CN103438243B - Incremental electro-hydraulic digital flow control valve with double valve cores rotating oppositely - Google Patents
Incremental electro-hydraulic digital flow control valve with double valve cores rotating oppositely Download PDFInfo
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- CN103438243B CN103438243B CN201310437365.6A CN201310437365A CN103438243B CN 103438243 B CN103438243 B CN 103438243B CN 201310437365 A CN201310437365 A CN 201310437365A CN 103438243 B CN103438243 B CN 103438243B
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Abstract
The invention discloses an incremental electro-hydraulic digital flow control valve with double valve cores rotating oppositely. The control valve is characterized in that a valve body is square outside and circular inside, an oil inlet hole and an oil outlet hole are formed in the outer surface of the valve body and communicated with an annular oil inlet groove and an annular oil outlet groove in the circular-arc inner surface of the valve body respectively, an inner valve core and an outer valve core are both in a cylinder foot cup shape, the open end of the inner valve core is inserted in the open end of the outer valve core, the inner valve core and the outer valve core are installed inside the valve body together, and the inner valve core, the outer valve core and the valve body are kept coaxial; fan-shaped oil inlet holes and fan-shaped oil outlet holes are formed in the cylindrical surfaces of the inner valve core and the outer valve core, and respectively connected with the oil inlet hole and the oil outlet hole in the outer surface of the valve body through the annular oil inlet groove and the annular oil outlet groove in the inner surface of the valve body; the closed ends of the inner valve core and the outer valve core are provided with cylindrical shafts which penetrate through the left end cover and the right end cover of the valve body after passing through a bearing, and respectively connected with a stepping motor. Compared with an existing incremental sliding type digital flow valve, the digital valve disclosed by the invention has higher resolution ratio, dynamic response speed and flow control accuracy.
Description
Technical field
The present invention relates to a kind of hydraulic control component, particularly a kind of double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve.
Background technique
Adopt computer to electrohydraulic system control be from now on hydraulics development trend.But widely used electro-hydraulic proportional valve or servovalve in electrohydraulic system at present, only can accept continually varying voltage or current signal controls, and the instruction of computer is pulse digital signal.So control system must have D/A (digital-to-analogue) conversion equipment, cause system complex, cost is high, and reliability reduces.The computer that appears as of digital valve has opened up a new approach in the application of Hydraulic Field.Electrohydraulic digital valve can directly be connected with computer, changes without the need to D/A.Compared with servovalve, Proportional valve, digital valve has that structure is simple, cheap, anti-interference and the advantage such as pollution capacity is strong, reproducible, working stability is reliable, power consumption is little.Therefore, digital valve has become a study hotspot widely paid close attention to of hydraulics.
Electrohydraulic digital valve in widespread attention at present, one is the fast switching type digital valve based on pulsewidth modulation (PWM), and another kind is the Increment Type Digital Hydraulic Valve based on pulse number modulation (PNM) principle.Fast switching type digital valve is driven by high frequency electricity/machine transducer, and spool is equal by a series of amplitude, and in the different pulse signal effect of each cycle insied width, only has standard-sized sheet, full cut-off two kinds of working staties.This kind of digital valve output flow is little, and vibration & noise is large.Incremental digital valve adopts driving stepper motor.The corner of stepper motor, by ball screw or cam mechanism, is transformed into straight-line displacement, drives hydrovalve spool move or change pressure adjusting spring decrement, realizes the control to flow, direction and pressure.But due to the manufacture of ball screw or cam mechanism, assembling and wear error, cause a zero setting dead band and reduce dynamic responding speed.In addition, the resolution of this valve is not high, so limit its application in high precision electro liquid control system.Although Increment Type Digital Hydraulic Valve is more technical than fast switching type digital valve more ripe, in general, the development of electrohydraulic digital valve is still comparatively slow, incompatible with the overall development of hydraulics, needs the novel electrohydraulic digital valve of R and D.
Summary of the invention
For the deficiencies in the prior art, the object of this invention is to provide a kind of novel double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve, this control valve has more high-resolution, control accuracy and dynamic responding speed.
The object of the invention is to be achieved through the following technical solutions:
A kind of double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve, it is characterized in that: this control valve comprises valve body, outer spool, inner spool, stepper motor, controllor for step-by-step motor, spool angular displacement sensor, locating stud and valve core reseting spring, described valve outer surface is square, and be provided with filler opening, oil outlet and controllor for step-by-step motor at the outer surface of valve body, valve interior surface is circular arc, and the oil-feed circular groove A communicated with filler opening is provided with at valve interior surface, the fuel-displaced circular groove B communicated with oil outlet, is provided with valve body end cap at valve body two ends; It is cup-shaped that described outer spool and inner spool are pin, and the large end of its opening is cylindrical sleeves, and closed small end is cylinder axis; Spool cylindrical sleeves surface is provided with the outer fan-shaped oil inlet hole corresponding to oil-feed circular groove A outside, corresponding to the outer fan-shaped oil outlet of fuel-displaced circular groove B, be provided with corresponding to fan-shaped oil inlet hole in outer fan-shaped oil inlet hole, corresponding to fan-shaped oil outlet in outer fan-shaped oil outlet on inner spool cylindrical sleeves surface; Inner spool socket end inserts in outer valve cage, is arranged in valve body together, and inner spool, outer spool and valve body keep coaxial; Inner spool is connected with stepper motor by the valve body end cap of bearing through valve body two ends respectively with the cylinder axis of outer spool small end; Spool angular displacement sensor is arranged on stepper motor; For limiting inner spool, outer spool moves axially and is arranged on valve body upper and lower surface with the locating stud symmetry of counter-rotation and is positioned in the middle part of valve body; Valve core reseting spring is torsion spring, and outer spool cylindrical sleeves interior edge face is fixed in one end, and the other end is fixed on inner spool cylindrical sleeves interior edge face.
In the present invention, spool angular displacement sensor is arranged in protective housing, and spool angular displacement sensor is inductosyn, and synchronous inductor rotor is fixed on the cylinder axis of inner spool and outer spool small end, and synchronous inductor stator is fixed on protective housing internal surface.Filler opening and oil outlet are arranged on valve body upper surface, and controllor for step-by-step motor is arranged on valve body lower surface.
Locating stud passes valve body, outer spool and inner spool and outer fan-shaped oil inlet hole, the outer fan-shaped oil outlet of external spool, and the interior fan-shaped oil inlet hole of inner spool, the position of interior fan-shaped oil outlet align.
In the present invention, the stepper motor at valve body two ends drives inner spool and outer spool to rotate in opposite directions.
Outside spool cylindrical sleeves surface, process 2 fan-shaped oil inlet holes and with 2 fan-shaped oil outlets, correspond respectively to the oil-feed circular groove A of valve interior surface and fuel-displaced circular groove B.Inner spool cylindrical sleeves surface, also process 2 fan-shaped oil inlet holes and and 2 fan-shaped oil outlets, correspond respectively to the fan-shaped oil inlet hole of outer spool internal surface and fan-shaped oil outlet.
In the middle part of valve body, the spool locating stud that upper and lower surface symmetry is installed, through valve body, inside and outside spool face fan shaped borehole, for the aligning of inside and outside spool upper oil hole, limits moving axially and reciprocal rotation of inside and outside spool.This valve is except spool, and other structure is that benchmark is symmetrical with locating stud.Returnning spring is torsion spring, and outer spool cylindrical sleeves interior edge face is fixed in its one end, and the other end is fixed on inner spool cylindrical sleeves interior edge face.
Advantage of the present invention is:
1) stepper motor Direct driver spool is adopted to rotate.Owing to there is no mechanical transmission mechanism, eliminate output dead band and the inertia lag of the valve caused due to Mechanism Clearance, improve the dynamic responding speed of valve;
2) have employed the opening of inside and outside spool opposite direction rotating mode control valve.Corresponding identical independent stepping corner, the opening area increasing of valve is twice.Under stepper motor steps same case, increase the changes in flow rate of valve, therefore significantly improve the resolution of valve;
3) locating stud is adopted to limit the initial of spool and maximum position.Mechanical type is spacing accurately, No leakage when guaranteeing that valve is in zero lap position;
4) valve core inside hydraulic radial equilibrium of forces, without clamping phenomenon, makes valve core rotation flexible;
5) adopt negative feedback control, ensure that the accuracy of the angle of swing of spool, thus improve the control accuracy of valve output flow.
The present invention is under driving stepper motor, and inside and outside spool opposite direction rotating, by the size regulating its fan-shaped oil inlet hole and oil outlet overflow section to amass, realizes the control valve to flow.Inside and outside poppet shaft is all provided with angle detecting sensor, forms angular displacement negative feedback control.Compared with existing increment sliding type digital flow valves, digital valve of the present invention, has higher resolution, dynamic responding speed and the control accuracy to flow.
Accompanying drawing explanation
Fig. 1 is structure of the present invention and spool initial position schematic diagram.
Fig. 1-1 is the C-C schematic cross-section in Fig. 1.
Fig. 1-2 is the D-D schematic cross-section in Fig. 1.
Fig. 1-3 is the E-E schematic cross-sections in Fig. 1.
Fig. 2 is spool neutral position structural representation in the present invention.
Fig. 2-1 is the C-C schematic cross-section in Fig. 2.
Fig. 2-2 is the D-D schematic cross-sections in Fig. 2.
Fig. 2-3 is the E-E schematic cross-sections in Fig. 2.
Fig. 3 is spool limit position structural representation in the present invention.
Fig. 3-1 is the C-C schematic cross-section in Fig. 3.
Fig. 3-2 is the D-D schematic cross-sections in Fig. 3.
Fig. 3-3 is the E-E schematic cross-sections in Fig. 3.
Mark in figure: 1-stepper motor; 2-spool angular displacement monitoring sensor protective housing; 3-spool angular displacement sensor; 31-synchronous inductor stator; 32-synchronous inductor rotor; 5-valve body end cap; 6-bearing (ball) cover; 7-valve body; 71-filler opening; 72-oil outlet; 8-spool locating stud; 9-inner spool; Fan-shaped oil inlet hole in 91-; Fan-shaped oil outlet in 92-; 10-Returnning spring; The outer spool of 11-; The outer fan-shaped oil inlet hole of 111-; The outer fan-shaped oil outlet of 112-; 12. bearings; 13. controllor for step-by-step motor.
Embodiment
A kind of double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve, as shown in Figure 1.This control valve comprises valve body 7, outer spool 11, inner spool 9, stepper motor 1, controllor for step-by-step motor 13, spool angular displacement sensor 3, locating stud 8 and valve core reseting spring 10.Valve body 7 square-outside and round-inside, is screwed with two ends, left and right end cap 5.Valve outer surface is square, and be provided with filler opening, oil outlet and controllor for step-by-step motor at the outer surface of valve body, valve interior surface is circular arc, and is provided with the oil-feed circular groove A communicated with filler opening at valve interior surface, the fuel-displaced circular groove B communicated with oil outlet.It is cup-shaped that outer spool and inner spool are pin, and the large end of its opening is cylindrical sleeves, and closed small end is cylinder axis; Spool cylindrical sleeves surface is provided with the outer fan-shaped oil inlet hole corresponding to oil-feed circular groove A outside, corresponding to the outer fan-shaped oil outlet of fuel-displaced circular groove B, be provided with corresponding to fan-shaped oil inlet hole in outer fan-shaped oil inlet hole, corresponding to fan-shaped oil outlet in outer fan-shaped oil outlet on inner spool cylindrical sleeves surface; Inner spool socket end inserts in outer valve cage, is arranged in valve body together, and inner spool, outer spool and valve body keep coaxial; Inner spool is connected with stepper motor by the valve body end cap of bearing through valve body two ends respectively with the cylinder axis of outer spool small end.Spool angular displacement sensor is arranged on stepper motor; Spool angular displacement sensor is arranged in protective housing, and spool angular displacement sensor is inductosyn, and synchronous inductor rotor is fixed on the cylinder axis of inner spool and outer spool small end, and synchronous inductor stator is fixed on protective housing internal surface.Filler opening and oil outlet are arranged on valve body upper surface, and controllor for step-by-step motor is arranged on valve body lower surface.For limiting inner spool, outer spool moves axially and is arranged on valve body upper and lower surface with the locating stud symmetry of counter-rotation and is positioned in the middle part of valve body; Valve core reseting spring is torsion spring, and outer spool cylindrical sleeves interior edge face is fixed in one end, and the other end is fixed on inner spool cylindrical sleeves interior edge face.
Outside spool cylindrical sleeves surface, process 2 fan-shaped oil inlet holes and with 2 fan-shaped oil outlets, correspond respectively to the oil-feed circular groove A of valve interior surface and fuel-displaced circular groove B.Inner spool cylindrical sleeves surface, also process 2 fan-shaped oil inlet holes and and 2 fan-shaped oil outlets, correspond respectively to the fan-shaped oil inlet hole of outer spool internal surface and fan-shaped oil outlet.Inner spool socket end inserts outer valve cage, and be arranged on together in valve body, three keeps coaxial.Stepper motor is also fixedly mounted on sensor protective shield 2.Two spool locating studs 8, respectively symmetry through valve body upper and lower surface, outer spool cylinder, fix to inner spool outer surface.Except spool, other mechanism is that benchmark is symmetrical with locating stud.Locating stud be used for the location of the fan-shaped oilhole of inside and outside spool, the inside and outside spool of restriction move axially and circumference is rotated.Returnning spring 10 is torque spring, and outer spool cylindrical sleeves interior edge face is fixed in its one end, and the other end is fixed on inner spool cylindrical sleeves interior edge face.Controllor for step-by-step motor 13 is fixed on valve body lower surface.
Below by inside and outside spool oil inlet hole and oil outlet by being closed to the process opened completely completely, describe specific works process of the present invention.
1) spool initial position
As shown in C-C cross section in Fig. 1 and E-E cross section difference, during spool initial position, inside and outside valve core opening is closed completely, and namely area of passage is zero, and corresponding left and right side stepper motor output corner is 0
0..As can be seen from C-C cross section, now the fan-shaped oil inlet hole on outer spool and the fan-shaped oil inlet hole on inner spool stagger completely, and namely oil inlet hole is closed.On E-E sectional position, the fan-shaped oil inlet hole on outer spool and the fan-shaped oil outlet on inner spool also stagger completely, and namely oil outlet is closed.This position is initial position, and the accuracy of this position is determined by position limit pin.Found out by D-D cross section, now outer spool can only be that initial position is rotated counterclockwise with vertical centre, and maximum angle of swing is 45
0/ 2, and inner spool also can only with identical initial position, the maximum rotation 45 of clockwise direction
0/ 2.
2) spool neutral position
As shown in C-C cross section and E-E cross section in Fig. 2, inside and outside spool is opposite direction rotating Δ simultaneously
θangle.Now, by the uninterrupted of valve, the size of corresponding stepper motor output corner.As shown in Figure 2, when left and right sides stepper motor exports Δ in opposite directions
θduring angle, be benchmark with o-o while of corresponding outer spool and inner spool, in the counterclockwise direction and clockwise direction, opposite direction rotating Δ
θ, then the opening overcurrent central angle that valve is total is 2 Δs
θ.According to fluid mechanics, now valve port can be considered thin wall small hole, then the flow flowing through this rotary valve is:
In formula,
c d---flow coefficient, reynolds' number when flowing through valve opening according to fluid is looked into relevant handbook and is determined;
Δ
p---valve port turnover pressure reduction;
ρ---fluid density;
a m---valve port area of passage, when inside and outside spool wall thickness is equal,
, wherein,
r 1,
b 1be respectively outer valve element circle column radius and its surface oil hole width;
r 2,
b 2be respectively inner spool cylindrical radius and its surperficial fan-shaped oilhole width; Δ
θfor the output corner of stepper motor.
3) spool limit position
As shown in C-C cross section and E-E cross section in Fig. 3, when spool is in this position, inside and outside valve core opening area of passage is in maximum position, namely reaches maximum by the flow of valve.Corresponding left side stepper motor (driving outer spool) output corner 45 counterclockwise
0/ 2, right side stepper motor (driving inner spool) is output corner 45 clockwise
0/ 2.As shown in C-C cross section, fan-shaped oil inlet hole now on outer spool cylindrical sleeves face overlaps completely with the fan-shaped oil inlet hole on inner spool cylindrical sleeves face, and E-E cross section is depicted as, the fan-shaped oil outlet on outer spool cylindrical sleeves face overlaps completely with the fan-shaped oil outlet on inner spool cylindrical sleeves face.So the pressure oil entered by valve body filler opening, fan-shaped oil inlet hole, annular oil-feed tank B on fan-shaped oil inlet hole on annular oil-feed tank A, C-C cross section on inside and outside spool cylindrical sleeves face, inner spool axial bore, E-E cross section on inside and outside spool cylindrical sleeves face, to the oil outlet on valve body.Because the fan-shaped oil outlet overflow section area on now inside and outside spool cylindrical sleeves face is maximum, so reach maximum by the flow of valve.In D-D cross section, upper and lower position limit pin is in limit position, limits outer (interior) spool and continues (clockwise) rotation counterclockwise.When controller cutting-off controlling signal, under action of reset spring, inside and outside spool goes back to initial position automatically.
The present invention adopts stepper motor Direct driver spool to rotate, and owing to not having mechanical transmission mechanism, eliminates output dead band and the inertia lag of the valve caused due to Mechanism Clearance, improves the dynamic responding speed of valve; Have employed the opening of inside and outside spool opposite direction rotating mode control valve, corresponding identical independent stepping corner, the opening area increasing of valve is twice, and under stepper motor steps same case, increases the changes in flow rate of valve, therefore significantly improves the resolution of valve; Adopt locating stud to limit the initial of spool and maximum position, mechanical type is spacing accurately, No leakage when guaranteeing that valve is in zero lap position.Valve core inside hydraulic radial equilibrium of forces, without clamping phenomenon, makes valve core rotation flexible; Adopt negative feedback control, ensure that the accuracy of the angle of swing of spool, thus improve the control accuracy of valve output flow.
Claims (6)
1. a double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve, it is characterized in that: this control valve comprises valve body (7), outer spool (11), inner spool (9), stepper motor (1), controllor for step-by-step motor (13), spool angular displacement sensor (3), locating stud (8) and valve core reseting spring (10), described valve body (7) outer surface is square, and be provided with filler opening (71) at the outer surface of valve body (7), oil outlet (72) and controllor for step-by-step motor (13), valve body (7) internal surface is circular arc, and the oil-feed circular groove A communicated with filler opening (71) is provided with at valve body (7) internal surface, the fuel-displaced circular groove B communicated with oil outlet (72), valve body end cap (5) is provided with at valve body (7) two ends, it is cup-shaped that described outer spool (11) and inner spool (9) are pin, and the large end of its opening is cylindrical sleeves, and closed small end is cylinder axis, spool (11) cylindrical sleeves surface is provided with the outer fan-shaped oil inlet hole (111) corresponding to oil-feed circular groove A outside, corresponding to the outer fan-shaped oil outlet (112) of fuel-displaced circular groove B, be provided with corresponding to the interior fan-shaped oil inlet hole (91) of outer fan-shaped oil inlet hole (111), the interior fan-shaped oil outlet (92) corresponding to outer fan-shaped oil outlet (112) on inner spool (9) cylindrical sleeves surface, inner spool (9) socket end inserts in outer spool (11) sleeve, is arranged on together in valve body (7), and inner spool (9), outer spool (11) and valve body (7) keep coaxial, inner spool (9) is connected with stepper motor (1) by the valve body end cap (5) of bearing (12) through valve body (7) two ends respectively with the cylinder axis of outer spool (11) small end, spool angular displacement sensor (3) is arranged on stepper motor (1), for limiting inner spool (9), outer spool (11) moves axially and is arranged on valve body (7) upper and lower surface with the locating stud of counter-rotation (8) symmetry and is positioned at valve body (7) middle part, valve core reseting spring (10) is torsion spring, and outer spool (11) cylindrical sleeves interior edge face is fixed in one end, and the other end is fixed on inner spool (9) cylindrical sleeves interior edge face.
2. double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve according to claim 1, it is characterized in that: spool angular displacement sensor (3) is arranged in protective housing (2), spool angular displacement sensor (3) is inductosyn, synchronous inductor rotor (32) is fixed on the cylinder axis of inner spool (9) and outer spool (11) small end, and synchronous inductor stator (31) is fixed on protective housing (2) internal surface.
3. double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve according to claim 1, it is characterized in that: filler opening (71) and oil outlet (72) are arranged on valve body (7) upper surface, and controllor for step-by-step motor (13) is arranged on valve body (7) lower surface.
4. double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve according to claim 1, it is characterized in that: outer fan-shaped oil inlet hole (111), the outer fan-shaped oil outlet (112) of through valve body (7), outer spool (11) and inner spool (9) and the external spool (11) of locating stud (8), the interior fan-shaped oil inlet hole (91) of inner spool (9), the position of interior fan-shaped oil outlet (92) align.
5. double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve according to claim 1, it is characterized in that: spool (11) cylindrical sleeves surface is provided with 2 fan-shaped oil inlet holes (111) and 2 fan-shaped oil outlets (112) outside, corresponds respectively to the oil-feed circular groove A of valve body (7) internal surface and fuel-displaced circular groove B; Also 2 corresponding fan-shaped oil inlet holes (91) and 2 fan-shaped oil outlets (92) are provided with on inner spool (9) cylindrical sleeves surface.
6. double spool opposite direction rotating Increment Type Electro-hydraulic Digital flow control valve according to claim 1, is characterized in that: the stepper motor (1) at valve body (7) two ends drives inner spool (9) and outer spool (11) to rotate in opposite directions respectively.
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| CN201310437365.6A CN103438243B (en) | 2013-09-24 | 2013-09-24 | Incremental electro-hydraulic digital flow control valve with double valve cores rotating oppositely |
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| CN201310437365.6A CN103438243B (en) | 2013-09-24 | 2013-09-24 | Incremental electro-hydraulic digital flow control valve with double valve cores rotating oppositely |
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