油相连，控制阀A13的回油口T、控制阀B14的回油口T与回油油箱19相连；控制阀A13的控制口A通过无泄漏球阀A15、液控口A6与液控腔A10相连，控制阀A13的控制口B堵死；控制阀B14的控制口A通过无泄漏球阀B16、液控口B12与液控腔B11相连，控制阀B14的控制口B堵死；无泄漏球阀C17的一个端口与无泄漏球阀A15相连，另一个端口与回油油箱19相连；无泄漏球阀D18的一个端口与无泄漏球阀B16相连，另一个端口与回油油箱19相连。As shown in Figure 1, an electro-hydraulic composite linear actuator disclosed in this embodiment includes an encoder 1, a motor 2, a nut 4, a lead screw 7, a push rod 8, an inner cylinder 5, an outer cylinder 9, a hydraulic Control port A6, hydraulic control port B12, control valve A13, control valve B14, non-leakage ball valve A15, non-leakage ball valve B16, non-leakage ball valve C17, non-leakage ball valve D18 and oil return tank 19, including inner cylinder 5 and outer cylinder 9 Coinciding with the central axis of the push rod 8, the outer cylinder 9, the inner cylinder 5 and the push rod 8 are all hollow structures; the inner cylinder 5 and the outer cylinder 9 are fastened together by bolts, and the push rod 8 is nested in the inner cylinder 5 and the outer cylinder. between the cylinders 9, and can slide along the central axis; the hydraulic control chamber A10 is formed between the outer cylinder 9 and the push rod 8, the oil enters the hydraulic control chamber A10 through the hydraulic control port A6, and the fluid between the outer cylinder 9 and the push rod 8 The moving contact surface is sealed with a sealing ring; the hydraulic control chamber B11 is formed between the push rod 8 and the inner cylinder 5, and the oil enters the hydraulic control chamber B11 through the hydraulic control port B12, and the moving contact surface between the push rod 8 and the inner cylinder 5 is used The seal ring is sealed; the motor 2 and the encoder 1 are coaxially installed on the outer end of the push rod 8, and the motor shaft 3 and the lead screw 7 are processed into an integrated workpiece or fixed together by a coupling; the lead screw 7 and the nut 4 constitute a A pair of screw pairs, the nut 4 is fixed on the outer end of the inner cylinder 5, the screw 7 can move along the central axis with the push rod 8; the oil supply port P of the control valve A13, the oil supply port P of the control valve B14 and the high pressure The oil is connected, the oil return port T of the control valve A13 and the oil return port T of the control valve B14 are connected to the oil return tank 19; the control port A of the control valve A13 is connected to the hydraulic control chamber A10 through the non-leakage ball valve A15 and the hydraulic control port A6 , the control port B of the control valve A13 is blocked; the control port A of the control valve B14 is connected with the hydraulic control chamber B11 through the non-leakage ball valve B16 and the hydraulic control port B12, and the control port B of the control valve B14 is blocked; the non-leakage ball valve C17 One port is connected to the non-leakage ball valve A15, and the other port is connected to the oil return tank 19; one port of the non-leakage ball valve D18 is connected to the non-leakage ball valve B16, and the other port is connected to the oil return tank 19.
如图1所示，电机2和推杆8通过螺栓固联在一起，电机2能够驱动丝杠7产生旋转运动，由于内筒5、外筒9和螺母4通过螺栓固联在一起，因此推杆8和外筒9之间就产生了相对直线运动，通过控制电机2的电流信号能够控制直线运动的速度和方向，丝杠7的旋转同时也带动了编码器1的转动，产生用于位置检测的脉冲信号，这是典型的电动缸运动特征。As shown in Figure 1, the motor 2 and the push rod 8 are fixedly connected together by bolts, and the motor 2 can drive the lead screw 7 to generate rotational movement. Since the inner cylinder 5, the outer cylinder 9 and the nut 4 are fixedly connected by bolts, the push A relative linear motion is generated between the rod 8 and the outer cylinder 9. The speed and direction of the linear motion can be controlled by controlling the current signal of the motor 2. The rotation of the lead screw 7 also drives the rotation of the encoder 1 to generate The detected pulse signal is a typical electric cylinder motion characteristic.
如图1所示，油液能够通过液控口A6进入外筒9和推杆8之间形成液控腔A10，从而驱动推杆8缩回外筒9；油液能够通过液控口B12进入内筒5和推杆8之间形成液控腔B11，从而驱动推杆8缩回外筒9；也就是说，通过控制液控腔A10和液控腔B11的油液压力和流量，能够控制推杆8直线运动的速度和方向，这是典型的液压缸运动特征。推杆8与外筒9和内筒5的移动接触面均采用了液压缸活塞的密封形式，保证了油液不会进入电机2的工作区域，影响电机2的正常工作。推杆8直线运动会带动电机2产生空转，但阻力极小，通常情况下可忽略。As shown in Figure 1, the oil can enter the outer cylinder 9 and the push rod 8 through the hydraulic control port A6 to form a hydraulic control cavity A10, thereby driving the push rod 8 to retract the outer cylinder 9; the oil can enter through the hydraulic control port B12 A hydraulic control chamber B11 is formed between the inner cylinder 5 and the push rod 8, thereby driving the push rod 8 to retract the outer cylinder 9; that is, by controlling the oil pressure and flow rate of the hydraulic control chamber A10 and the hydraulic control chamber B11, it is possible The speed and direction of the linear motion of the push rod 8 are typical hydraulic cylinder motion characteristics. The moving contact surfaces of the push rod 8, the outer cylinder 9 and the inner cylinder 5 all adopt the sealing form of the piston of the hydraulic cylinder, which ensures that the oil will not enter the working area of the motor 2 and affect the normal operation of the motor 2. The linear motion of the push rod 8 will drive the motor 2 to run idling, but the resistance is extremely small and can be ignored in general.
如图1所示，本实施例公开的一种电液复合式直线作动器的节能工作方法：设向上为正方向，负载质量为m，油液压力为F，考虑平衡方程F＝mg+ma，则通过控制油液压力F即可控制负载的加速度，而油液压力F可以通过对油路的控制实现，具体分为四种工作模式：As shown in Figure 1, an energy-saving working method of an electro-hydraulic composite linear actuator disclosed in this embodiment: set up as the positive direction, load mass as m, and oil pressure as F, and consider the balance equation F=mg+ ma, the acceleration of the load can be controlled by controlling the oil pressure F, and the oil pressure F can be realized by controlling the oil circuit, which is specifically divided into four working modes:
工作模式①当v＞0，F＞0时，控制阀B14处于直通模式，通过调节控制口A的开口度来控制推杆8的位移，打开无泄漏球阀B16，高压油液通过控制阀B14的供油口P、控制阀B14的控制口A、泄漏球阀B16、液控口B12进入液控腔B11；打开无泄漏球阀C17，液控腔A10中的油液通过液控口A6、无泄漏球阀C17回到回油油箱19。此时，也可以给电机2通电，使直线作动器处于电液复合工作模式，所述的电液复合工作模式及具有液压缸的运动特征又具有电动缸的运动特征。Working mode ① When v>0, F>0, the control valve B14 is in the straight-through mode, the displacement of the push rod 8 is controlled by adjusting the opening of the control port A, the non-leakage ball valve B16 is opened, and the high-pressure oil passes through the control valve B14. The oil supply port P, the control port A of the control valve B14, the leakage ball valve B16, and the hydraulic control port B12 enter the hydraulic control chamber B11; open the non-leakage ball valve C17, and the oil in the hydraulic control chamber A10 passes through the hydraulic control port A6, the non-leakage ball valve C17 gets back to oil return oil tank 19. At this time, the motor 2 can also be energized, so that the linear actuator is in the electro-hydraulic composite working mode, and the electro-hydraulic composite working mode has the motion characteristics of the hydraulic cylinder and the motion characteristics of the electric cylinder.
工作模式②当v＞0，F＜0时，打开无泄漏球阀D18，通过液控口B12、无泄漏球阀D18从回油油箱19向液控腔B11中补油；打开无泄漏球阀C17，液控腔A10中的油液通过液控口A6、无泄漏球阀C17回到回油油箱19；使电机2处于发电工作模式，与储能元件形成闭合回路，将电能储存起来，通过控制电机2的扭矩来控制推杆8的位移。Working mode ② When v>0, F<0, open the non-leakage ball valve D18, supply oil from the oil return tank 19 to the hydraulic control chamber B11 through the hydraulic control port B12 and the non-leakage ball valve D18; open the non-leakage ball valve C17, the liquid The oil in the control chamber A10 returns to the oil return tank 19 through the hydraulic control port A6 and the non-leakage ball valve C17; the motor 2 is in the power generation mode, forming a closed circuit with the energy storage element, and the electric energy is stored. The torque is used to control the displacement of the push rod 8.
工作模式③当v＜0，F＞0时，打开无泄漏球阀C17，通过液控口A6、无泄漏球阀C17从回油油箱19向液控腔A10中补油；打开无泄漏球阀D18，液控腔B11中的油液通过液控口B12、无泄漏球阀D18回到回油油箱19；使电机2处于发电工作模式，与储能元件形成闭合回路，将电能储存起来，通过控制电机2的扭矩来控制推杆8的位移。Working mode ③ When v<0, F>0, open the non-leakage ball valve C17, supply oil from the oil return tank 19 to the hydraulic control chamber A10 through the hydraulic control port A6 and the non-leakage ball valve C17; open the non-leakage ball valve D18, the liquid The oil in the control chamber B11 returns to the oil return tank 19 through the hydraulic control port B12 and the non-leakage ball valve D18; the motor 2 is in the power generation mode, forming a closed circuit with the energy storage element, and the electric energy is stored. The torque is used to control the displacement of the push rod 8.
工作模式④当v＜0，F＜0时，控制阀A13处于直通模式，通过调节控制口A的开口度来控制推杆8的位移，打开无泄漏球阀A15，高压油液通过控制阀A13的供油口P、控制阀A13的控制口A、泄漏球阀A15、液控口A6进入液控腔A10；打开无泄漏球阀D18，液控腔B11中的油液通过液控口B12、无泄漏球阀D18回到回油油箱19。此时，也可以给电机2通电，使直线作动器处于电液复合工作模式，所述的电液复合工作模式及具有液压缸的运动特征又具有电动缸的运动特征。Working mode ④ When v<0, F<0, the control valve A13 is in the straight-through mode, the displacement of the push rod 8 is controlled by adjusting the opening of the control port A, the non-leakage ball valve A15 is opened, and the high-pressure oil passes through the control valve A13. The oil supply port P, the control port A of the control valve A13, the leakage ball valve A15, and the hydraulic control port A6 enter the hydraulic control chamber A10; open the non-leakage ball valve D18, and the oil in the hydraulic control chamber B11 passes through the hydraulic control port B12, the non-leakage ball valve D18 gets back to oil return oil tank 19. At this time, the motor 2 can also be energized, so that the linear actuator is in the electro-hydraulic composite working mode, and the electro-hydraulic composite working mode has the motion characteristics of the hydraulic cylinder and the motion characteristics of the electric cylinder.
本实施例公开的一种电液复合式直线作动器及其节能工作方法的优点在于当所需的油液压力与负载的运动方向相反时，供油油路无需进行高压供油，只需低压补油即可，并且通过带动电机发电，在提供所需的与负载运动方向相反的油液压力的同时，将多余的能量以电能的形式储存起来。The advantage of the electro-hydraulic composite linear actuator and its energy-saving working method disclosed in this embodiment is that when the required oil pressure is in the opposite Low-pressure oil replenishment is enough, and by driving the motor to generate electricity, while providing the required oil pressure opposite to the direction of load movement, the excess energy is stored in the form of electrical energy.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510116566.5A CN104847749B (en) | 2015-03-17 | 2015-03-17 | An electro-hydraulic compound linear actuator and its energy-saving working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510116566.5A CN104847749B (en) | 2015-03-17 | 2015-03-17 | An electro-hydraulic compound linear actuator and its energy-saving working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104847749A true CN104847749A (en) | 2015-08-19 |
| CN104847749B CN104847749B (en) | 2017-09-05 |
Family
ID=53847638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510116566.5A Expired - Fee Related CN104847749B (en) | 2015-03-17 | 2015-03-17 | An electro-hydraulic compound linear actuator and its energy-saving working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104847749B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105114397A (en) * | 2015-09-06 | 2015-12-02 | 哈尔滨工业大学 | Fluid artificial muscle driving and controlling system |
| CN109611418A (en) * | 2018-12-29 | 2019-04-12 | 厦门理工学院 | An oil supply system for a high-speed heavy-duty actuator |
| CN111092515A (en) * | 2019-12-20 | 2020-05-01 | 太原理工大学 | Integrated electromechanical-hydraulic driving and energy storage integrated actuating device |
| CN112460095A (en) * | 2020-11-30 | 2021-03-09 | 北京理工大学 | Active and passive load composite control method of electro-hydraulic composite cylinder |
| CN114673700A (en) * | 2022-03-28 | 2022-06-28 | 长沙理工大学 | Novel electric push rod for energy storage of cylinder barrel |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GR1010787B (en) * | 2023-07-09 | 2024-10-11 | Κωνσταντινος Σωτηριου Γουδας | Leak-free electric-hydraulic device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3932009A (en) * | 1972-01-11 | 1976-01-13 | Hansrudolf Zollinger | Table |
| GB2076469A (en) * | 1980-04-29 | 1981-12-02 | Secretary Industry Brit | Fluid actuated ram with position measuring device |
| JP2001295805A (en) * | 2000-04-18 | 2001-10-26 | Farukomu:Kk | Power cylinder mechanism for both screw and oil pressure |
| DE102004009913A1 (en) * | 2004-02-20 | 2005-09-08 | Schunk Gmbh & Co. Kg Fabrik Für Spann- Und Greifwerkzeuge | Motor-fluidic drive, in particular for rotary, swivel or linear drive units and method for this |
| CN101140001A (en) * | 2006-09-06 | 2008-03-12 | 杜彦亭 | Liquid, electric rectilinear movement executor |
| US20080184875A1 (en) * | 2007-02-07 | 2008-08-07 | Sauer-Danfoss Aps | Valve assembly and a hydraulic actuator comprising the valve assembly |
| CN101562370A (en) * | 2008-04-17 | 2009-10-21 | Smc株式会社 | Electric actuator |
| DE102011115011A1 (en) * | 2011-10-06 | 2013-04-11 | Robert Bosch Gmbh | Hydraulic multi-chamber cylinder unit has piston having active surfaces which are pressurized with respect to one another, where force is applied along extension direction of piston rod, by electromagnetic force of electric motor |
| CN203348210U (en) * | 2013-07-02 | 2013-12-18 | 崔东勋 | Combined type energy-saving cylinder with valve |
-
2015
- 2015-03-17 CN CN201510116566.5A patent/CN104847749B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3932009A (en) * | 1972-01-11 | 1976-01-13 | Hansrudolf Zollinger | Table |
| GB2076469A (en) * | 1980-04-29 | 1981-12-02 | Secretary Industry Brit | Fluid actuated ram with position measuring device |
| JP2001295805A (en) * | 2000-04-18 | 2001-10-26 | Farukomu:Kk | Power cylinder mechanism for both screw and oil pressure |
| DE102004009913A1 (en) * | 2004-02-20 | 2005-09-08 | Schunk Gmbh & Co. Kg Fabrik Für Spann- Und Greifwerkzeuge | Motor-fluidic drive, in particular for rotary, swivel or linear drive units and method for this |
| CN101140001A (en) * | 2006-09-06 | 2008-03-12 | 杜彦亭 | Liquid, electric rectilinear movement executor |
| US20080184875A1 (en) * | 2007-02-07 | 2008-08-07 | Sauer-Danfoss Aps | Valve assembly and a hydraulic actuator comprising the valve assembly |
| CN101562370A (en) * | 2008-04-17 | 2009-10-21 | Smc株式会社 | Electric actuator |
| DE102011115011A1 (en) * | 2011-10-06 | 2013-04-11 | Robert Bosch Gmbh | Hydraulic multi-chamber cylinder unit has piston having active surfaces which are pressurized with respect to one another, where force is applied along extension direction of piston rod, by electromagnetic force of electric motor |
| CN203348210U (en) * | 2013-07-02 | 2013-12-18 | 崔东勋 | Combined type energy-saving cylinder with valve |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105114397A (en) * | 2015-09-06 | 2015-12-02 | 哈尔滨工业大学 | Fluid artificial muscle driving and controlling system |
| CN109611418A (en) * | 2018-12-29 | 2019-04-12 | 厦门理工学院 | An oil supply system for a high-speed heavy-duty actuator |
| CN109611418B (en) * | 2018-12-29 | 2024-04-16 | 厦门理工学院 | Oil supply system of high-speed heavy-load actuator |
| CN111092515A (en) * | 2019-12-20 | 2020-05-01 | 太原理工大学 | Integrated electromechanical-hydraulic driving and energy storage integrated actuating device |
| CN112460095A (en) * | 2020-11-30 | 2021-03-09 | 北京理工大学 | Active and passive load composite control method of electro-hydraulic composite cylinder |
| CN114673700A (en) * | 2022-03-28 | 2022-06-28 | 长沙理工大学 | Novel electric push rod for energy storage of cylinder barrel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104847749B (en) | 2017-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104847749B (en) | An electro-hydraulic compound linear actuator and its energy-saving working method | |
| CN100424361C (en) | Closed electro-hydraulic control system | |
| CN104847750B (en) | Electro-hydraulic combined type linear actuator | |
| CN102588358B (en) | High-performance energy saving type electro-hydraulic servo control oil line | |
| CN108425893B (en) | Hydraulic system of distributed direct-driven excavator with servo motor driven double variable pumps | |
| CN110762065A (en) | A digital hydraulic actuator system with closed pump-valve compound speed regulation and its control method | |
| CN108468662A (en) | A kind of pump control asymmetrical cylinder electrohydraulic control system of high-speed switch Flat valve | |
| CN108591144B (en) | Distributed direct-drive excavator hydraulic system with motor-driven dual quantitative pumps and dual accumulators | |
| CN102606443B (en) | Electromagnetic direct-drive electro-hydraulic servo pump | |
| CN108506286A (en) | A kind of driving motor directly drives the hydraulic energy-saving system of pump control cylinder with differential effect | |
| CN108533546B (en) | Hydraulic excavator power system adopting double-pump direct drive and differential fast forward automatic switching | |
| CN102032332A (en) | Electro-hydraulic liquid composite driving mechanism adapting to narrow bent space as well as control system and method | |
| CN204041583U (en) | A kind of servo-closed type hydraulic differential device | |
| CN108506251A (en) | The Electrical hydrostatic actuator of asymmetric pump control asymmetrical cylinder | |
| CN105570203B (en) | One kind uses the united high-efficiency high-accuracy hydraulic control system of pump valve | |
| CN106763005A (en) | A kind of rotation direct drive Electric hydraulic pressure servo valve of cam-type | |
| CN111306118A (en) | Active flow distribution type electromagnetic direct-drive hydrostatic actuating system | |
| CN208106859U (en) | A kind of pump control asymmetrical cylinder electrohydraulic control system of high-speed switch Flat valve | |
| CN116006543A (en) | Digital hydraulic cylinder | |
| CN101337577A (en) | Multi-finger, multi-joint underwater operation hydraulically driven manipulator | |
| CN108999816B (en) | Linear driving system | |
| CN108050112B (en) | A kind of control pressurer system and its control method of asymmetrical hydraulic cylinder | |
| CN203548436U (en) | Directly-driven type differential-volume-controlled electro-hydraulic servo control system | |
| CN104847710A (en) | Electro-hydraulic hybrid actuator based on oil-gas balance | |
| CN203548387U (en) | High-power direct drive type differential volume control electrohydraulic servo system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170905 Termination date: 20180317 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |