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CN111396392A - Miniature intelligent remote control electro-hydraulic actuator - Google Patents

Miniature intelligent remote control electro-hydraulic actuator Download PDF

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Publication number
CN111396392A
CN111396392A CN202010309749.XA CN202010309749A CN111396392A CN 111396392 A CN111396392 A CN 111396392A CN 202010309749 A CN202010309749 A CN 202010309749A CN 111396392 A CN111396392 A CN 111396392A
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Prior art keywords
hydraulic
miniature
remote control
power unit
intelligent remote
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Chinese (zh)
Inventor
徐荣
孙荣
潘扣根
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Jiangsu Chuangge Fluid Control Co ltd
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Jiangsu Chuangge Fluid Control Co ltd
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Priority to CN202010309749.XA priority Critical patent/CN111396392A/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/02Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
    • F15B15/06Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
    • F15B15/065Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement the motor being of the rack-and-pinion type
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00Details of servomotor systems ; Valves for servomotor systems
    • F15B13/01Locking-valves or other detent i.e. load-holding devices
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005Fault detection or monitoring
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K11/00Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/25Devices for sensing temperature, or actuated thereby
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20Other details, e.g. assembly with regulating devices
    • F15B2015/206Combined actuation, e.g. electric and fluid actuated
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/20Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205Systems with pumps
    • F15B2211/20507Type of prime mover
    • F15B2211/20515Electric motor
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/60Circuit components or control therefor
    • F15B2211/63Electronic controllers
    • F15B2211/6303Electronic controllers using input signals
    • F15B2211/6343Electronic controllers using input signals representing a temperature
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/60Circuit components or control therefor
    • F15B2211/665Methods of control using electronic components
    • F15B2211/6656Closed loop control, i.e. control using feedback

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

本发明涉及执行器技术领域,且公开了微型智能远程控制电液执行器,包括液压缸套。该微型智能远程控制电液执行器,通过微型动力单元内部的驱动电机带动齿轮泵转动输出高压液压油,微型动力单元输出的高压液压油经过阀块进入液压执行器内的液压缸套,推动齿条直行程运动,齿条带动齿轴做角行程运动,齿轴再带动主齿轮转动,主齿轮又带动其外侧的从齿轮转动,使从齿轮上的角度编码器在从齿轮转动时会接收到电器脉冲信号,通过4‑20mA的控制反馈模块转换与角度变化位置成线性比例的4‑20mA的信号,再通过控制反馈模块将转动的角度通过蓝牙模块上传至手机APP客户端或者计算机终端,实现远程监控,达到了方便使用的目的。

Figure 202010309749

The invention relates to the technical field of actuators, and discloses a miniature intelligent remote control electro-hydraulic actuator, which includes a hydraulic cylinder liner. The micro intelligent remote control electro-hydraulic actuator drives the gear pump to rotate and outputs high pressure hydraulic oil through the drive motor inside the micro power unit. The bar moves in a straight stroke, the rack drives the pinion to make an angular stroke, the pinion drives the main gear to rotate, and the main gear drives the outer slave gear to rotate, so that the angle encoder on the slave gear will receive the rotation of the slave gear. The electrical pulse signal is converted into a 4-20mA signal that is linearly proportional to the angle change position through the 4-20mA control feedback module, and then the rotation angle is uploaded to the mobile phone APP client or computer terminal through the Bluetooth module through the control feedback module to realize Remote monitoring, to achieve the purpose of convenient use.

Figure 202010309749

Description

微型智能远程控制电液执行器Miniature Intelligent Remote Control Electro-hydraulic Actuator

技术领域technical field

本发明涉及执行器技术领域,具体为一种微型智能远程控制电液执行器。The invention relates to the technical field of actuators, in particular to a miniature intelligent remote control electro-hydraulic actuator.

背景技术Background technique

执行器作为一种动力装置,是自动化技术工具中接受控制信息并对受控对象施加控制作用的装置,综合了气动、液压、控制、机电、计算机和通信等技术,可以快速稳定地对被控对象的位置进行精确控制,不仅应用于各种阀门的驱动和控制中,而且现已广泛应用在电力、水利、冶金、造纸、航天、管线、石化、工业装备和食品加工等领域众多需要动力驱动的部位。As a power device, the actuator is a device in the automation technology tool that accepts control information and exerts control on the controlled object. It integrates pneumatic, hydraulic, control, electromechanical, computer and communication technologies to quickly and stably control the controlled object. The position of the object is precisely controlled, which is not only used in the drive and control of various valves, but also has been widely used in electric power, water conservancy, metallurgy, papermaking, aerospace, pipeline, petrochemical, industrial equipment and food processing. part.

目前市场上的电液执行器各种各样,例如中国专利CN 103174698B中公开了一种电液执行器,通过使用电子机械制动装置对电机转子进行制动来保持液压回路中较大的压力,消耗较小的能量即可保持液压回路中较大的压力,可避免现有的电液执行器为保持液压回路中较大的压力电机需消耗高能量并产生高热量,然而该装置却无法精准的控制和调节电液执行器的转动角度,且体积较大,不适用于小空间的要求很高的船舶,且操作不够方便,不能远程实施一系列的检测和开关操作,导致使用便利性较低,故而提出一种微型智能远程控制电液执行器来解决上述所提出的问题。There are various electro-hydraulic actuators on the market. For example, Chinese patent CN 103174698B discloses an electro-hydraulic actuator, which uses an electro-mechanical braking device to brake the motor rotor to maintain a relatively large pressure in the hydraulic circuit. , which consumes less energy to maintain a large pressure in the hydraulic circuit, which can avoid the need for the existing electro-hydraulic actuator to consume high energy and generate high heat in order to maintain a large pressure in the hydraulic circuit. However, this device cannot Precisely control and adjust the rotation angle of the electro-hydraulic actuator, and the volume is large, which is not suitable for ships with high requirements for small space, and the operation is not convenient enough to remotely implement a series of detection and switching operations, resulting in convenience of use. Therefore, a miniature intelligent remote control electro-hydraulic actuator is proposed to solve the above-mentioned problems.

发明内容SUMMARY OF THE INVENTION

(一)解决的技术问题(1) Technical problems solved

针对现有技术的不足,本发明提供了一种微型智能远程控制电液执行器,具备方便使用等优点,解决了该装置却无法精准的控制和调节电液执行器的转动角度,且体积较大,不适用于小空间的要求很高的船舶,且操作不够方便,不能远程实施一系列的检测和开关操作,导致使用便利性较低的问题。In view of the deficiencies of the prior art, the present invention provides a miniature intelligent remote control electro-hydraulic actuator, which has the advantages of convenient use, etc., and solves the problem that the device cannot accurately control and adjust the rotation angle of the electro-hydraulic actuator, and the volume is relatively small. It is not suitable for ships with high requirements for small space, and the operation is not convenient enough to remotely implement a series of detection and switching operations, resulting in the problem of low convenience of use.

(二)技术方案(2) Technical solutions

为实现上述方便使用目的,本发明提供如下技术方案:微型智能远程控制电液执行器,包括液压缸套,所述液压缸套的内部开设有滑槽,所述液压缸套的左右两侧均固定安装有第一固定螺栓,所述滑槽的内部固定安装有导向套,所述导向套的内部活动安装有齿条,所述液压缸套的正面固定安装有回讯器,所述回讯器的正面固定安装有盖板,所述盖板的正面固定安装有固定螺母,所述回讯器的内部固定安装有主齿轮,所述主齿轮的外侧啮合有从齿轮,所述从齿轮的外侧固定安装有角度编码器,所述液压缸套的底部固定安装有微型液压动力单元,所述微型液压动力单元的外侧固定安装有安装板,所述微型液压动力单元的左右两侧均固定安装有第二固定螺栓,所述微型液压动力单元的内部固定安装有驱动器,所述驱动器的内部固定安装有驱动电机,所述驱动器的内部固定安装有温度传感器,所述驱动器的内部固定安装有温控开关,所述微型液压动力单元的内部固定安装有控制反馈模块,所述微型液压动力单元的内部固定安装有蓝牙模块,所述主齿轮的背面固定安装有齿轴,所述齿轴的外侧固定安装有深沟球轴承,所述微型液压动力单元的内部固定安装有报警器,所述微型液压动力单元的内部固定安装有液压互锁系统阀,所述蓝牙模块双向信号连接有手机APP客户端,所述蓝牙模块双向信号连接有计算机终端。In order to achieve the above purpose of convenient use, the present invention provides the following technical solution: a miniature intelligent remote control electro-hydraulic actuator, including a hydraulic cylinder liner, the interior of the hydraulic cylinder liner is provided with a chute, and the left and right sides of the hydraulic cylinder liner are A first fixing bolt is fixedly installed, a guide sleeve is fixedly installed inside the chute, a rack is movably installed inside the guide sleeve, and an echoer is fixedly installed on the front of the hydraulic cylinder sleeve. A cover plate is fixedly installed on the front of the repeater, a fixing nut is fixedly installed on the front of the cover plate, a main gear is fixedly installed in the interior of the repeater, and a slave gear is engaged with the outside of the main gear, and the An angle encoder is fixedly installed on the outside, a micro-hydraulic power unit is fixedly installed on the bottom of the hydraulic cylinder liner, a mounting plate is fixedly installed on the outside of the micro-hydraulic power unit, and the left and right sides of the micro-hydraulic power unit are fixedly installed There is a second fixing bolt, a driver is fixedly installed inside the micro-hydraulic power unit, a drive motor is fixedly installed inside the driver, a temperature sensor is fixedly installed inside the driver, and a temperature sensor is fixedly installed inside the driver. control switch, a control feedback module is fixedly installed inside the micro-hydraulic power unit, a Bluetooth module is fixedly installed inside the micro-hydraulic power unit, a pinion is fixedly installed on the back of the main gear, and the outer side of the pinion is fixedly installed A deep groove ball bearing is fixedly installed, an alarm is fixedly installed inside the micro-hydraulic power unit, a hydraulic interlocking system valve is fixedly installed inside the micro-hydraulic power unit, and the bluetooth module is connected to a mobile APP customer via a bidirectional signal. The Bluetooth module is connected with a computer terminal by a bidirectional signal.

优选的,所述滑槽的大小与齿条的大小相适配,所述齿条与齿轴相互啮合。Preferably, the size of the chute is adapted to the size of the rack, and the rack and the pinion mesh with each other.

优选的,所述导向套的数量为两个,所述齿条位于两个导向套之间。Preferably, the number of the guide sleeves is two, and the rack is located between the two guide sleeves.

优选的,所述固定螺母的数量为四个,四个所述固定螺母均匀分布在盖板的正面。Preferably, the number of the fixing nuts is four, and the four fixing nuts are evenly distributed on the front surface of the cover plate.

优选的,所述从齿轮的直径小于主齿轮的直径,所述液压缸套与回讯器相互连通。Preferably, the diameter of the slave gear is smaller than the diameter of the main gear, and the hydraulic cylinder liner and the echoer communicate with each other.

优选的,所述第二固定螺栓的数量为四个,左右两侧所述第二固定螺栓呈对称分布于微型液压动力单元中轴线的左右两侧。Preferably, the number of the second fixing bolts is four, and the second fixing bolts on the left and right sides are symmetrically distributed on the left and right sides of the central axis of the micro-hydraulic power unit.

优选的,所述齿轴的背部贯穿液压缸套的正面并延伸至液压缸套的内部。Preferably, the back of the gear shaft penetrates through the front face of the hydraulic cylinder liner and extends to the interior of the hydraulic cylinder liner.

优选的,所述导向套为铜套,所述导向套的外侧开设有导向槽,所述齿条位于导向槽的内部。Preferably, the guide sleeve is a copper sleeve, a guide groove is formed on the outer side of the guide sleeve, and the rack is located inside the guide groove.

优选的,所述液压互锁系统阀的输出端与控制反馈模块的输入端电连接,所述报警器与蓝牙模块双向信号连接,所述角度编码器与控制反馈模块双向电连接,所述驱动电机的输入端与温控开关的输出端电连接,所述温控开关的输入端与温度传感器的输出端电连接,所述蓝牙模块与控制反馈模块双向信号连接,所述蓝牙模块与温度传感器双向信号连接。Preferably, the output end of the hydraulic interlocking system valve is electrically connected to the input end of the control feedback module, the alarm device is connected to the Bluetooth module in a two-way signal connection, the angle encoder is electrically connected to the control feedback module in both directions, and the drive The input end of the motor is electrically connected with the output end of the temperature control switch, the input end of the temperature control switch is electrically connected with the output end of the temperature sensor, the Bluetooth module is connected with the control feedback module in a two-way signal connection, and the Bluetooth module is connected with the temperature sensor Bidirectional signal connection.

(三)有益效果(3) Beneficial effects

与现有技术相比,本发明提供了一种微型智能远程控制电液执行器,具备以下有益效果:Compared with the prior art, the present invention provides a miniature intelligent remote control electro-hydraulic actuator, which has the following beneficial effects:

1、该微型智能远程控制电液执行器,通过微型动力单元内部的驱动电机带动齿轮泵转动输出高压液压油,微型动力单元输出的高压液压油经过阀块进入液压执行器内的液压缸套,推动齿条直行程运动,齿条带动齿轴做角行程运动,齿轴再带动主齿轮转动,主齿轮又带动其外侧的从齿轮转动,使从齿轮上的角度编码器在从齿轮转动时会接收到电器脉冲信号,通过4-20mA的控制反馈模块转换与角度变化位置成线性比例的4-20mA的信号,随着电液动执行器角度变化,电流信号也跟着改变,信号从关到开逐渐增加,从开到关逐渐减小,始终保持电液动执行器0-90°角度转动,电流变化值处在4-20mA内,再通过控制反馈模块将转动的角度通过蓝牙模块上传至手机APP客户端或者计算机终端,实现远程监控,达到了方便使用的目的。1. The micro intelligent remote control electro-hydraulic actuator drives the gear pump to rotate and output high pressure hydraulic oil through the drive motor inside the micro power unit. The high pressure hydraulic oil output from the micro power unit enters the hydraulic cylinder liner in the hydraulic actuator through the valve block. Push the rack to move in a straight stroke, the rack drives the pinion to make an angular motion, the pinion drives the main gear to rotate, and the main gear drives the outer secondary gear to rotate, so that the angle encoder on the secondary gear will rotate when the secondary gear rotates. After receiving the electrical pulse signal, the 4-20mA signal that is linearly proportional to the angle change position is converted through the 4-20mA control feedback module. As the angle of the electro-hydraulic actuator changes, the current signal also changes, and the signal changes from off to on. Gradually increase, gradually decrease from on to off, always keep the electro-hydraulic actuator rotating at an angle of 0-90°, the current change value is within 4-20mA, and then upload the rotation angle to the mobile phone through the Bluetooth module through the control feedback module APP client or computer terminal to realize remote monitoring and achieve the purpose of convenient use.

2、该微型智能远程控制电液执行器,通过控制微型智能电液式执行器在0-90°间停止在任意角度,利用内部液压锁锁定保持角度不变,可以通过蓝牙模块在不打开箱盖的前提下通过手机或者电脑监测其动作情况,也可以实现故障的快速整定,并且温度传感器会实时对驱动器内部的驱动电机的温度进行监控,并且通过蓝牙模块将温度信息上传至手机APP客户端和计算机终端,方便了查看温度,并在温度高于一定上限时,发送信号给温控开关使驱动电机断电,起到了良好的防护作用,智能型电液式执行器采用闭环油路控制,解决普通液压执行器管路漏油无法查找泄漏点的一大难题,同时微动力单元内部有液压互锁系统阀,停止状态下能有效锁死,即使电源失电,也能保持所停留的位置,无需像气动执行器需要干燥空气或者空气净化装置,与计算机连接方便简洁,更适应采用电子信息新技术,达到了方便使用的目的。2. The miniature intelligent remote control electro-hydraulic actuator can stop at any angle between 0-90° by controlling the miniature intelligent electro-hydraulic actuator, and use the internal hydraulic lock to keep the angle unchanged. On the premise of the cover, monitoring its action through a mobile phone or a computer can also achieve rapid adjustment of faults, and the temperature sensor will monitor the temperature of the drive motor inside the driver in real time, and upload the temperature information to the mobile APP client through the Bluetooth module And computer terminal, it is convenient to check the temperature, and when the temperature is higher than a certain upper limit, it sends a signal to the temperature control switch to power off the drive motor, which plays a good protective role. The intelligent electro-hydraulic actuator adopts closed-loop oil circuit control. Solve the big problem that the oil leakage of ordinary hydraulic actuator pipeline cannot find the leakage point. At the same time, there is a hydraulic interlocking system valve inside the micro power unit, which can be effectively locked in the stop state, and even if the power supply loses power, it can also maintain the position where it stayed. , without the need for dry air or air purification device like pneumatic actuators, convenient and simple connection with the computer, more suitable for the use of new electronic information technology, to achieve the purpose of convenient use.

附图说明Description of drawings

图1为本发明提出的微型智能远程控制电液执行器俯视图;Fig. 1 is the top view of the miniature intelligent remote control electro-hydraulic actuator proposed by the present invention;

图2为本发明提出的微型智能远程控制电液执行器左视图;Fig. 2 is the left side view of the miniature intelligent remote control electro-hydraulic actuator proposed by the present invention;

图3为本发明提出的微型智能远程控制电液执行器系统结构示意图。FIG. 3 is a schematic structural diagram of the micro-intelligent remote control electro-hydraulic actuator system proposed by the present invention.

图中:1液压缸套、2滑槽、3导向套、4齿条、5回讯器、6主齿轮、7从齿轮、8角度编码器、9微型液压动力单元、10驱动器、11驱动电机、12第一固定螺栓、13盖板、14固定螺母、15第二固定螺栓、16温度传感器、17温控开关、18控制反馈模块、19蓝牙模块、20齿轴、21深沟球轴承、22报警器、23液压互锁系统阀、24手机APP客户端、25计算机终端、26安装板。In the picture: 1 hydraulic cylinder liner, 2 chute, 3 guide sleeve, 4 rack, 5 feedback device, 6 master gear, 7 slave gear, 8 angle encoder, 9 micro hydraulic power unit, 10 driver, 11 drive motor , 12 first fixing bolt, 13 cover plate, 14 fixing nut, 15 second fixing bolt, 16 temperature sensor, 17 temperature control switch, 18 control feedback module, 19 bluetooth module, 20 gear shaft, 21 deep groove ball bearing, 22 Alarm, 23 hydraulic interlock system valve, 24 mobile phone APP client, 25 computer terminal, 26 mounting plate.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。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 efforts shall fall within the protection scope of the present invention.

请参阅图1-3,微型智能远程控制电液执行器,包括液压缸套1,液压缸套1的内部开设有滑槽2,是液压缸套1的左右两侧均固定安装有第一固定螺栓12,滑槽2的内部固定安装有导向套3,导向套3的内部活动安装有齿条4,导向套3为铜套,铜套耐热性好且耐磨,能够承受齿条4多次的滑动,导向套3的外侧开设有导向槽,齿条4位于导向槽的内部,导向套3的数量为两个,齿条4位于两个导向套3之间,液压缸套1的正面固定安装有回讯器5,液压缸套1与回讯器5相互连通,回讯器5的正面固定安装有盖板13,盖板13的正面固定安装有固定螺母14,固定螺母14的数量为四个,四个固定螺母14均匀分布在盖板13的正面,回讯器5的内部固定安装有主齿轮6,主齿轮6的外侧啮合有从齿轮7,从齿轮7的外侧固定安装有角度编码器8,液压缸套1的底部固定安装有微型液压动力单元9,微型液压动力单元9的外侧固定安装有安装板26,微型液压动力单元9的左右两侧均固定安装有第二固定螺栓15,第二固定螺栓15的数量为四个,左右两侧第二固定螺栓15呈对称分布于微型液压动力单元9中轴线的左右两侧,微型液压动力单元9的内部固定安装有驱动器10,驱动器10的内部固定安装有驱动电机11,驱动器10的内部固定安装有温度传感器16,驱动器10的内部固定安装有温控开关17,驱动电机11的输入端与温控开关17的输出端电连接,温控开关17的输入端与温度传感器16的输出端电连接,微型液压动力单元9的内部固定安装有控制反馈模块18,从齿轮7的直径小于主齿轮6的直径,角度编码器8与控制反馈模块18双向电连接,微型液压动力单元9的内部固定安装有蓝牙模块19,蓝牙模块19与控制反馈模块18双向信号连接,蓝牙模块19与温度传感器16双向信号连接,主齿轮6的背面固定安装有齿轴20,齿轴20的背部贯穿液压缸套1的正面并延伸至液压缸套1的内部,滑槽2的大小与齿条4的大小相适配,齿条4与齿轴20相互啮合,齿轴20的外侧固定安装有深沟球轴承21,微型液压动力单元9的内部固定安装有报警器22,微型液压动力单元9的内部固定安装有液压互锁系统阀23,液压互锁系统阀23的输入端与控制反馈模块18的输出端电连接,报警器22与蓝牙模块19双向信号连接,蓝牙模块19双向信号连接有手机APP客户端24,蓝牙模块19双向信号连接有计算机终端25,通过微型动力单元9内部的驱动电机11带动齿轮泵转动输出高压液压油,微型动力单元9输出的高压液压油经过阀块进入液压执行器内的液压缸套1,推动齿条4直行程运动,齿条4带动齿轴20做角行程运动,齿轴20再带动主齿轮6转动,主齿轮6又带动其外侧的从齿轮7转动,使从齿轮7上的角度编码器8在从齿轮7转动时会接收到电器脉冲信号,通过4-20mA的控制反馈模块18转换与角度变化位置成线性比例的4-20mA的信号,随着电液动执行器角度变化,电流信号也跟着改变,信号从关到开逐渐增加,从开到关逐渐减小,始终保持电液动执行器0-90°角度转动,电流变化值处在4-20mA内,再通过控制反馈模块18将转动的角度通过蓝牙模块19上传至手机APP客户端24或者计算机终端25,实现远程监控,达到了方便使用的目的,通过控制微型智能电液式执行器在0-90°间停止在任意角度,利用内部液压锁锁定保持角度不变,可以通过蓝牙模块19在不打开箱盖的前提下通过手机或者电脑监测其动作情况,也可以实现故障的快速整定,并且温度传感器16会实时对驱动器10内部的驱动电机11的温度进行监控,并且通过蓝牙模块19将温度信息上传至手机APP客户端24和计算机终端25,方便了查看温度,并在温度高于一定上限时,发送信号给温控开关17使驱动电机11断电,起到了良好的防护作用,智能型电液式执行器采用闭环油路控制,解决普通液压执行器管路漏油无法查找泄漏点的一大难题,同时微动力单元内部有液压互锁系统阀23,停止状态下能有效锁死,即使电源失电,也能保持所停留的位置,无需像气动执行器需要干燥空气或者空气净化装置,与计算机连接方便简洁,更适应采用电子信息新技术,达到了方便使用的目的。Please refer to Figure 1-3, the miniature intelligent remote control electro-hydraulic actuator, including the hydraulic cylinder liner 1, the inside of the hydraulic cylinder liner 1 is provided with a chute 2, and the left and right sides of the hydraulic cylinder liner 1 are fixedly installed with a first fixed Bolts 12, a guide sleeve 3 is fixed inside the chute 2, a rack 4 is movably installed inside the guide sleeve 3, the guide sleeve 3 is a copper sleeve, the copper sleeve has good heat resistance and wear resistance, and can withstand more than 4 racks The outer side of the guide sleeve 3 is provided with a guide groove, the rack 4 is located inside the guide groove, the number of guide sleeves 3 is two, the rack 4 is located between the two guide sleeves 3, and the front of the hydraulic cylinder sleeve 1 The echo device 5 is fixedly installed, the hydraulic cylinder liner 1 and the echo device 5 are communicated with each other, a cover plate 13 is fixedly installed on the front of the echo device 5, and a fixed nut 14 is fixedly installed on the front of the cover plate 13. The number of the fixed nuts 14 There are four fixed nuts 14 evenly distributed on the front of the cover plate 13 , the main gear 6 is fixedly installed inside the repeater 5 , the outer side of the main gear 6 is meshed with the slave gear 7 , and the outer side of the slave gear 7 is fixedly installed. The angle encoder 8, the micro hydraulic power unit 9 is fixedly installed on the bottom of the hydraulic cylinder liner 1, the mounting plate 26 is fixedly installed on the outer side of the micro hydraulic power unit 9, and the left and right sides of the micro hydraulic power unit 9 are fixedly installed with a second fixed The number of bolts 15 and the second fixing bolts 15 is four, and the second fixing bolts 15 on the left and right sides are symmetrically distributed on the left and right sides of the central axis of the micro-hydraulic power unit 9, and the driver 10 is fixedly installed inside the micro-hydraulic power unit 9 , a drive motor 11 is fixedly installed inside the driver 10 , a temperature sensor 16 is fixedly installed inside the driver 10 , a temperature control switch 17 is fixedly installed inside the driver 10 , and the input end of the drive motor 11 is electrically connected to the output end of the temperature control switch 17 Connection, the input end of the temperature control switch 17 is electrically connected with the output end of the temperature sensor 16, the control feedback module 18 is fixedly installed inside the micro hydraulic power unit 9, the diameter of the slave gear 7 is smaller than the diameter of the main gear 6, the angle encoder 8 Two-way electrical connection with the control feedback module 18, a bluetooth module 19 is fixedly installed inside the micro hydraulic power unit 9, the bluetooth module 19 is connected with the control feedback module 18 in a two-way signal connection, and the bluetooth module 19 is connected with the temperature sensor 16 in a two-way signal connection. A pinion 20 is fixedly installed on the back. The back of the pinion 20 runs through the front of the hydraulic cylinder liner 1 and extends to the inside of the hydraulic cylinder liner 1. The size of the chute 2 is adapted to the size of the rack 4, and the rack 4 and the teeth The shafts 20 are meshed with each other, a deep groove ball bearing 21 is fixedly installed on the outside of the pinion 20, an alarm 22 is fixedly installed inside the micro-hydraulic power unit 9, and a hydraulic interlocking system valve 23 is fixedly installed inside the micro-hydraulic power unit 9. The input end of the hydraulic interlocking system valve 23 is electrically connected to the output end of the control feedback module 18 , the alarm device 22 is connected to the Bluetooth module 19 by two-way signal, the Bluetooth module 19 is connected to the mobile APP client 24 by the two-way signal, and the Bluetooth module 19 is connected by the two-way signal There is a computer terminal 25, and the gear pump is driven to rotate by the drive motor 11 inside the micro power unit 9, and the output is high. Press the hydraulic oil, the high-pressure hydraulic oil output from the micro power unit 9 enters the hydraulic cylinder liner 1 in the hydraulic actuator through the valve block, and pushes the rack 4 to move in a straight stroke. The rack 4 drives the pinion 20 to make an angular stroke. Then the main gear 6 is driven to rotate, and the main gear 6 drives the outer secondary gear 7 to rotate, so that the angle encoder 8 on the secondary gear 7 will receive the electrical pulse signal when the secondary gear 7 rotates, and the control feedback through 4-20mA The module 18 converts a 4-20mA signal that is linearly proportional to the position of the angle change. As the angle of the electro-hydraulic actuator changes, the current signal also changes. The signal gradually increases from off to on, and gradually decreases from on to off. Keep the electro-hydraulic actuator rotating at an angle of 0-90°, and the current change value is within 4-20mA, and then upload the rotation angle to the mobile phone APP client 24 or computer terminal 25 through the control feedback module 18 through the Bluetooth module 19 to realize Remote monitoring achieves the purpose of convenient use. By controlling the micro-intelligent electro-hydraulic actuator to stop at any angle between 0 and 90°, the internal hydraulic lock is used to lock the angle to keep the angle unchanged. The bluetooth module 19 can be used without opening the box cover. On the premise of monitoring its action through a mobile phone or a computer, it is also possible to quickly adjust the fault, and the temperature sensor 16 will monitor the temperature of the drive motor 11 inside the driver 10 in real time, and upload the temperature information to the mobile phone through the Bluetooth module 19. The APP client 24 and the computer terminal 25 are convenient for checking the temperature, and when the temperature is higher than a certain upper limit, a signal is sent to the temperature control switch 17 to power off the drive motor 11, which plays a good protective role, and the intelligent electro-hydraulic execution The actuator adopts closed-loop oil circuit control, which solves the major problem that the leakage point of ordinary hydraulic actuator pipeline cannot be found. At the same time, there is a hydraulic interlocking system valve 23 inside the micro-power unit, which can be effectively locked in the stopped state, even if the power is lost. , can also maintain the position where it stays, no need for dry air or air purification device like pneumatic actuators, convenient and simple connection with the computer, more suitable for the use of new electronic information technology, to achieve the purpose of convenient use.

综上所述,该微型智能远程控制电液执行器,通过微型动力单元9内部的驱动电机11带动齿轮泵转动输出高压液压油,微型动力单元9输出的高压液压油经过阀块进入液压执行器内的液压缸套1,推动齿条4直行程运动,齿条4带动齿轴20做角行程运动,齿轴20再带动主齿轮6转动,主齿轮6又带动其外侧的从齿轮7转动,使从齿轮7上的角度编码器8在从齿轮7转动时会接收到电器脉冲信号,通过4-20mA的控制反馈模块18转换与角度变化位置成线性比例的4-20mA的信号,随着电液动执行器角度变化,电流信号也跟着改变,信号从关到开逐渐增加,从开到关逐渐减小,始终保持电液动执行器0-90°角度转动,电流变化值处在4-20mA内,再通过控制反馈模块18将转动的角度通过蓝牙模块19上传至手机APP客户端24或者计算机终端25,实现远程监控,达到了方便使用的目的。To sum up, the micro intelligent remote control electro-hydraulic actuator drives the gear pump to rotate and output high pressure hydraulic oil through the drive motor 11 inside the micro power unit 9, and the high pressure hydraulic oil output from the micro power unit 9 enters the hydraulic actuator through the valve block. The inner hydraulic cylinder liner 1 pushes the rack 4 to move in a straight stroke, the rack 4 drives the pinion 20 to make an angular stroke, the pinion 20 drives the main gear 6 to rotate, and the main gear 6 drives the outer secondary gear 7 to rotate. The angle encoder 8 on the slave gear 7 will receive the electrical pulse signal when the slave gear 7 rotates, and the 4-20mA signal that is linearly proportional to the angle change position is converted through the 4-20mA control feedback module 18. When the angle of the hydraulic actuator changes, the current signal also changes, the signal gradually increases from off to on, and gradually decreases from on to off. Within 20 mA, the rotation angle is uploaded to the mobile phone APP client 24 or the computer terminal 25 through the Bluetooth module 19 through the control feedback module 18 to realize remote monitoring and achieve the purpose of convenient use.

并且,通过控制微型智能电液式执行器在0-90°间停止在任意角度,利用内部液压锁锁定保持角度不变,可以通过蓝牙模块19在不打开箱盖的前提下通过手机或者电脑监测其动作情况,也可以实现故障的快速整定,并且温度传感器16会实时对驱动器10内部的驱动电机11的温度进行监控,并且通过蓝牙模块19将温度信息上传至手机APP客户端24和计算机终端25,方便了查看温度,并在温度高于一定上限时,发送信号给温控开关17使驱动电机11断电,起到了良好的防护作用,智能型电液式执行器采用闭环油路控制,解决普通液压执行器管路漏油无法查找泄漏点的一大难题,同时微动力单元9内部有液压互锁系统阀23,停止状态下能有效锁死,即使电源失电,也能保持所停留的位置,无需像气动执行器需要干燥空气或者空气净化装置,与计算机连接方便简洁,更适应采用电子信息新技术,达到了方便使用的目的,解决了该装置却无法精准的控制和调节电液执行器的转动角度,且体积较大,不适用于小空间的要求很高的船舶,且操作不够方便,不能远程实施一系列的检测和开关操作,导致使用便利性较低的问题。In addition, by controlling the miniature intelligent electro-hydraulic actuator to stop at any angle between 0-90°, the internal hydraulic lock is used to lock the angle to keep the angle unchanged, and the bluetooth module 19 can be used for monitoring through the mobile phone or computer without opening the box cover. Its action situation can also realize the rapid adjustment of faults, and the temperature sensor 16 will monitor the temperature of the drive motor 11 inside the driver 10 in real time, and upload the temperature information to the mobile phone APP client 24 and the computer terminal 25 through the Bluetooth module 19 , it is convenient to check the temperature, and when the temperature is higher than a certain upper limit, it sends a signal to the temperature control switch 17 to power off the drive motor 11, which plays a good protective role. The intelligent electro-hydraulic actuator adopts closed-loop oil circuit control to solve the problem. The oil leakage of the ordinary hydraulic actuator pipeline is a big problem that the leakage point cannot be found. At the same time, there is a hydraulic interlocking system valve 23 inside the micro-power unit 9, which can be effectively locked in the stop state, and even if the power is lost, it can maintain the stopped state. Position, no need for dry air or air purification device like pneumatic actuators, convenient and simple connection with computer, more suitable for the use of new electronic information technology, to achieve the purpose of convenient use, solve the problem that the device cannot accurately control and adjust the electro-hydraulic actuator It is not suitable for ships with high requirements for small space, and the operation is not convenient enough to remotely implement a series of detection and switching operations, resulting in the problem of low convenience of use.

需要说明的是,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also no Other elements expressly listed, or which are also inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

尽管已经示出和描述了本发明的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (9)

1. Miniature intelligent remote control electricity liquid executor, including hydraulic cylinder cover (1), its characterized in that: the hydraulic cylinder sleeve is characterized in that a sliding groove (2) is formed in the hydraulic cylinder sleeve (1), first fixing bolts (12) are fixedly mounted on the left side and the right side of the hydraulic cylinder sleeve (1), a guide sleeve (3) is fixedly mounted in the sliding groove (2), a rack (4) is movably mounted in the guide sleeve (3), a repeater (5) is fixedly mounted on the front side of the hydraulic cylinder sleeve (1), a cover plate (13) is fixedly mounted on the front side of the repeater (5), a fixing nut (14) is fixedly mounted on the front side of the cover plate (13), a main gear (6) is fixedly mounted in the repeater (5), a driven gear (7) is meshed with the outer side of the main gear (6), an angle encoder (8) is fixedly mounted on the outer side of the driven gear (7), and a miniature hydraulic power unit (9) is fixedly mounted at the bottom of the hydraulic cylinder sleeve (1), the outside fixed mounting of miniature hydraulic power unit (9) has mounting panel (26), the equal fixed mounting in both sides has second fixing bolt (15) about miniature hydraulic power unit (9), the inside fixed mounting of miniature hydraulic power unit (9) has driver (10), the inside fixed mounting of driver (10) has driving motor (11), the inside fixed mounting of driver (10) has temperature sensor (16), the inside fixed mounting of driver (10) has temperature detect switch (17), the inside fixed mounting of miniature hydraulic power unit (9) has control feedback module (18), the inside fixed mounting of miniature hydraulic power unit (9) has bluetooth module (19), the back fixed mounting of master gear (6) has tooth axle (20), the outside fixed mounting of tooth axle (20) has deep groove ball bearing (21), the inside fixed mounting of miniature hydraulic power unit (9) has alarm (22), the inside fixed mounting of miniature hydraulic power unit (9) has hydraulic pressure interlocking system valve (23), bluetooth module (19) two-way signal connection has cell-phone APP customer end (24), bluetooth module (19) two-way signal connection has computer terminal (25).
2. The miniature intelligent remote control electro-hydraulic actuator of claim 1, wherein: the size of the sliding chute (2) is matched with that of the rack (4), and the rack (4) is meshed with the gear shaft (20).
3. The miniature intelligent remote control electro-hydraulic actuator of claim 1, wherein: the number of the guide sleeves (3) is two, and the rack (4) is located between the two guide sleeves (3).
4. The miniature intelligent remote control electro-hydraulic actuator of claim 1, wherein: the number of the fixing nuts (14) is four, and the four fixing nuts (14) are uniformly distributed on the front surface of the cover plate (13).
5. The miniature intelligent remote control electro-hydraulic actuator of claim 1, wherein: the diameter of the slave gear (7) is smaller than that of the master gear (6), and the hydraulic cylinder sleeve (1) is communicated with the signal transmitter (5).
6. The miniature intelligent remote control electro-hydraulic actuator of claim 1, wherein: the number of the second fixing bolts (15) is four, and the second fixing bolts (15) are symmetrically distributed on the left side and the right side of the central axis of the miniature hydraulic power unit (9).
7. The miniature intelligent remote control electro-hydraulic actuator of claim 1, wherein: the back of the gear shaft (20) penetrates through the front surface of the hydraulic cylinder sleeve (1) and extends into the hydraulic cylinder sleeve (1).
8. The miniature intelligent remote control electro-hydraulic actuator of claim 1, wherein: the guide sleeve (3) is a copper sleeve, a guide groove is formed in the outer side of the guide sleeve (3), and the rack (4) is located inside the guide groove.
9. The miniature intelligent remote control electro-hydraulic actuator of claim 1, wherein: the output of hydraulic pressure interlocking system valve (23) is connected with the input electricity of control feedback module (18), alarm (22) and bluetooth module (19) two-way signal connection, angle encoder (8) are connected with control feedback module (18) two-way electricity, the input of driving motor (11) is connected with temperature detect switch (17)'s output electricity, temperature detect switch (17)'s input is connected with the output electricity of temperature sensor (16), bluetooth module (19) and control feedback module (18) two-way signal connection, bluetooth module (19) and temperature sensor (16) two-way signal connection.
CN202010309749.XA 2020-04-20 2020-04-20 Miniature intelligent remote control electro-hydraulic actuator Pending CN111396392A (en)

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GB2614938A (en) * 2022-08-03 2023-07-26 Rotork Controls Actuator with Bluetooth beacon

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CN202690566U (en) * 2012-07-11 2013-01-23 江苏海陵机械有限公司 Electro-hydraulic rotor angle device
CN203272287U (en) * 2013-04-27 2013-11-06 江苏时创机械有限公司 Electro-hydraulic gyrator
CN110645397A (en) * 2019-09-28 2020-01-03 江西中船阀门成套装备有限公司 An integrated quick-response valve electro-hydraulic drive device
CN212055333U (en) * 2020-04-20 2020-12-01 江苏创格流体控制有限公司 Miniature intelligent remote control electro-hydraulic actuator

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201739607U (en) * 2010-01-04 2011-02-09 攀钢集团冶金工程技术有限公司 Electric valve actuator
CN202690566U (en) * 2012-07-11 2013-01-23 江苏海陵机械有限公司 Electro-hydraulic rotor angle device
CN203272287U (en) * 2013-04-27 2013-11-06 江苏时创机械有限公司 Electro-hydraulic gyrator
CN110645397A (en) * 2019-09-28 2020-01-03 江西中船阀门成套装备有限公司 An integrated quick-response valve electro-hydraulic drive device
CN212055333U (en) * 2020-04-20 2020-12-01 江苏创格流体控制有限公司 Miniature intelligent remote control electro-hydraulic actuator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2614938A (en) * 2022-08-03 2023-07-26 Rotork Controls Actuator with Bluetooth beacon
GB2614938B (en) * 2022-08-03 2024-11-27 Rotork Controls Actuator with Bluetooth beacon

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