CN110985460A - Redundant servo mechanism suitable for multiple working conditions and working condition switching method - Google Patents
Redundant servo mechanism suitable for multiple working conditions and working condition switching method Download PDFInfo
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- CN110985460A CN110985460A CN201911328117.1A CN201911328117A CN110985460A CN 110985460 A CN110985460 A CN 110985460A CN 201911328117 A CN201911328117 A CN 201911328117A CN 110985460 A CN110985460 A CN 110985460A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims description 16
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 66
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 238000006073 displacement reaction Methods 0.000 claims description 46
- 239000012530 fluid Substances 0.000 claims description 31
- 239000003921 oil Substances 0.000 claims description 27
- 239000010720 hydraulic oil Substances 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 6
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 claims 1
- 239000007788 liquid Substances 0.000 description 13
- 238000007599 discharging Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 1
- 235000012633 Iberis amara Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- 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
- F15B11/003—Systems with load-holding valves
-
- 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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/01—Locking-valves or other detent i.e. load-holding devices
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
- F15B2013/0448—Actuation by solenoid and permanent magnet
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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
- 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
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20538—Type of pump constant capacity
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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
- 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
-
- 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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/875—Control measures for coping with failures
- F15B2211/8757—Control measures for coping with failures using redundant components or assemblies
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- 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)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention provides a redundant servo mechanism applicable to multiple working conditions in the field of automatic actuators, which is connected with a controller, takes hydraulic pressure as working power, outputs corresponding linear motion according to a control signal, and comprises an actuating unit and an executing unit; the actuating unit comprises a servo motor, a bidirectional constant delivery pump and an electromagnetic valve, and the executing unit comprises a double-piston-rod hydraulic cylinder; the controller is electrically connected with the servo motor and the electromagnetic valve respectively, the servo motor is mechanically connected with the bidirectional constant delivery pump, and the electromagnetic valve is hydraulically connected with the double-piston-rod hydraulic cylinder; the actuating units comprise a first actuating unit and a second actuating unit, and the first actuating unit and the second actuating unit are two groups of actuating units with the same configuration and are arranged in parallel. The invention can adapt to various working conditions and has higher reliability.
Description
Technical Field
The invention relates to the field of automatic actuators, in particular to a redundant servo mechanism suitable for multiple working conditions.
Background
The servo mechanism has the advantages of simple structure and high efficiency, and is often used as an aircraft actuating system, in particular to a thrust vector control system for a multi-electric aircraft, or missiles and rockets. Meanwhile, the method can also be applied to robot systems or other industrial requirements with high power-mass ratio and high precision requirements. Aiming at the requirements of multiple working conditions for operation, high reliability and energy conservation, a servo mechanism which is suitable for multiple working conditions and has a redundancy function needs to be researched and developed.
The invention discloses a deep redundancy integrated type tri-redundancy electromechanical servo mechanism which is found by the search of the prior art and has the patent publication number of CN104579027A in China, the invention name is a deep redundancy integrated type tri-redundancy electromechanical servo mechanism, the deep redundancy integrated type tri-redundancy electromechanical servo mechanism comprises a tri-redundancy servo controller, a tri-redundancy actuator, a load and a tri-redundancy potentiometer, the signal input end of the tri-redundancy servo controller is connected with the input end of the tri-redundancy actuator, one output end of the tri-redundancy actuator is connected with the input end of the load, the other output end of the tri-redundancy actuator is connected with the input end of the tri-redundancy potentiometer, and the feedback output end of the tri-redundancy potentiometer is connected with the feedback input end of the tri; the control signal is input into the three-redundancy servo controller, the three-redundancy servo controller converts the control signal into a three-phase current signal of the motor, the motor drives the three-redundancy actuator to work, the three-redundancy actuator drives the load to deflect, and the three-redundancy potentiometer collects the deflection signal of the load and feeds the deflection signal back to the three-redundancy servo controller. The mechanism can remarkably improve the maintenance performance and reliability of the secondary servo mechanism of the aircraft, but the servo mechanism cannot be suitable for the working environment with multiple working conditions.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a redundant servo mechanism suitable for multiple working conditions and a working condition switching method.
According to the redundant servo mechanism applicable to multiple working conditions, which is provided by the invention, the redundant servo mechanism is connected with a controller, takes hydraulic pressure as working power, outputs corresponding linear motion according to a control signal, and comprises an actuating unit and an executing unit;
the actuating unit comprises a servo motor, a two-way constant delivery pump and an electromagnetic valve, the electromagnetic valve is a two-position four-way electromagnetic valve, the executing unit comprises a double-piston-rod hydraulic cylinder, the double-piston-rod hydraulic cylinder comprises a first cavity, a second cavity, a first piston rod and a second piston rod, the first piston rod is positioned in the first cavity, and the second piston rod is positioned in the second cavity;
the controller is electrically connected with the servo motor and the electromagnetic valve respectively, the servo motor is mechanically connected with the bidirectional constant delivery pump, and the electromagnetic valve is hydraulically connected with the double-piston-rod hydraulic cylinder;
the actuating units comprise a first actuating unit and a second actuating unit, and the first actuating unit and the second actuating unit are two groups of actuating units with the same configuration and are arranged in parallel;
the first actuating unit comprises components marked as a first servo motor, a first bidirectional fixed displacement pump and a first solenoid valve, and the second actuating unit comprises components marked as a second servo motor, a second bidirectional fixed displacement pump and a second solenoid valve.
In some embodiments, a hydraulic lock is further disposed between the electromagnetic valve and the double-piston rod hydraulic cylinder, the hydraulic lock is connected to the inlet and outlet hydraulic oil paths between the electromagnetic valve and the double-piston rod hydraulic cylinder in a symmetrical manner by two sets of same hydraulic control one-way valves and high-pressure safety valves, and high-pressure oil from the electromagnetic valve to the hydraulic lock is used as control oil.
In some embodiments, an overflow valve is arranged between the electromagnetic valve and the hydraulic lock, and the overflow valve is connected to an inlet and outlet hydraulic oil path of the hydraulic lock in a bypassing manner.
In some embodiments, the relief valve includes a first relief valve and a second relief valve, the first relief valve being disposed in parallel with the second relief valve.
In some embodiments, the actuating unit further includes an accumulator connected between the first bidirectional constant displacement pump and the hydraulic oil inlet and outlet line of the first solenoid valve and between the second bidirectional constant displacement pump and the hydraulic oil inlet and outlet line of the second solenoid valve through hydraulic oil lines, and a check valve is disposed on a hydraulic oil line connected to the accumulator.
The invention also provides a method for switching working conditions of the multi-working-condition redundant servo mechanism, which is characterized in that the multi-working-condition redundant servo mechanism is adopted, and the controller regulates and controls the running states of the first actuating unit and the second actuating unit which are arranged in parallel, so that the switching of stable running working conditions, quick running working conditions and high dynamic characteristic running working conditions is realized.
In some embodiments, the process of stabilizing the operation condition is: the controller controls one of the first actuating unit and the second actuating unit to work normally, and the other actuating unit serves as a backup and has a redundancy function:
when the second actuating unit is used as a backup, the controller controls the first servo motor to rotate forward or reversely, the first electromagnetic valve is electrified, the first bidirectional constant delivery pump outputs working fluid flow through the first oil port, the working fluid flows through the first electromagnetic valve to enter the double-piston-rod hydraulic cylinder after the hydraulic lock is opened, and the double-piston-rod hydraulic cylinder realizes the movement of the double-rod piston by inputting or removing the working fluid flow;
when the first actuating unit is used as a backup, the controller controls the second actuating unit to realize the movement of the double-rod piston through inputting or removing the working fluid flow of the double-piston-rod hydraulic cylinder.
In some embodiments, the process of the fast operating condition is: the controller controls the first actuator and the second actuator to work in the same direction at the same time, namely the controller controls the first servo motor and the second servo motor to rotate in the forward direction or the reverse direction at the same time, the first electromagnetic valve and the second electromagnetic valve are electrified, two generated working fluid flows are converged into one working fluid flow through the first oil port and the first electromagnetic valve on the first bidirectional constant displacement pump and the first oil port and the second electromagnetic valve on the second bidirectional constant displacement pump respectively and then enter the double-piston-rod hydraulic cylinder through the hydraulic lock, and the double-piston-rod hydraulic cylinder realizes the quick movement of the double-rod piston through inputting or removing the working fluid flow.
In some embodiments, the controller can adjust the operating speeds of the first servo motor and the second servo motor to make the operating speeds of the first servo motor and the second servo motor the same or different.
In some embodiments, the process of the high dynamic operating condition is:
when the controller firstly controls the first servo motor to rotate forwards or backwards, the first electromagnetic valve is electrified, the second servo motor and the second electromagnetic valve are not electrified, and the double-rod piston moves to the second chamber of the double-piston-rod hydraulic cylinder through the driving of working fluid flow, the controller controls the first electromagnetic valve and the first servo motor to stop acting, meanwhile, the controller controls the second servo motor to rotate, the rotating direction of the second servo motor is opposite to the rotating direction of the first servo motor, the second electromagnetic valve is electrified, the double-rod piston moves to the first chamber opposite to the second chamber of the double-piston-rod hydraulic cylinder through the driving of the working fluid flow, and the quick reversing movement of the servo mechanism is realized;
when the controller firstly controls the second servo motor to rotate forwards or backwards, the controller realizes the quick reversing movement of the servo mechanism as the controller firstly controls the first servo motor to rotate forwards or backwards.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can output corresponding linear motion according to the control signal, can adapt to the operation of various working conditions, and has higher reliability.
2. The servo mechanism of the invention can keep self-locking even bearing external load when the system does not work.
3. The invention has the redundancy function, when a group of motor pumps lose functions, the system can still work normally; when the requirement on the speed of the system is not high, only one group of motor pumps is needed to work, so that energy can be saved; when the system needs to operate at a high speed, the two groups of motor pumps can work simultaneously; when the system needs high dynamic performance, each group of motor pumps and the electromagnetic valves are combined to achieve control of the running direction, so that the time for converting the running direction of the motor is saved, and the running direction is switched quickly.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a multi-condition redundant servo mechanism according to the present invention;
in the figure:
1-a first servo motor; 2-a second servo motor; 3-a first bidirectional fixed displacement pump; 4-a second bidirectional fixed displacement pump; 5-a first oil port of a first bidirectional fixed displacement pump; 6-a first oil port of a second bidirectional fixed displacement pump; 7-a second oil port of the first bidirectional fixed displacement pump; 8-a second oil port of a second bidirectional fixed displacement pump; 9-a first one-way valve; 10-a second one-way valve; 11-a third one-way valve; 12-a fourth one-way valve; 13-an accumulator; 14-a first two-position four-way solenoid valve; 15-a second two-position four-way solenoid valve; 16-a first overflow valve; 17-a second relief valve; 18-hydraulic lock; 19-a first pilot operated check valve; 20-a second hydraulically controlled one-way valve; 21-a first high pressure relief valve; 22-a second high pressure relief valve; 23-double piston rod hydraulic cylinder; 24-a dual rod piston; 25-a first piston rod; 26-a second piston rod; 27-double piston rod hydraulic cylinder first chamber; 28-double piston rod hydraulic cylinder second chamber.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the present invention provides a redundant servo mechanism suitable for multiple operating modes, which is connected to a controller, and executes linear reciprocating motions under different operating modes according to instructions sent by the controller and using hydraulic pressure as working power, and comprises:
the first servo motor 1 and the second servo motor 2 which are completely the same are both connected with the controller; the controller controls the rotating speed and the direction of the first servo motor 1 and the second servo motor 2 to control the movement of the servo mechanism.
The first bidirectional fixed displacement pump 3 and the second bidirectional fixed displacement pump 4 which are completely the same are respectively provided with a first hydraulic fluid port 5 of the first bidirectional fixed displacement pump, a second hydraulic fluid port 7 of the first bidirectional fixed displacement pump, a first hydraulic fluid port 6 of the second bidirectional fixed displacement pump and a second hydraulic fluid port 8 of the second bidirectional fixed displacement pump; the first bidirectional fixed displacement pump 3 and the second bidirectional fixed displacement pump 4 are respectively connected with the first servo motor 1 and the second servo motor 2; when the first servo motor 1 and the second servo motor 2 are operated, the first bidirectional constant displacement pump 3 and the second bidirectional constant displacement pump 4 are respectively driven to operate.
A first two-position four-way solenoid valve 14 and a second two-position four-way solenoid valve 15 that are identical; the first two-position four-way electromagnetic valve 14 and the second two-position four-way electromagnetic valve 15 are both connected with the controller and are respectively connected with the first bidirectional constant displacement pump 3 and the second bidirectional constant displacement pump 4 through hydraulic oil paths; when the controller energizes the first two-position four-way solenoid valve 14 and does not energize the second two-position four-way solenoid valve 15, the first two-position four-way solenoid valve 14 is opened, the second two-position four-way solenoid valve 15 is closed, the first bidirectional constant delivery pump 3 is connected into a system through the first two-position four-way solenoid valve 14 and can work, and the second bidirectional constant delivery pump 4 is not connected into the system and cannot work; when the controller energizes the second two-position four-way solenoid valve 15 and the first two-position four-way solenoid valve 14 is not energized, the second two-position four-way solenoid valve 15 is opened, the first two-position four-way solenoid valve 14 is closed, the second bidirectional constant delivery pump 4 is connected into the system through the second two-position four-way solenoid valve 15 and can work, and the first bidirectional constant delivery pump 3 is not connected into the system and cannot work; when the controller energizes the two-position four-way solenoid valves, the two-position four-way solenoid valves are opened, and the first bidirectional fixed displacement pump 3 and the second bidirectional fixed displacement pump 4 are respectively connected into the system through the first two-position four-way solenoid valve 14 and the second two-position four-way solenoid valve 15 and can work together.
The hydraulic lock 18 is of a symmetrical structure and is provided with a first hydraulic control check valve 19 and a second hydraulic control check valve 20 which are completely identical, and a first high-pressure safety valve 21 and a second high-pressure safety valve 22 which are completely identical. The hydraulic lock 18 is connected with the first two-position four-way solenoid valve 14 and the second two-position four-way solenoid valve 15 through a hydraulic oil path, and high-pressure oil from the solenoid valves to the hydraulic lock 18 is introduced as control oil. The hydraulic lock 18 enables self-locking of the servomechanism even under external load when it is not in operation.
A dual-piston rod hydraulic cylinder 23 provided with a dual-rod piston 24 having a first piston rod 25 and a second piston rod 26, the dual-rod piston 24 dividing the dual-piston rod hydraulic cylinder 23 into a dual-piston rod hydraulic cylinder first chamber 27 and a dual-piston rod hydraulic cylinder second chamber 28, wherein the first piston rod 25 is located in the dual-piston rod hydraulic cylinder first chamber 27, and the second piston rod 26 is located in the dual-piston rod hydraulic cylinder second chamber 28; the double-piston-rod hydraulic cylinder 23 is connected with the hydraulic lock 18 and the two-position four-way electromagnetic valves through a hydraulic oil path; the double-piston-rod hydraulic cylinder 23 moves the double-rod piston 24 by inputting or discharging working hydraulic oil.
The servo mechanism suitable for multi-working condition redundancy also comprises a first overflow valve 16 and a second overflow valve 17 which are completely the same; the first overflow valve 16 and the second overflow valve 17 are both in bypass connection with an inlet and outlet hydraulic oil path of the hydraulic lock 18; when the servo mechanism works, the first overflow valve 16 and the second overflow valve 17 play a role in limiting the highest working pressure of the double-piston-rod hydraulic cylinder.
The redundant servo mechanism suitable for the multiple working conditions further comprises an energy accumulator 13 and a first check valve 9, a second check valve 10, a third check valve 11 and a fourth check valve 12 which are completely identical; the accumulator 13 is connected with two hydraulic oil paths connected with the first bidirectional fixed displacement pump 3 and the first two-position four-way electromagnetic valve 14 and two hydraulic oil paths connected with the second bidirectional fixed displacement pump 4 and the second two-position four-way electromagnetic valve 15 through hydraulic oil paths, so that the working fluid flow between the first bidirectional fixed displacement pump 3 and the first two-position four-way electromagnetic valve 14 and the working fluid flow between the second bidirectional fixed displacement pump 4 and the second two-position four-way electromagnetic valve 15 are stably transmitted, the working fluid flow is prevented from fluctuating, and the system micro-leakage compensation is performed; the first check valve 9, the second check valve 10, the third check valve 11 and the fourth check valve 12 are respectively arranged on four branches led out by the accumulator 13, so that the one-way flow of the hydraulic oil from the accumulator 13 to the four working oil ways is realized.
The double-piston-rod hydraulic cylinder 23 realizes the movement of the double-rod piston 24 through inputting or discharging working fluid flow, specifically:
when the controller controls the first servo motor 1 to rotate in the forward direction, the first two-position four-way electromagnetic valve 14 is electrified, and the second servo motor 2 and the second two-position four-way electromagnetic valve 15 are not electrified, the second servo motor 2 and the second bidirectional constant delivery pump 4 do not work as a backup, the first bidirectional constant delivery pump 3 outputs high-pressure liquid flow through the first oil port 5 of the first bidirectional constant delivery pump, and the high-pressure liquid flow passes through the first two-position four-way electromagnetic valve 14, opens the hydraulic lock 18 and enters the first chamber 27 of the double-piston rod hydraulic cylinder; the double-rod piston 24 moves towards the direction of a second chamber 28 of the double-piston-rod hydraulic cylinder, the first piston rod 25 retracts, and the second piston rod 26 extends; the liquid flow of the second chamber 28 of the double-piston rod hydraulic cylinder returns to the first bidirectional constant displacement pump 3 through the hydraulic lock 18, the first two-position four-way electromagnetic valve 14 and the second oil port 7 of the first bidirectional constant displacement pump; the servo mechanism is suitable for stable operation conditions and has a redundancy function;
or, when the controller controls the second servo motor 2 to rotate in the forward direction, the second two-position four-way solenoid valve 15 is electrified, and the first servo motor 1 and the first two-position four-way solenoid valve 14 are not electrified, the first servo motor 1 and the first bidirectional constant delivery pump 3 do not work as a backup, the second bidirectional constant delivery pump 4 outputs high-pressure liquid flow through the first oil port 6 of the second bidirectional constant delivery pump, and the hydraulic lock 18 is opened through the second two-position four-way solenoid valve 15 to enter the first chamber 27 of the double-piston-rod hydraulic cylinder; the double-rod piston 24 moves towards the direction of a second chamber 28 of the double-piston-rod hydraulic cylinder, the first piston rod 25 retracts, and the second piston rod 26 extends; the liquid flow of the second chamber 28 of the double-piston rod hydraulic cylinder returns to the second bidirectional constant displacement pump 4 through the hydraulic lock 18, the second two-position four-way solenoid valve 15 and the second oil port 8 of the second bidirectional constant displacement pump; the servo mechanism is suitable for stable operation conditions and has a redundancy function.
The double-piston rod hydraulic cylinder 23 realizes the movement of the double-piston rod piston 24 by inputting or discharging a working fluid flow, and further comprises that when the controller controls the first servo motor 1 and the second servo motor 2 to rotate forward simultaneously and the first two-position four-way solenoid valve 14 and the second two-position four-way solenoid valve 15 are electrified, the first bidirectional constant delivery pump 3 simultaneously inputs the working fluid flow to the first chamber 27 of the double-piston rod hydraulic cylinder through the first oil port 5 of the first bidirectional constant delivery pump, the first two-position four-way solenoid valve 14 and the hydraulic lock 18 and the second bidirectional constant delivery pump 4 through the first oil port 6 of the second bidirectional constant delivery pump, the second two-position four-way solenoid valve 15 and the hydraulic lock 18; the double-rod piston 24 moves rapidly towards the direction of the second chamber 28 of the double-piston-rod hydraulic cylinder, the first piston rod 25 retracts rapidly, and the second piston rod 26 extends rapidly; the liquid flow of the second chamber 28 of the double-piston rod hydraulic cylinder returns to the first bidirectional constant displacement pump 3 through the hydraulic lock 18, the first two-position four-way electromagnetic valve 14 and the second oil port 7 of the first bidirectional constant displacement pump, and returns to the second bidirectional constant displacement pump 4 through the hydraulic lock 18, the second two-position four-way electromagnetic valve 15 and the second oil port 8 of the second bidirectional constant displacement pump; the servo mechanism is suitable for the fast operation condition at the moment.
The double-piston-rod hydraulic cylinder 23 realizes the movement of the double-rod piston 24 by inputting or discharging working fluid flow, and also comprises the steps that based on the above, when the controller changes the rotation directions of the first servo motor 1 and the second servo motor 2, and the states of the first two-position four-way electromagnetic valve 14 and the second two-position four-way electromagnetic valve 15 are kept unchanged, the fluid flow direction in the servo mechanism and the movement direction of the double-rod piston 24 are changed, so that the reversing movement of the servo mechanism is realized; when the controller changes the running speeds of the first servo motor 1 and the second servo motor 2, the liquid flow speed in the servo mechanism and the movement speed of the double-rod piston 24 are correspondingly changed, and the speed regulation of the servo mechanism is realized.
The double-piston rod hydraulic cylinder 23 realizes the movement of the double-piston rod piston 24 through inputting or discharging working fluid flow, and further comprises:
when the controller controls the first servo motor 1 to rotate in the forward direction, the first two-position four-way electromagnetic valve 14 is electrified, the second servo motor 2 and the second two-position four-way electromagnetic valve 15 are not electrified, and the double-rod piston 24 moves towards the direction of the second chamber 28 of the double-piston-rod hydraulic cylinder, the first two-position four-way electromagnetic valve 14 is powered off, the controller controls the first servo motor 1 to stop moving, meanwhile, the controller controls the second servo motor 2 to rotate in the reverse direction, the second two-position four-way electromagnetic valve 15 is electrified, liquid flow stops rapidly flowing into the first chamber 27 of the double-piston-rod hydraulic cylinder from the first two-position four-way electromagnetic valve 14 and the hydraulic lock 18 and stops rapidly flowing from the second chamber 28 of the double-piston-rod hydraulic cylinder to the first chamber 14 of the double-piston-rod hydraulic cylinder, and the double; meanwhile, the liquid flow passes through a first oil port 6 of a second bidirectional constant displacement pump, a second two-position four-way electromagnetic valve 15 and a hydraulic lock 18 to input working liquid flow into a second chamber 28 of the double-piston rod hydraulic cylinder; the double-rod piston 24 moves towards the first chamber 27 of the double-piston-rod hydraulic cylinder to realize the quick reversing motion of the servo mechanism; the operation of the first servo motor is switched to the operation of the second servo motor so as to realize the rapid reversing, and the operation of the second servo motor is switched to the operation of the first servo motor so as to realize the rapid reversing; at the moment, the two servo motors are respectively responsible for two movement directions of the servo mechanism, and the servo mechanism is suitable for the high-dynamic-characteristic operation working condition;
or, when the controller controls the first servo motor 1 to rotate reversely, the first two-position four-way solenoid valve 14 is powered on, the second servo motor 2 and the second two-position four-way solenoid valve 15 are not powered on, and the double-rod piston 24 moves towards the first chamber 27 of the double-piston-rod hydraulic cylinder, the first two-position four-way solenoid valve 14 is powered off, the controller controls the first servo motor 1 to stop moving, meanwhile, the controller controls the second servo motor 2 to rotate forwardly, the second two-position four-way solenoid valve 15 is powered on, liquid flow stops rapidly flowing into the second chamber 28 of the double-piston-rod hydraulic cylinder from the first chamber 2827 of the double-piston-rod hydraulic cylinder and rapidly stops flowing from the first chamber 2827 of the double-piston-rod hydraulic cylinder to the hydraulic lock 18 and the first two-position four-way solenoid valve 14, and the double-rod piston 24 stops; meanwhile, the liquid flow passes through a second oil port 8 of a second bidirectional constant displacement pump, a second two-position four-way electromagnetic valve 15 and a hydraulic lock 18 to input working liquid flow to a first chamber 27 of the double-piston rod hydraulic cylinder; the double-rod piston 24 moves towards the direction of the second chamber 28 of the double-piston-rod hydraulic cylinder, so that the quick reversing motion of the servo mechanism is realized; the operation of the first servo motor is switched to the operation of the second servo motor so as to realize the rapid reversing, and the operation of the second servo motor is switched to the operation of the first servo motor so as to realize the rapid reversing; at the moment, the two servo motors are respectively responsible for two movement directions of the servo mechanism, and the servo mechanism is suitable for the high-dynamic-characteristic operation working condition;
compared with the prior art, the invention can output corresponding linear motion according to the control signal, can adapt to the operation of various working conditions and has higher reliability; the invention has the redundancy function, when a group of motor pumps lose functions, the system can still work normally; when the requirement on the speed of the system is not high, only one group of motor pumps is needed to work, so that energy can be saved; when the system needs to operate at a high speed, the two groups of motor pumps can work simultaneously; when the system needs high dynamic performance, each group of motor pumps and electromagnetic valves are used in combination to achieve control of the running direction, so that the time for switching the running direction of the motor is saved, and the running direction is switched quickly; when the system is not in operation, the self-locking can be kept even if the system bears external load.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A redundant servo mechanism suitable for multiple working conditions is connected with a controller, takes hydraulic pressure as working power, and outputs corresponding linear motion according to a control signal;
the actuating unit comprises a servo motor, a two-way constant delivery pump and an electromagnetic valve, the electromagnetic valve is a two-position four-way electromagnetic valve, the executing unit comprises a double-piston-rod hydraulic cylinder, the double-piston-rod hydraulic cylinder comprises a first cavity, a second cavity, a first piston rod and a second piston rod, the first piston rod is positioned in the first cavity, and the second piston rod is positioned in the second cavity;
the controller is electrically connected with the servo motor and the electromagnetic valve respectively, the servo motor is mechanically connected with the bidirectional constant delivery pump, and the electromagnetic valve is hydraulically connected with the double-piston-rod hydraulic cylinder;
the actuating units comprise a first actuating unit and a second actuating unit, and the first actuating unit and the second actuating unit are two groups of actuating units with the same configuration and are arranged in parallel;
the first actuating unit comprises components marked as a first servo motor, a first bidirectional fixed displacement pump and a first solenoid valve, and the second actuating unit comprises components marked as a second servo motor, a second bidirectional fixed displacement pump and a second solenoid valve.
2. The redundant servo mechanism applicable to multiple working conditions according to claim 1, wherein a hydraulic lock is further arranged between the electromagnetic valve and the double-piston-rod hydraulic cylinder, the hydraulic lock is formed by connecting two groups of same hydraulic control one-way valves and high-pressure safety valves to the inlet and outlet hydraulic oil paths between the electromagnetic valve and the double-piston-rod hydraulic cylinder respectively in a symmetrical mode, and high-pressure oil from the electromagnetic valve to the hydraulic lock is used as control oil.
3. The redundant servo mechanism suitable for multiple working conditions according to claim 2, wherein an overflow valve is arranged between the electromagnetic valve and the hydraulic lock, and the overflow valve is connected to an inlet and outlet hydraulic oil path of the hydraulic lock in a bypassing manner.
4. The redundant servo mechanism suitable for multiple working conditions according to claim 3, wherein the overflow valve comprises a first overflow valve and a second overflow valve, and the first overflow valve and the second overflow valve are arranged in parallel.
5. The redundant servo mechanism applicable to multiple working conditions according to claim 2, wherein the actuating unit further comprises an accumulator, the accumulator is connected between the first bidirectional constant displacement pump and the inlet and outlet hydraulic oil path of the first electromagnetic valve and between the second bidirectional constant displacement pump and the inlet and outlet hydraulic oil path of the second electromagnetic valve through hydraulic oil paths, and a check valve is arranged on the hydraulic oil path connected with the accumulator.
6. A method for switching working conditions of a multi-working-condition redundant servo mechanism is characterized in that the multi-working-condition redundant servo mechanism as claimed in any one of claims 2 to 5 is adopted, and the switching of stable operation working conditions, quick operation working conditions and high dynamic characteristic operation working conditions is realized by regulating and controlling the operation states of the first actuating unit and the second actuating unit which are arranged in parallel through the controller.
7. The method for switching the working condition of the multi-working-condition redundant servo mechanism according to claim 6, wherein the process of stabilizing the operation working condition is as follows: the controller controls one of the first actuating unit and the second actuating unit to work normally, and the other actuating unit serves as a backup and has a redundancy function:
when the second actuating unit is used as a backup, the controller controls the first servo motor to rotate forward or reversely, the first electromagnetic valve is electrified, the first bidirectional constant delivery pump outputs working fluid flow through the first oil port, the working fluid flows through the first electromagnetic valve to enter the double-piston-rod hydraulic cylinder after the hydraulic lock is opened, and the double-piston-rod hydraulic cylinder realizes the movement of the double-rod piston by inputting or removing the working fluid flow;
when the first actuating unit is used as a backup, the controller controls the second actuating unit to realize the movement of the double-rod piston through inputting or removing the working fluid flow of the double-piston-rod hydraulic cylinder.
8. The method for switching the working condition of the multi-working-condition redundant servo mechanism according to claim 6, wherein the process of the quick operation working condition is as follows: the controller controls the first actuator and the second actuator to work in the same direction at the same time, namely the controller controls the first servo motor and the second servo motor to rotate in the forward direction or the reverse direction at the same time, the first electromagnetic valve and the second electromagnetic valve are electrified, two generated working fluid flows are converged into one working fluid flow through the first oil port and the first electromagnetic valve on the first bidirectional constant displacement pump and the first oil port and the second electromagnetic valve on the second bidirectional constant displacement pump respectively and then enter the double-piston-rod hydraulic cylinder through the hydraulic lock, and the double-piston-rod hydraulic cylinder realizes the quick movement of the double-rod piston through inputting or removing the working fluid flow.
9. The method of claim 8, wherein the controller is further configured to adjust the operating speeds of the first and second servo motors such that the operating speeds of the first and second servo motors are the same or different.
10. The method for switching operating modes of a multi-mode redundant servo of claim 6 wherein the process of operating the high dynamic characteristic operating mode is:
when the controller firstly controls the first servo motor to rotate forwards or backwards, the first electromagnetic valve is electrified, the second servo motor and the second electromagnetic valve are not electrified, and the double-rod piston moves to the second chamber of the double-piston-rod hydraulic cylinder through the driving of working fluid flow, the controller controls the first electromagnetic valve and the first servo motor to stop acting, meanwhile, the controller controls the second servo motor to rotate, the rotating direction of the second servo motor is opposite to the rotating direction of the first servo motor, the second electromagnetic valve is electrified, the double-rod piston moves to the first chamber opposite to the second chamber of the double-piston-rod hydraulic cylinder through the driving of the working fluid flow, and the quick reversing movement of the servo mechanism is realized;
when the controller firstly controls the second servo motor to rotate forwards or backwards, the controller realizes the quick reversing movement of the servo mechanism as the controller firstly controls the first servo motor to rotate forwards or backwards.
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