阅读说明：本技术 摆线液压马达及其控制方法 (Cycloid hydraulic motor and control method thereof ) 是由 孙燕 潘骏 卞则东 阚亚威 于 2020-07-21 设计创作，主要内容包括：本发明提供一种摆线液压马达及其控制方法。该摆线液压马达包括转定子副、阀体、配流结构以及配流阀；所述配流结构与所述转定子副围设成多个转定子腔,所述阀体具有进油槽与出油槽,所述转定子副具有经所述配流结构与所述进油槽连通的第一环腔以及与所述出油槽连通的第二环腔；所述配流结构具有多个配流通道,所述配流通道与所述转定子腔连通,所述配流通道连通所述第一环腔或所述第二环腔,所述配流通道还与所述配流阀连通,所述配流阀控制至少部分所述配流通道的通断,以调节所述摆线液压马达的转速。使摆线液压马达通过配流阀与配流通道的配合可以实现多速调节,以满足不同工况的使用需求,增加使用场景,适用范围广。(The invention provides a cycloid hydraulic motor and a control method thereof. The cycloid hydraulic motor comprises a rotor-stator pair, a valve body, a flow distribution structure and a flow distribution valve; the flow distribution structure and the rotor-stator pair are enclosed into a plurality of rotor-stator cavities, the valve body is provided with an oil inlet groove and an oil outlet groove, and the rotor-stator pair is provided with a first annular cavity communicated with the oil inlet groove through the flow distribution structure and a second annular cavity communicated with the oil outlet groove; the flow distribution structure is provided with a plurality of flow distribution channels, the flow distribution channels are communicated with the rotor stator cavity, the flow distribution channels are communicated with the first annular cavity or the second annular cavity, the flow distribution channels are also communicated with the flow distribution valve, and the flow distribution valve controls the on-off of at least part of the flow distribution channels so as to adjust the rotating speed of the cycloid hydraulic motor. The cycloid hydraulic motor can realize multi-speed adjustment through the matching of the flow distribution valve and the flow distribution channel so as to meet the use requirements of different working conditions, increase the use scenes and have wide application range.)

1. A cycloid hydraulic motor is characterized by comprising a rotating stator pair, a valve body, a flow distribution structure arranged between the rotating stator pair and the valve body and a flow distribution valve arranged on the valve body;

the flow distribution structure and the rotor-stator pair are enclosed into a plurality of rotor-stator cavities, the valve body is provided with an oil inlet groove and an oil outlet groove, and the rotor-stator pair is provided with a first annular cavity communicated with the oil inlet groove through the flow distribution structure and a second annular cavity communicated with the oil outlet groove;

the flow distribution structure is provided with a plurality of flow distribution channels, the flow distribution channels are communicated with the rotor stator cavity, the flow distribution channels are communicated with the first annular cavity or the second annular cavity, the flow distribution channels are also communicated with the flow distribution valve, and the flow distribution valve controls the on-off of at least part of the flow distribution channels so as to adjust the rotating speed of the cycloid hydraulic motor.

2. The gerotor hydraulic motor of claim 1, wherein the plurality of port passages includes a first plurality of port passages, a second plurality of port passages, and a third plurality of port passages;

the first flow distribution channel is communicated with the rotor cavity, the third flow distribution channel is communicated with the first annular cavity or the second annular cavity, and the flow distribution valve controls the second flow distribution channel to be communicated or disconnect the first flow distribution channel and the third flow distribution channel.

3. The gerotor hydraulic motor of claim 2, wherein the flow distribution structure has a first surface abutting the rotating stator set and a second surface abutting the valve body;

the first flow distribution channel is arranged on the first surface, and two openings of the third flow distribution channel are respectively positioned on the first surface and the second surface;

the third flow distribution channel is communicated to the first flow distribution channel, at least part of the second flow distribution channel and the flow distribution valve are arranged in the corresponding third flow distribution channel, and the flow distribution valve controls the on-off of the second flow distribution channel so as to control the on-off of the third flow distribution channel and the first flow distribution channel.

4. The gerotor hydraulic motor of claim 3, wherein the third port includes a first port window and a second port window, the first port window disposed on the first surface and the second port window disposed on the second surface, the second port and the port valve communicating the first port window and the second port window.

5. The gerotor hydraulic motor of claim 2, wherein the second port passage is located between the third port passage and the first port passage in the same radial direction.

6. The gerotor hydraulic motor of claim 4, wherein the number of second port passages is equal to the number of first port passages and the number of third port passages, each of the third port passages being connected to the first port passage via the second port passage.

7. The gerotor hydraulic motor of claim 4, wherein the number of the second distribution passages is less than the number of the first distribution passages and the third distribution passages, a portion of the third distribution passages being connected to the first distribution passages via the distribution valve and the second distribution passages, the remaining third distribution passages being in direct communication with the first distribution passages.

8. The gerotor hydraulic motor of claim 7, wherein the gerotor pair has nine gerotor chambers, the first and third port passages each being nine in number, the second port passages being six in number;

six third flow distribution channels are communicated to six first flow distribution channels through the flow distribution valve and the second flow distribution channels, and the other three third flow distribution channels are directly communicated with the first flow distribution channels;

when the cycloid hydraulic motor adjusts the speed, the rotating stator cavities communicated with the third flow distribution channel are arranged at intervals along the circumferential direction.

9. The gerotor hydraulic motor of claim 8, wherein the nine third distribution passages include nine first distribution windows and six second distribution windows, wherein three of the first distribution windows communicate directly with three of the first distribution passages within the distribution structure, the remaining six of the first distribution windows are independent of the remaining six of the first distribution passages and communicate with six of the second distribution windows within the distribution structure, and the six of the first distribution windows communicate with six of the second distribution windows via six of the second distribution passages and the distribution valve.

10. The gerotor hydraulic motor of claim 9, wherein nine of the first distribution passages are disposed in the first surface, nine of the first distribution windows are disposed in the first surface, six of the second distribution windows are disposed in the second surface, one end of the second distribution passage communicates with the first distribution window inside the distribution structure, and the other end of the second distribution passage communicates with the second distribution window on the second surface via the distribution valve.

11. The gerotor hydraulic motor of claim 7, wherein the gerotor pair has seven gerotor chambers, the first port passage and the third port passage each being seven in number, the second port passage being three or four in number;

three or four third distributing channels are communicated to the first distributing channel through the distributing valve and the second distributing channel, and the rest third distributing channels are directly communicated with the first distributing channel;

when the cycloid hydraulic motor adjusts the speed, the rotating stator cavities communicated with the third flow distribution channel are arranged at intervals along the circumferential direction.

12. The gerotor hydraulic motor of any one of claims 1-11, wherein the port valve is integrated inside the valve body;

the distribution valve is a directional control valve and is controlled by a manual mode, an electromagnet mode, an electro-hydraulic mode or an electric proportional mode.

13. The gerotor hydraulic motor of any one of claims 1-11, wherein the flow distribution structure further has a first connecting passage and a second connecting passage, the first connecting passage communicating the first ring chamber with the oil inlet groove, the second connecting passage communicating the second ring chamber with the oil outlet groove.

14. A control method of a gerotor hydraulic motor, characterized by being applied to the gerotor hydraulic motor according to any one of claims 1 to 13, the control method comprising the steps of:

acquiring the current required rotating speed of the cycloid hydraulic motor;

and controlling the flow distribution valve to connect or disconnect the flow distribution channel and the rotating stator cavity, and adjusting the actual rotating speed of the cycloid hydraulic motor.

15. The method of controlling a gerotor hydraulic motor of claim 14, wherein the step of controlling the port valve to connect or disconnect the port passage to the rotating stator chamber and to adjust the actual rotational speed of the gerotor hydraulic motor comprises:

controlling a first number of third flow distribution channels to be communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channels, wherein the cycloid hydraulic motor has a first rotating speed;

controlling the total number of the third flow distribution channels to be communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channels, wherein the cycloid hydraulic motor has a second rotating speed;

when the cycloid hydraulic motor adjusts the speed, the rotating stator cavities communicated with the third flow distribution channel are arranged at intervals along the circumferential direction.

16. The method of controlling a gerotor hydraulic motor of claim 15, wherein the step of controlling the port valve to connect or disconnect the port passage to the rotating stator chamber to adjust the actual rotational speed of the gerotor hydraulic motor further comprises:

and controlling a second number of the third distributing channels to be communicated to the first distributing channels through the distributing valve and the second distributing channels, wherein the cycloid hydraulic motor has a third rotating speed, and the first number is less than the second number and less than the whole number.

17. The method of controlling a gerotor hydraulic motor of claim 15, wherein the gerotor stator set has nine gerotor stator chambers, the first port passage and the third port passage each being nine in number, the second port passage being six in number; six third flow distribution channels are communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channel, and the other three flow distribution channels are directly communicated with the first flow distribution channel;

the step of controlling the flow distribution valve to connect or disconnect the flow distribution channel and the rotating stator cavity and adjusting the actual rotating speed of the cycloid hydraulic motor comprises the following steps:

controlling zero third distributing channels to be communicated to the first distributing channel through the distributing valve and the second distributing channels, wherein the cycloid hydraulic motor has a first rotating speed;

controlling three third flow distribution channels to be communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channel, wherein the cycloid hydraulic motor has a third rotating speed;

controlling six third flow distribution channels to be communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channel, wherein the cycloid hydraulic motor has a second rotating speed;

when the cycloid hydraulic motor adjusts the speed, the rotating stator cavities communicated with the third flow distribution channel are arranged at intervals along the circumferential direction.

Technical Field

The invention relates to the technical field of hydraulic motors, in particular to a cycloid hydraulic motor and a control method thereof.

Background

The cycloid hydraulic motor belongs to the technical field of engineering machinery, has wide application, and is mainly used in engineering machinery in agriculture (various combine harvesters, seeders, mowers, ground drilling machines and the like), fishery (net haulers and the like), light industry (winders, textile machines, printing machines and the like), construction industry (road rollers, cement mixers, sweeping vehicles and the like) and the like. Each series of motors has multiple displacements to meet various speed and torque requirements. However, the speed of the cycloid motor is single, the application range is narrow, and the use scene of the cycloid motor is limited.

Disclosure of Invention

Therefore, it is necessary to provide a cycloid hydraulic motor capable of realizing multi-speed adjustment and a control method thereof for solving the problem that the single rotation speed of the conventional cycloid hydraulic motor affects the use scene of the cycloid hydraulic motor.

The above purpose is realized by the following technical scheme:

a cycloid hydraulic motor comprises a rotating stator pair, a valve body, a flow distribution structure arranged between the rotating stator pair and the valve body, and a flow distribution valve arranged on the valve body;

the flow distribution structure and the rotor-stator pair are enclosed into a plurality of rotor-stator cavities, the valve body is provided with an oil inlet groove and an oil outlet groove, and the rotor-stator pair is provided with a first annular cavity communicated with the oil inlet groove through the flow distribution structure and a second annular cavity communicated with the oil outlet groove;

the flow distribution structure is provided with a plurality of flow distribution channels, the flow distribution channels are communicated with the rotor stator cavity, the flow distribution channels are communicated with the first annular cavity or the second annular cavity, the flow distribution channels are also communicated with the flow distribution valve, and the flow distribution valve controls the on-off of at least part of the flow distribution channels so as to adjust the rotating speed of the cycloid hydraulic motor.

In one embodiment, the plurality of distribution channels comprises a plurality of first distribution channels, a plurality of second distribution channels, and a plurality of third distribution channels;

the first flow distribution channel is communicated with the rotor cavity, the third flow distribution channel is communicated with the first annular cavity or the second annular cavity, and the flow distribution valve controls the second flow distribution channel to be communicated or disconnect the first flow distribution channel and the third flow distribution channel.

In one embodiment, the flow distribution structure has a first surface abutting the rotating stator pair and a second surface abutting the valve body;

the first flow distribution channel is arranged on the first surface, and two openings of the third flow distribution channel are respectively positioned on the first surface and the second surface;

the third flow distribution channel is communicated to the first flow distribution channel, at least part of the second flow distribution channel and the flow distribution valve are arranged in the corresponding third flow distribution channel, and the flow distribution valve controls the on-off of the second flow distribution channel so as to control the on-off of the third flow distribution channel and the first flow distribution channel.

In one embodiment, the third distribution channel includes a first distribution window and a second distribution window, the first distribution window is disposed on the first surface, the second distribution window is disposed on the second surface, and the second distribution channel and the distribution valve communicate the first distribution window and the second distribution window.

In one embodiment, the second distribution channel is located between the first distribution channel and the third distribution channel in the same radial direction.

In one embodiment, the number of the second distribution channels is equal to the number of the first distribution channels and the third distribution channels, and each third distribution channel is communicated to the first distribution channel through the second distribution channel.

In one embodiment, the number of the second distribution channels is smaller than the number of the first distribution channels and the third distribution channels, part of the third distribution channels are communicated to the first distribution channels through the distribution valves and the second distribution channels, and the rest of the third distribution channels are directly communicated with the first distribution channels.

In one embodiment, the rotating stator pair has nine rotating stator cavities, the number of the first flow distribution channels and the number of the third flow distribution channels are nine, and the number of the second flow distribution channels is six;

six third flow distribution channels are communicated to six first flow distribution channels through the flow distribution valve and the second flow distribution channels, and the other three third flow distribution channels are directly communicated with the first flow distribution channels;

when the cycloid hydraulic motor adjusts the speed, the rotating stator cavities communicated with the third flow distribution channel are arranged at intervals along the circumferential direction.

In one embodiment, the nine third distribution channels include nine first distribution windows and six second distribution windows, three of the first distribution windows directly communicate with three of the first distribution channels inside the distribution structure, the remaining six of the first distribution windows are independent from the remaining six of the first distribution channels and communicate with six of the second distribution windows inside the distribution structure, and the six of the first distribution windows communicate with the six of the second distribution windows through the six of the second distribution channels and the distribution valves.

In one embodiment, nine first distribution channels are disposed on the first surface, nine first distribution windows are disposed on the first surface, six second distribution windows are disposed on the second surface, one end of each second distribution channel is communicated with the first distribution window inside the distribution structure, and the other end of each second distribution channel is communicated with the second distribution window on the second surface through the distribution valve.

In one embodiment, the rotating stator pair has seven rotating stator cavities, the number of the first flow distribution channels and the number of the third flow distribution channels are both seven, and the number of the second flow distribution channels is three or four;

three or four third distributing channels are communicated to the first distributing channel through the distributing valve and the second distributing channel, and the rest third distributing channels are directly communicated with the first distributing channel;

when the cycloid hydraulic motor adjusts the speed, the rotating stator cavities communicated with the third flow distribution channel are arranged at intervals along the circumferential direction.

In one embodiment, the distributing valve is integrated inside the valve body;

the distribution valve is a directional control valve and is controlled by a manual mode, an electromagnet mode, an electro-hydraulic mode or an electric proportional mode.

In one embodiment, the flow distribution structure further has a first connecting channel and a second connecting channel, the first connecting channel connects the first annular cavity and the oil inlet groove, and the second connecting channel connects the second annular cavity and the oil outlet groove.

A control method of a gerotor hydraulic motor, applied to the gerotor hydraulic motor according to any one of the above technical features, the control method comprising the steps of:

acquiring the current required rotating speed of the cycloid hydraulic motor;

and controlling the flow distribution valve to connect or disconnect the flow distribution channel and the rotating stator cavity, and adjusting the actual rotating speed of the cycloid hydraulic motor.

In one embodiment, the step of controlling the distribution valve to connect or disconnect the distribution channel from the rotating stator cavity and adjusting the actual rotation speed of the cycloid hydraulic motor comprises the steps of:

controlling a first number of third flow distribution channels to be communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channels, wherein the cycloid hydraulic motor has a first rotating speed;

controlling the total number of the third flow distribution channels to be communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channels, wherein the cycloid hydraulic motor has a second rotating speed;

when the cycloid hydraulic motor adjusts the speed, the rotating stator cavities communicated with the third flow distribution channel are arranged at intervals along the circumferential direction.

In one embodiment, the step of controlling the distribution valve to connect or disconnect the distribution channel and the rotating stator cavity and adjusting the actual rotating speed of the cycloid hydraulic motor further comprises the steps of:

and controlling a second number of the third distributing channels to be communicated to the first distributing channels through the distributing valve and the second distributing channels, wherein the cycloid hydraulic motor has a third rotating speed, and the first number is less than the second number and less than the whole number.

In one embodiment, the rotating stator pair is provided with nine rotating stator cavities, the number of the first flow distribution channels and the number of the third flow distribution channels are nine, and the number of the second flow distribution channels is six; six third flow distribution channels are communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channel, and the other three flow distribution channels are directly communicated with the first flow distribution channel;

the step of controlling the flow distribution valve to connect or disconnect the flow distribution channel and the rotating stator cavity and adjusting the actual rotating speed of the cycloid hydraulic motor comprises the following steps:

controlling zero third distributing channels to be communicated to the first distributing channel through the distributing valve and the second distributing channels, wherein the cycloid hydraulic motor has a first rotating speed;

controlling three third flow distribution channels to be communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channel, wherein the cycloid hydraulic motor has a third rotating speed;

controlling six third flow distribution channels to be communicated to the first flow distribution channel through the flow distribution valve and the second flow distribution channel, wherein the cycloid hydraulic motor has a second rotating speed;

when the cycloid hydraulic motor adjusts the speed, the rotating stator cavities communicated with the third flow distribution channel are arranged at intervals along the circumferential direction.

After the technical scheme is adopted, the invention at least has the following technical effects:

according to the cycloid hydraulic motor and the control method thereof, when the cycloid hydraulic motor works, oil enters the rotor cavity through the flow distribution channel of the flow distribution structure, and the oil can be sucked or pressed out when the volume of the cavity of the rotor cavity is changed, so that the cycloid hydraulic motor outputs power. And the distributing valve can control the on-off of at least part of the distributing valve to control the number of the rotating stator cavities sucking or extruding oil, thereby realizing the regulation of the rotating speed of the cycloid hydraulic motor. The problem that the single cycloid hydraulic motor use scene of current cycloid hydraulic motor rotational speed is influenced to effectual solution for cycloid hydraulic motor can realize many fast regulations through the cooperation of joining in marriage the flow valve and joining in marriage the flow channel, in order to satisfy the user demand of different operating modes, increases the use scene, and application scope is wide.

Drawings

Fig. 1 is a front sectional view of a gerotor hydraulic motor in accordance with one embodiment of the present invention;

figure 2 is a right side partial cross-sectional view of the gerotor hydraulic motor shown in figure 1;

FIG. 3 is a right side view of the rotor-stator pair shown in FIG. 1;

FIG. 4 is a right side view of the flow distribution structure shown in FIG. 1;

FIG. 5 is a close-up view of the central region of the flow distribution structure shown in FIG. 4;

FIG. 6 is a left side view of the flow distribution structure shown in FIG. 1;

figure 7 is a schematic diagram of the operation of the gerotor hydraulic motor shown in figure 1.

Wherein: 100. a gerotor hydraulic motor; 110. a rotor-stator pair; 111. rotating the stator cavity; 112. a first annular cavity; 113. a second annular cavity; 114. a rotor; 115. a stator; 116. needle teeth; 120. a valve body; 121. an oil inlet groove; 122. an oil outlet groove; 130. a flow distribution structure; 131. a first distribution channel; 132. a second distribution channel; 133. a third flow distribution channel; 134. a first connecting channel; 135. a second connecting channel; 136. a first surface; 137. a second surface; 140. a distributing valve; 150. a housing; 160. a flange; 170. an output shaft; 180. a linkage shaft; 190. a rear cover; 191. an oil inlet; 192. and an oil outlet.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 and 7, a gerotor hydraulic motor 100 of the present invention. The gerotor hydraulic motor 100 is a hydraulic actuator that converts hydraulic energy into mechanical energy. The cycloid hydraulic motor 100 can realize adjustment of various rotating speeds so as to adapt to different application occasions, has a wide application range, is simple in structure, does not need to disassemble the cycloid hydraulic motor 100, and reduces the speed regulation cost.

Referring to fig. 1 to 3 and 7, in an embodiment, the cycloid hydraulic motor 100 includes a rotor-stator pair 110, a valve body 120, a flow distribution structure 130 disposed between the rotor-stator pair 110 and the valve body 120, and a flow distribution valve 140 disposed on the valve body 120. The flow distribution structure 130 and the stator-rotor pair 110 are enclosed into a plurality of stator-rotor cavities 111, the valve body 120 has an oil inlet groove 121 and an oil outlet groove 122, and the stator-rotor pair 110 has a first annular cavity 112 communicated with the oil inlet groove 121 through the flow distribution structure 130 and a second annular cavity 113 communicated with the oil outlet groove 122. The flow distribution structure 130 is provided with a plurality of flow distribution channels, the flow distribution channels are communicated with the rotor stator cavity 111, the flow distribution channels are communicated with the first annular cavity 112 or the second annular cavity 113, the flow distribution channels are also communicated with the flow distribution valve 140, and the flow distribution valve 140 controls the on-off of at least part of the flow distribution channels so as to adjust the rotating speed of the cycloid hydraulic motor 100.

Gerotor hydraulic motor 100 further includes a housing 150, a flange 160, a back cover 190, a linkage shaft 180, and an output shaft 170. As shown in fig. 1, the housing 150, the flange 160, the rotor-stator pair 110, the valve body 120, and the rear cover 190 are arranged in the axial direction and fixedly connected in sequence by bolts. The rotating stator pair 110 includes a stator 115, a rotor 114 rotatably disposed in the stator 115, and pin teeth 116, the pin teeth 116 are fixed to an inner wall of the stator 115, and the rotor 114 is engaged with the inner wall of the pin teeth 116. Further, an eccentricity e exists between the center of the rotor 114 and the center of the stator 115, and as shown in fig. 3, the rotor 114 is eccentrically rotated. The linkage shaft 180 is in transmission connection with the output shaft 170, the linkage shaft 180 is in spline connection with the rotor 114, and the output shaft 170 extends out of the shell 150 to output rotary power.

Referring to fig. 1 and 2, the rear housing has an oil inlet 191, an oil outlet 192, and an oil discharge port. The oil inlet 191 is communicated with the oil inlet groove 121 of the valve body 120, and the oil outlet 192 is communicated with the oil outlet groove 122 of the valve body 120. The rotor-stator pair 110 has a first annular cavity 112 and a second annular cavity 113. The oil feed groove 121 feeds oil into the first ring chamber 112 through the flow distribution structure 130. The outer wall of the rotor 114, the inner wall of the stator 115, the pin teeth 116, the flange 160 and the flow distribution structure 130 are enclosed into a plurality of cavities, i.e., a plurality of rotor stator cavities 111. The volume of the rotor cavity 111 increases or decreases as the rotor 114 rotates. When the rotor cavity 111 expands to take oil, the first annular cavity 112 inputs the oil into the rotor cavity 111 through the flow distribution structure 130; when the rotor cavity 111 contracts to discharge oil, the oil in the rotor cavity 111 is input into the second annular cavity 113 through the flow distribution structure 130, and is input into the oil discharge groove 122 through the flow distribution structure 130. Alternatively, the oil inlet groove 121 is a kidney-shaped ring groove, and the oil outlet groove 122 is a through flow hole. In one embodiment, the first annulus 112 is located radially inward of the second annulus 113. The first annular cavity 112 and the second annular cavity 113 are located on an end surface of the rotor 114 facing the flow distributing structure 130.

Referring to fig. 1 to 7, the distribution structure 130 has a plurality of distribution passages for distributing the oil in the rotating stator chamber 111, and the distribution passages can supply the oil in the first annular chamber 112 to the expanding rotating stator chamber 111 and supply the oil discharged from the contracting rotating stator chamber 111 to the second annular chamber 113. When the cycloid hydraulic motor 100 operates, the flow distribution structure 130 communicates the first annular cavity 112 with the expanded rotor-stator cavity 111 of the rotor-stator pair 110, and the flow distribution structure 130 further communicates the contracted rotor-stator cavity 111 of the rotor-stator pair 110 with the second annular cavity 113. After the oil enters the rear shell from the liquid inlet, the oil enters the expanded rotor-stator cavity 111 of the rotor-stator pair 110 through the oil inlet groove 121 and the flow distribution structure 130, the volume of the rotor-stator cavity 111 is continuously enlarged, and meanwhile, the oil in the contracted rotor-stator cavity 111 of the rotor-stator pair 110 enters the second annular cavity 113 and flows back through the flow distribution structure 130, the oil outlet groove 122 and the oil outlet 192. In the process, the rotor 114 of the stator-rotor pair 110 is driven to rotate by the pressure difference between the expanded stator cavity 111 and the contracted stator cavity 111, and the rotation is transmitted to the output shaft 170 through the linkage shaft 180 to be output, so that the conversion from the hydraulic energy to the mechanical energy is realized.

And, the on-off control of the distribution passage is realized by the distribution valve 140. It will be appreciated that when the port valve 140 controls the port passage to communicate, the port passage may cooperate with the rotating stator cavity 111 at the corresponding location to input or output oil. When the distribution valve 140 controls the distribution passage to form an open circuit, the distribution passage cannot be communicated with the rotor cavity 111 at the corresponding position, and further cannot be matched with the rotor cavity 111 at the corresponding position to input or output oil.

Further, the distributing valve 140 may control the opening and closing of at least a part of the distributing passage. That is, the distribution valve 140 may control all the distribution channels to be communicated, or may control part of the distribution channels to be communicated, so as to control different rotation speeds of the cycloid hydraulic motor 100. Still further, the gerotor hydraulic motor 100 may control a different number of partial port passages communicating. That is, the number of the rotating stator chambers 111 that can be communicated to the first ring chamber 112 or the second ring chamber 113 through the distribution passage is also different, so that the cycloid hydraulic motor 100 can have different rotation speeds according to the rotation speed. That is, the distributing valve 140 may control all the distributing channels to be communicated, may control part of the distributing channels to be communicated, and selects the number of the distributing channels to be communicated when part of the distributing channels are communicated, so as to control different rotation speeds of the cycloid hydraulic motor 100.

When the cycloid hydraulic motor 100 of the above embodiment works, the oil enters the rotor stator cavity 111 through the flow distribution channel of the flow distribution structure 130, the volume of the cavity of the rotor stator cavity 111 becomes large, the cycloid hydraulic motor 100 rotates to convert the hydraulic energy into mechanical energy, and the cycloid hydraulic motor 100 outputs power. And the distributing valve 140 can control the on-off of at least part of the distributing valve 140 to control the number of the rotating stator cavities 111 for sucking or extruding oil, thereby realizing the regulation of the rotating speed of the cycloid hydraulic motor 100. The problem that the single cycloid hydraulic motor rotating speed influences the cycloid hydraulic motor use scene at present is effectively solved for cycloid hydraulic motor 100 can realize the multispeed through the cooperation of distributing valve 140 and the distribution channel, in order to satisfy the user demand of different operating modes, increases the use scene, and application scope is wide. In addition, the speed of the cycloid hydraulic motor 100 is regulated through the distributing valve 140, the cycloid hydraulic motor 100 is simple in structure and easy to operate and realize, the structure of the cycloid hydraulic motor 100 does not need to be disassembled, the rotor and stator pair 110 does not need to be replaced, and the cost of the cycloid hydraulic motor 100 is reduced.

Referring to fig. 1 and 7, in one embodiment, the distribution valve 140 is a directional control valve. It is understood that the form of the distributing valve 140 is not limited in principle, and the use requirement of the cycloid hydraulic motor 100 of the invention for speed regulation can be satisfied as long as the on-off control of the distributing channel can be realized through the on-off control of the valve core. In one embodiment, the distribution valve 140 is controlled manually, electromagnetically, electro-hydraulically, or electrically proportionally, or otherwise, to effect movement of the distribution valve 140. The distribution valve 140 is illustratively a spool valve that is controlled to move left and right by manual, hydraulic, solenoid, or the like. Optionally, the distribution valve 140 is at least one, etc. Illustratively, all of the second distribution channels 132 may be controlled by one distribution valve 140, or a plurality of distribution valves 140 may be provided, each distribution valve 140 corresponding to at least one second distribution channel 132. In one embodiment, the distribution valve 140 is mounted within the valve body 120. That is, the distributing valve 140 is integrally provided in the valve body 120. This can reduce the axial length of the gerotor hydraulic motor 100 and reduce the structural complexity.

Referring to fig. 1 to 6, in an embodiment, the plurality of distribution channels includes a plurality of first distribution channels 131, a plurality of second distribution channels 132, and a plurality of third distribution channels 133. The first distributing channel 131 is communicated with the rotor cavity 111, the third distributing channel 133 is communicated with the first annular cavity 112 or the second annular cavity 113, and the distributing valve 140 controls the second distributing channel 132 to be communicated or disconnect the first distributing channel 131 and the third distributing channel 133. The communication relation between the rotor cavity 111 and the first annular cavity 112 or the second annular cavity 113 is established through the first flow distribution channel 131, the second flow distribution channel 132 and the third flow distribution channel 133, so that the flow distribution of oil in the rotor cavity 111 is realized, and the rotor-stator pair 110 can work normally.

Specifically, the first distribution passage 131 is communicated to the rotor cavity 111 of the rotor-stator pair 110, the third distribution passage 133 is communicated to the first annular cavity 112 or the second annular cavity 113, and when the rotor 114 rotates, the third distribution passage 133 is partially communicated with the first annular cavity 112 and partially communicated with the second annular cavity 113. Alternatively, the first distribution channel 131 and the third distribution channel 133 are independent and non-communicated channels. The second distribution passage 132 may establish communication between the first distribution passage 131 and the third distribution passage 133 through the distribution valve 140 to deliver oil. Alternatively, a part of the first distribution channels 131 and a part of the third distribution channels 133 are independent and non-communicated channels, and the rest of the first distribution channels 131 are communicated with the rest of the third distribution channels 133. That is, a part of the first distribution passage 131 is directly communicated with a part of the third distribution passage 133, and the remaining part of the first distribution passage 131 and the third distribution passage 133 are communicated with the distribution valve 140 through the second distribution passage 132 to deliver the oil.

The distribution valve 140 can control the on-off relationship between the first distribution channel 131 and the third distribution channel 133 to control the actual working number of the rotor stator cavity 111, thereby achieving the purpose of adjusting the rotating speed of the cycloid hydraulic motor 100.

In one embodiment, the flow distribution structure 130 has a first surface 136 that abuts the rotating stator pair 110 and a second surface 137 that abuts the valve body 120. The first distribution channel 131 is disposed on the first surface 136. The two openings of the third distributing channel 133 are respectively located on the first surface 136 and the second surface 137, at least a part of the second distributing channel 132 and the distributing valve 140 are disposed on the corresponding third distributing channel 133, the third distributing channel 133 is communicated with the first distributing channel 131, and the distributing valve 140 controls the third distributing channel 133 to be communicated with or disconnected from the first distributing channel 131.

As shown in fig. 1, the left side of the flow distribution structure 130 is a first surface 136, the right side is a second surface 137, the first surface 136 faces the rotor-stator pair 110, and the second surface 137 faces the valve body 120. Corresponding to fig. 4 and 6, the surface shown in fig. 4 is the first surface 136 of the flow distributing structure 130, and the surface shown in fig. 6 is the second surface 137 of the flow distributing structure 130. The opening of the first distribution passage 131 is located at the first surface 136 to communicate with the rotating stator cavity 111 of the rotating stator pair 110. It will be appreciated that the first distribution channel 131 is always in communication with the rotating stator cavity 111, but the number of the rotating stator cavities 111 in the working cavity can be controlled by the distribution valve 140 and the second distribution channel 132 to achieve the adjustment of the rotational speed of the gerotor hydraulic motor 100.

One port of the third distribution passage 133 is located at the first surface 136 to communicate with the first ring cavity 112 or the second ring cavity 113 of the rotor-stator pair 110, and the other port of the third distribution passage 133 is located at the second surface 137 to communicate with the distribution valve 140. Optionally, the third distribution channel 133 is at least partially in communication with the first annulus 112 or the second annulus 113. The opening of the second distribution passage 132 is located at the second surface 137 to communicate with the distribution valve 140, and the third distribution passage 133 also communicates directly or indirectly with the first distribution passage 131.

When the cycloid hydraulic motor 100 works, part of the third flow distribution channel 133 is communicated with the first annular cavity 112, part of the third flow distribution channel 133 is communicated with the second annular cavity 113, and the first flow distribution channel 131 is always communicated with the rotating stator cavity 111. After the second distributing channel 132 communicates the third distributing channel 133 and the first distributing channel 131 through the distributing valve 140, the oil in the first annular chamber 112 can enter the expanded rotor chamber 111 through the third distributing channel 133 and the first distributing channel 131, so that the volume of the rotor chamber 111 is gradually increased. The oil in the contracted rotor chamber 111 enters the second annular chamber 113 through the first distribution passage 131 and the third distribution passage 133, so that the volume of the rotor chamber 111 is gradually reduced.

The communication quantity of the first distributing channel 131 and the third distributing channel 133 is controlled and controlled through the distributing valve 140, and therefore the quantity of the rotor cavity 111 participating in oil distributing is controlled. The distributing valve 140 can control all the second distributing channels 132 to work, and at the moment, all the rotor cavities 111 participate in oil distributing; the distributing valve 140 can control part of the second distributing passage 132 to operate, in which part of the rotor cavity 111 participates in oil distribution, and the rest of the rotor cavity 111 does not participate in oil distribution.

In one embodiment, the third distribution channel 133 includes a first distribution window (not shown) disposed on the first surface 136 and a second distribution window (not shown) disposed on the second surface 137, and the second distribution channel 132 and the distribution valve 140 communicate the first distribution window and the second distribution window. It will be appreciated that the opening of the third distribution channel 133 at the first surface 136 is a first distribution window and the opening of the third distribution channel 133 at the second surface 137 is a second distribution window. The first port is at least partially in communication with the first annulus 112 or the second annulus 113.

It is understood that at least a portion of the first dispensing window is independent of the second dispensing window. Optionally, a part of the first distribution windows and the second distribution windows are independent from each other, and the remaining part of the first distribution windows are directly communicated with the corresponding number of first distribution channels 131. That is, part of the first distribution windows and the corresponding number of second distribution windows are not communicated in the distribution structure 130, the communication relationship is established through the second distribution channels 132 and the distribution valves 140, and the rest of the first distribution windows and the corresponding number of first distribution channels 131 are directly communicated in the distribution structure 130. The on-off of the second distribution channel 132 is controlled by the distribution valve 140, that is, the on-off of the first distribution window and the second distribution window, that is, the on-off of the third distribution channel 133, is controlled, and the on-off of the third distribution channel 133 and the first distribution channel 131 is further controlled.

Optionally, all the first assignment windows and the second assignment windows are independent of each other. That is, the first flow distribution window and the second flow distribution window are not communicated in the flow distribution structure 130, and a communication relationship is established through the second flow distribution channel 132 and the flow distribution valve 140. The on-off of the second distribution channel 132 is controlled by the distribution valve 140, that is, the on-off of the first distribution window and the second distribution window, that is, the on-off of the third distribution channel 133, is controlled, and the on-off of the third distribution channel 133 and the first distribution channel 131 is further controlled.

In one embodiment, the flow distribution structure 130 includes a plurality of flow distribution pieces, which are arranged in series along the axial direction. Each of the flow distribution plates has a plurality of second flow distribution channels 132, and some of the flow distribution plates have first flow distribution channels 131 and third flow distribution channels 133. Moreover, the first flow distribution channels 131 of two adjacent flow distribution sheets are at least partially communicated, the second flow distribution channels 132 of two adjacent flow distribution sheets are at least partially communicated, and the third flow distribution channels 133 of two adjacent flow distribution sheets are at least partially communicated.

Optionally, each flow distribution sheet body is made of a thin sheet material and formed through a stamping process. Therefore, the cost can be saved, and the manufacturing cost of the die can be reduced. Alternatively, the cross-sectional areas of the first flow distribution channel 131, the second flow distribution channel 132 and the third flow distribution channel 133 are non-linear pore channels, and the pore channels can be formed by laser cutting, stamping and the like. In principle, the shapes of the first distribution passage 131, the second distribution passage 132, and the third distribution passage 133 are not limited as long as the flow relationship, the flow rate, and the wall thickness between the other passages can be ensured. Further, the cross-sectional shapes of the ducts at the same position of two adjacent distribution sheets are different and/or different. Optionally, each flow distribution sheet body is fixedly formed through a welding process. The flow distribution sheet bodies are overlapped with each other to form required flow distribution channels, as shown in fig. 1. The same channels are arranged in a non-horizontal line along the axial direction, and part of the channels are not communicated.

Referring to fig. 1 to 6, in an embodiment, the flow distribution structure 130 further has a first connecting passage 134 and a second connecting passage 135, the first connecting passage 134 communicates the first annular cavity 112 with the oil inlet groove 121, and the second connecting passage 135 communicates the second annular cavity 113 with the oil outlet groove 122. The first connecting passage 134 is an input passage of oil to the rotating stator pair 110, and the second connecting passage 135 is an output passage of oil from the rotating stator pair 110. The first connecting passage 134 and the second connecting passage 135 are disposed to penetrate in the axial direction, so that the first connecting passage 134 is always communicated with the first annular chamber 112, and the second connecting passage 135 is always communicated with the second annular chamber 113.

Further, the number of the first connection passages 134 is at least one. The number of the second connection passages 135 is at least one. The first connection passage 134 and the second connection passage 135 are independent from each other and are not communicated with each other, and the first distribution passage 131, the second distribution passage 132, and the third distribution passage 133 are also independent from each other and are not communicated with each other. In principle, the number of first and second connecting channels 134, 135 is not limited in principle, as long as oil supply is possible. In principle, the shape of the first and second connection passages 134, 135 is not limited as long as the flow relationship, the flow rate, and the wall thickness between the other passages can be ensured. In one embodiment, the first connecting passage 134 is located radially inward of the second connecting passage 135.

Illustratively, the number of the first connecting passages 134 is seven to ensure the supply of the oil in the first ring chamber 112, and as shown in fig. 4 to 6, the seven first connecting passages 134 are a1 to a7, respectively. The number of the second connecting passages 135 is nine to ensure the discharge of the oil in the second ring chamber 113, and as shown in fig. 4 to 6, the nine first connecting passages 134 are B1 to B9, respectively. Of course, in other embodiments of the present invention, the number of the first connecting channels 134 and the second connecting channels 135 may be more or less. Further, the plurality of first connecting channels 134 are spaced and evenly distributed in the circumferential direction. The plurality of second connection passages 135 are spaced and uniformly distributed in the circumferential direction.

In one embodiment, the second distribution channel 132 is located between the third distribution channel 133 and the first distribution channel 131 in the same radial direction. In this way, the second flow distribution channel 132 can establish a communication relationship between the third flow distribution channel 133 and the first flow distribution channel 131, and ensure that other flow channels are independent from each other, so as to realize the flow distribution of the rotor cavity 111.

In one embodiment, the number of first distribution channels 131 is equal to the number of rotor stator cavities 111. That is, the cycloid hydraulic motor 100 has several rotating stator cavities 111, and the flow distribution structure 130 has several first flow distribution passages 131, so that the flow distribution relationship between the first flow distribution passages 131 and the rotating stator cavities 111 is accurate, and no mixed flow occurs. In one embodiment, the number of third distribution channels 133 is equal to the number of first distribution channels 131. That is to say, the distributing structure 130 has several first distributing channels 131 corresponding to several third distributing channels 133, and each third distributing channel 133 inputs or outputs oil to the corresponding first distributing channel 131, so as to ensure that the distributing relationship between the first distributing channels 131 and the third distributing channels 133 is accurate, and no mixing occurs.

In an embodiment, the plurality of first distribution channels 131 are spaced and evenly distributed along the circumferential direction. This ensures that the plurality of first distribution channels 131 are uniformly aligned with the respective rotor stator cavities 111. In an embodiment, the plurality of third distribution channels 133 are spaced and uniformly distributed along the circumferential direction. Thus, the oil can be ensured to flow uniformly. In one embodiment, the plurality of second distribution channels 132 are spaced and evenly distributed along the circumferential direction.

In one embodiment, the first distribution passage 131 is located radially outward of the second distribution passage 132. So that the first distribution channel 131 is aligned with the rotor stator cavity 111. In an embodiment, the third distribution channel 133 is located radially inward of the second distribution channel 132 such that the third distribution channel 133 can communicate with the first annulus 112 or the second annulus 113.

In an embodiment, the number of the second distribution channels 132 is equal to the number of the first distribution channels 131 and the third distribution channels 133, and each of the third distribution channels 133 is connected to the first distribution channel 131 through the second distribution channel 132. That is, the first distribution channel 131, the second distribution channel 132 and the third distribution channel 133 are in a one-to-one correspondence relationship. At this time, the distribution valve 140 controls all the second distribution channels 132 to form an open circuit, the cycloid hydraulic motor 100 does not work, when the distribution valve 140 controls at least part of the second distribution channels 132 to communicate the first distribution channels 131 with the third distribution channels 133, the cycloid hydraulic motor 100 works, and the rotation speed of the cycloid hydraulic motor 100 can be adjusted through the communication number of the second distribution channels 132.

In an embodiment, the number of the second distribution channels 132 is smaller than the number of the first distribution channels 131 and the third distribution channels 133, a part of the third distribution channels 133 are communicated with the first distribution channels 131 through the second distribution channels 132, and the rest of the third distribution channels 133 are communicated with the first distribution channels 131. That is, only a part of the first distribution channels 131, the second distribution channels 132 and the third distribution channels 133 are in a one-to-one correspondence relationship, and the remaining part of the first distribution channels 131 and the third distribution channels 133 are directly communicated.

The distributing valve 140 controls all the second distributing channels 132 to form an open circuit, the remaining part of the first distributing channels 131 is directly communicated with the third distributing channels 133, the rotating stator cavities 111 corresponding to the remaining part of the first distributing channels 131 participate in oil distributing, and the cycloid hydraulic motor 100 has one rotating speed. The distributing valve 140 controls a part of the second distributing channel 132 to form an open circuit, then a part of the second distributing channel 132 communicates the first distributing channel 131 and the third distributing channel 133, and the rest part of the first distributing channel 131 is directly communicated with the third distributing channel 133, at this time, the rest part of the first distributing channel 131 and the rotating stator cavity 111 corresponding to the first distributing channel 131 communicated through the distributing valve 140 participate in oil distributing, and the cycloid hydraulic motor 100 has another rotating speed. The distributing valve 140 controls all the second distributing passages 132 to communicate the first distributing passage 131 with the third distributing passage 133, and all the rotating stator chambers 111 participate in oil distributing, and the cycloid hydraulic motor 100 has another rotation speed. Furthermore, when the distribution valve 140 regulates a portion of the second distribution passage 132 to communicate the first distribution passage 131 with the third distribution passage 133, the number of the second distribution passage 132 to communicate may be selected, and the rotation speed of the cycloid hydraulic motor 100 may be further subdivided.

In one embodiment, each second distribution passage 132 may be controlled by a distribution valve 140. This can simplify the structure of the gerotor hydraulic motor 100 and reduce complexity. Of course, in other embodiments of the present invention, each second distribution passage 132 may also be controlled by a plurality of distribution valves 140.

In one embodiment, the rotor-stator pair 110 has nine rotor cavities 111, the number of the first distribution channels 131 and the number of the third distribution channels 133 are nine, and the number of the second distribution channels 132 is six. Six second distribution passages 132 communicate with the third distribution passage 133 via the distribution valve 140, and the remaining three second distribution passages 132 communicate with the first distribution passage 131. That is, the gerotor hydraulic motor 100 is an 8/9 tooth motor with nine rotating stator chambers 111. Nine rotor and stator cavities 111 of the cycloid hydraulic motor 100 are working cavities, the nine rotor and stator cavities 111 are divided into three parts, three rotor and stator cavities 111 participate in flow distribution, six rotor and stator cavities 111 participate in flow distribution, nine rotor and stator cavities 111 participate in flow distribution, and three-speed adjustment is achieved.

In an embodiment, the nine third distribution channels 133 include nine first distribution windows and six second distribution windows, wherein the three first distribution windows directly communicate with the three first distribution channels 131 inside the distribution structure 130, the remaining six first distribution windows are independent from the remaining six first distribution channels 131 and communicate with the six second distribution windows inside the distribution structure 130, and the six first distribution windows and the six second distribution windows communicate with each other through the six second distribution channels 132 and the distribution valves 140.

The three first distribution windows are in direct communication with the first distribution channel 131, such that the three third distribution channels 133 are in direct communication with the three first distribution channels 131. After the six first distribution windows are communicated with the six second distribution windows through the corresponding second distribution channels 132 and the distribution valves 140, the indirect communication between the other six third distribution channels 133 and the first distribution channels 131 can be realized. In addition, by controlling the number of the communication between the distribution valve 140 and the second distribution passage 132, the number of the communication between the third distribution passage 133 and the first distribution passage 131 can be selected, and the number of the rotor stator cavities 111 in the operating state can be selected, thereby realizing the speed regulation control of the cycloid hydraulic motor 100.

In an embodiment, nine first distribution channels 131 are disposed on the first surface 136, nine first distribution windows are disposed on the first surface 136, six second distribution windows are disposed on the second surface 137, one end of the second distribution channel 132 communicates with the first distribution window inside the distribution structure 130, and the other end of the second distribution channel 132 communicates with the second distribution window on the second surface 137 via the distribution valve 140.

As shown in fig. 4 and 5, nine third distribution windows of the third distribution channel 133 are formed on the first surface 136, and are partially communicated with the first annular cavity 112 and partially communicated with the second annular cavity 113 to realize the distribution of the third distribution channel 133. Six second distribution windows of the third distribution channel 133 are in the second surface 137 and communicate with the second distribution channel 132 and the distribution valve 140.

Specifically, as shown in fig. 4 to 6, the oil inlet 191 is communicated with the first connecting passages 134a1, a2, A3, a4, a5, A6, and a7 of the flow distribution structure 130 through the oil inlet groove 121, and through the design of the flow passage structure inside the flow distribution structure, the first connecting passages 134a1, a2, A3, a4, a5, A6, and a7 communicate the oil in the oil inlet groove 121 to the first annular cavity 112 of the rotating stator pair 110. The oil outlet 192 is connected to the second connecting passages 135B1, B2, B3, B4, B5, B6, B7, B8, B9 of the flow distribution structure 130 through the oil outlet groove 122, and the second connecting passages 135B1, B2, B3, B4, B5, B6, B7, B8, B9 communicate the oil in the second annular chamber 113 to the oil outlet groove 122 through the flow passage structure design inside the flow distribution structure 130.

For convenience of describing the communication relationship between the first connecting passage 134, the second connecting passage 135 and the third distributing passage 133 and the first annular cavity 112 and the second annular cavity 113, the first annular cavity 112 is illustrated as a grid line and the second annular cavity 113 is illustrated as an oblique line in fig. 5. As can be seen from fig. 5, the first connecting channels 134a1, a2, A3, a4, a5, a6, a7 are always in communication with the first ring chamber 112, and the second connecting channels 135B1, B2, B3, B4, B5, B6, B7, B8, B9 are always in communication with the second ring chamber 113. The third distribution passage 133D1, D2, D3, D4, D5, D6, D7, D8 and D9 are partially communicated with the first annular cavity 112 and partially communicated with the second annular cavity 113.

The first distribution channels 131C1, C2, C3, C4, C5, C6, C7, C8, and C9 of the distribution structure 130 are respectively connected to the nine rotating stator cavities 111 of the rotating stator pair 110, as shown in fig. 4. The third flow distribution channels 133D1, D2, D3, D4, D5, D6, D7, D8, and D9 of the flow distribution structure 130 are flow distribution windows. The number of the first distribution windows of the third distribution channel 133 on the first surface 136 is nine, i.e., D1, D2, D3, D4, D5, D6, D7, D8, D9. The number of the second distribution windows of the second distribution channel 132 of the third distribution channel 133 on the second surface 137 is six, i.e., D2, D3, D5, D6, D8, D9.

According to the internal structure of the flow distribution structure 130, the third flow distribution channels 133D1, D4, D7 are respectively in direct communication with C1, C4, C7 of the first flow distribution channel 131, the third flow distribution channels 133D2, D3, D5, D6, D8, D9 are respectively controlled by the flow distribution valve 140 to be respectively in communication with E2, E3, E5, E6, E8, E9 of the second flow distribution channel 132 of the flow distribution structure 130, and E2, E3, E5, E6, E8, E9 of the second flow distribution channel 132 are respectively in direct communication with C2, C3, C5, C6, C8, C9 of the first flow distribution channel 131 through the internal structure of the flow distribution structure 130, as shown in fig. 4 to fig. 6.

Of course, in other embodiments of the present invention, three third distribution passages 133 other than D1, D4, and D7 may be selected as long as the third distribution passages 133 directly connected to the first distribution passage 131 are uniformly distributed in the circumferential direction. Due to the eccentricity E between the rotor and stator pairs 110, the rotor 114 swings under the action of the eccentricity to complete the flow distribution, as shown in fig. 3.

Referring to fig. 3 to 7, the speed regulation process of the 8/9 tooth cycloid hydraulic motor 100 is as follows:

the cycloid hydraulic motor 100 operates at a large displacement, and the rotational speed output by the cycloid hydraulic motor 100 is denoted as V. The distributing valve 140 controls the six second distributing channels 132E2, E3, E5, E6, E8 and E9 to be completely communicated with the third distributing channels 133D2, D3, D5, D6, D8 and D9 and the first distributing channels 131C2, C3, C5, C6, C8 and C9. At this time, the third distribution channels 133D1, D2, D3, D4, D5, D6, D7, D8, and D9 are respectively communicated with the first distribution channels 131C1, C2, C3, C4, C5, C6, C7, C8, and C9, and are respectively connected to the nine rotor and stator cavities 111 of the rotor and stator pair 110.

The cycloid hydraulic motor 100 is operated at a displacement, and the rotating speed output by the cycloid hydraulic motor 100 is recorded as 2V. The distributing valve 140 for controlling the speed operation works at the left position, and the distributing valve 140 controls the second distributing channels 132E3, E6 and E9 to form an open circuit, so that the third distributing channels 133D3, D6 and D9 are closed. At this time, the third distribution channel 133 keeps D1, D2, D4, D5, D7 and D8 communicated with the first distribution channels 131C1, C2, C4, C5, C7 and C8, respectively, and further connected with the six rotor stator cavities 111 of the rotor-stator pair 110, respectively, and the remaining third distribution channels 133D3, D6 and D9 are closed. The remaining three cavities of the rotor-stator pair 110 are communicated with the high-pressure cavity of the oil inlet 191 or the oil outlet 192 through the first distributing channel 131C3, C6 and C9 and the distributing valve 140, so that the three cavities of the rotor-stator pair 110 which do not participate in the work are ensured to enter high-pressure oil.

The cycloid hydraulic motor 100 works at a small displacement, and the rotating speed output by the cycloid hydraulic motor 100 is recorded as 3V. The distribution valve 140 controlling the speed operation operates at the right position, and the distribution valve 140 controls the second distribution channels 132E2, E3, E5, E6, E8 and E9 to form an open circuit, that is, all the second distribution channels 132 are open circuits, so that the third distribution channels 133D2, D3, D5, D6, D8 and D9 are opened. At this time, the third distribution channel 133 only reserves ports D1, D4, and D7 to be respectively communicated with ports C1, C4, and C7 of the first distribution channel 131, and further respectively connected to the three rotating stator cavities 111 of the rotating stator pair 110, and the remaining third distribution channels 133D2, D3, D5, D6, D8, and D9 are closed. Six closed cavities of the rotor-stator pair 110 are communicated with a high-pressure cavity in the oil inlet 191 or the oil outlet 192 through the first distributing channel 131C2, C3, C5, C6, C8 and C9 and the distributing valve 140, so that the six cavities of the rotor-stator pair 110 which do not participate in working are ensured to enter high-pressure oil.

It should be noted that, when the 8/9-toothed cycloid hydraulic motor 100 adjusts the rotation speed, it is not necessary that the second distribution channels 132E3, E6, and E9 form an open circuit, and the remaining three channels may also form an open circuit, or any three of the second distribution channels 132E2, E3, E5, E6, E8, and E9 form an open circuit, so long as the formed open circuits are substantially equally divided in the circumferential direction, and the number of the distribution channels in the nine rotating stator cavities 111 of the rotating stator pair 110 is ensured to be uniform in the circumferential direction, so that the cycloid hydraulic motor 100 can continuously operate.

The operation principle of the cycloid hydraulic motor 100 is to convert hydraulic energy (by the volume change of each rotating stator cavity 111) into mechanical energy, which needs to be distributed to realize. When each rotor stator cavity 111 is in flow distribution with the oil inlet 191/the oil outlet 192, the first connecting channels 134A 1-A7 are always communicated with the oil inlet 191, the B1-B9 are always connected with the oil outlet 192, and the third flow distribution channels 133D1, D2, D3, D4, D5, D6, D7, D8 and D9 are indirectly or directly connected with 9 rotor stator cavities 111 of the cycloid hydraulic motor 100 through the first flow distribution channels 131C1, C2, C3, C4, C5, C6, C7, C8 and C9, and represent 9 working cavities of the motor. As shown in fig. 3, when the rotor 114 rotates, under the action of the eccentricity e, the third distribution channels 133D1, D2, D3, D4, D5, D6, D7, D8, and D9 are continuously switched between two oil paths of the oil inlet 191 and the oil outlet 192 to form high-low pressure conversion, so that the conversion of the hydraulic energy to the mechanical energy of the cycloid hydraulic motor 100 is realized. The rotating speed is controlled by the cycloid hydraulic motor 100, the larger the flow is, the larger the change value of the volume of the rotating stator cavity 111 of the cycloid hydraulic motor 100 rotates for one circle is determined by the motor displacement, and the more circles are required to be rotated to meet the flow demand, so that the adjustment and control of different rotating speeds of different cycloid hydraulic motors 100 are realized.

Referring to fig. 1 to 7, the oil inlet 191 of the rear cover 190 is filled with high-pressure oil for example:

high-pressure oil passes through an oil inlet 191 of the rear cover 190, passes through an oil inlet groove 121 on the valve body 120, and flows into a first annular cavity 112 in the rotating stator pair 110 through a first connecting channel 134A1, A2, A3, A4, A5, A6 and A7 of the flow distribution structure 130; the oil outlet port 192 is connected to the oil inlet groove 121 of the valve body 120, and is connected to the second connecting passages 135B1, B2, B3, B4, B5, B6, B7, B8, and B9 of the flow distributing structure 130, and flows into the second annular cavity 113 of the stator pair 110. The faces of the first ring cavity 112 and the second ring cavity 113 on the end face of the rotor 114 and the flow distribution structure 130 form a high-pressure and low-pressure sealing band, separating the high-pressure and low-pressure oil chambers, as shown in fig. 3 to 6.

When the motor is operated at a low speed and a large displacement, as shown in fig. 7, the distributing valve 140 is operated at a middle position, and the third distributing channels 133D2, D3, D5, D6, D8 and D9 are respectively communicated with the third distributing channels 133D2, D3, D5, D6, D8 and D9 of the distributing structure 130 through slide valves on the distributing valve 140. At this time, all nine rotor and stator cavities 111 of the rotor and stator pair 110 are involved in the operation, and the cycloid hydraulic motor 100 is in a large displacement, low rotation speed and large torque output state.

When the distributing valve 140 moves under the action of hydraulic pressure or other external forces such as an electromagnetic valve, the distributing valve 140 works at the left position, the third distributing channels 133D2, D5 and D8 are respectively communicated with the second distributing channels 132E2, E5 and E8 of the distributing structure 130 through the distributing valve 140, the third distributing channels 133D3, D6 and D9 are closed, and the third distributing channels E3, E6 and E9 communicated with the rotating stator cavity 111 are connected with the high-pressure cavity oil inlet 191 through the distributing valve 140. At this time, the six rotor and stator cavities 111 of the rotor and stator pair 110 are engaged, and the cycloid hydraulic motor 100 is at the output of medium displacement, medium rotation speed and medium torque.

When the distributing valve 140 moves under the action of hydraulic pressure or other external forces such as an electromagnetic valve, the distributing valve 140 works in the right position, the third distributing channels 133D2, D3, D5, D6, D8 and D9 are closed, and the second distributing channels 132E2, E3, E5, E6, E8 and E9 communicated with the rotor stator cavity 111 are connected with the high-pressure cavity oil inlet 191 through the sliding distributing valve 140. At this time, the three rotor-stator cavities 111 of the rotor-stator pair 110 participate in the work, and the cycloid hydraulic motor 100 is in small displacement, high rotation speed and small torque output.

When the rotor 114 is pressed to the low pressure side chamber by the high pressure oil, the rotor 114 rotates and revolves along the inner teeth of the stator 115, and the output shaft 170 is driven to rotate by the linkage shaft 180. The rotor 114 performs flow distribution with the flow distribution structure 130 through its own flow distribution channel, and when rotating, high-pressure oil and low-pressure oil continuously alternate to form continuous flow distribution, so that the cycloid hydraulic motor 100 continuously outputs torque and rotating speed, thereby converting hydraulic energy into mechanical energy for output.

In one embodiment, the rotor-stator pair 110 has eleven rotor-stator cavities 111, the number of the first distribution channels 131 and the number of the third distribution channels 133 are eleven, and the number of the second distribution channels 132 is seven or eight. Seven or eight second distribution channels 132 communicate with the third distribution channel 133 via the distribution valve 140, and the remaining third distribution channels 133 directly communicate with the first distribution channel 131.

That is, the gerotor hydraulic motor 100 is an 11/12 tooth motor with eleven rotating stator chambers 111. Eleven rotor stator cavities 111 can be divided into three groups or four groups, and the like, and the adjustment of the rotating speed of the cycloid hydraulic motor 100 can be realized through the on-off control of the third flow distribution channels 133 with different numbers. It should be noted that the working principle of the rotor-stator pair 110 having eleven rotor-stator cavities 111 is substantially the same as the working principle of the rotor-stator pair 110 having nine rotor-stator cavities 111, which is not described herein again.

In one embodiment, the rotor-stator pair 110 has seven rotor cavities 111, the number of the first distribution channels 131 and the number of the third distribution channels 133 are seven, and the number of the second distribution channels 132 is three or four. Three or four second distribution channels 132 are communicated with the third distribution channels 133 through the distribution valves 140, and the rest of the third distribution channels 133 are directly communicated with the first distribution channels 131.

That is, the gerotor hydraulic motor 100 is an 6/7 tooth motor with seven rotating stator chambers 111. The seven rotor stator cavities 111 can be divided into three groups and four groups, and the rotation speed of the cycloid hydraulic motor 100 can be adjusted by controlling the on-off of three, four or all the third distributing channels 133. It should be noted that the working principle of the rotor-stator pair 110 having seven rotor-stator cavities 111 is substantially the same as the working principle of the rotor-stator pair 110 having nine rotor-stator cavities 111, which is not described herein again.

The cycloid hydraulic motor 100 of the invention realizes the on-off control of the third flow distribution channel 133 and the first flow distribution channel 131 through the matching of the flow distribution valve 140 and the second flow distribution channel 132, so that the cycloid hydraulic motor 100 has a plurality of different rotating speeds, including two, three or even more. During speed regulation, the rotating stator cavity 111 which does not participate in flow distribution, namely the non-working cavity, is connected with the oil inlet 191 of high-pressure oil through the flow distribution valve 140, the pressure of the non-working cavity cannot be changed due to different rotation directions of the cycloid hydraulic motor 100, so that the stress of the rotor 114 of the cycloid hydraulic motor 100 is more balanced, and the working performance of a product is ensured. Moreover, the cycloid hydraulic motor 100 of the invention does not need to replace the rotating stator pair 110 when adjusting the speed, thereby solving the problem of cost waste caused by the traditional double-speed adjustment by adopting two pairs of rotating stator pairs 110, reducing the cost and facilitating the speed adjustment. Meanwhile, the flow distribution valve 140 of the cycloid hydraulic motor 100 is integrated in the valve body 120, so that the number of parts of the cycloid hydraulic motor 100 participating in flow distribution is reduced, the axial size of the cycloid hydraulic motor 100 is further reduced, the problems of flow distribution lag and poor flow distribution precision caused by the problem of connecting structure clearance are avoided, and the flow distribution precision is ensured. Therefore, the cycloid hydraulic motor 100 of the present invention not only improves the working efficiency and the flow distribution accuracy, but also can reduce the axial size due to the reduction of the number of flow distribution parts, so that the structure is more compact and the installation manufacturability is better.

Referring to fig. 1 to 7, the present invention further provides a control method of a gerotor hydraulic motor 100, which is applied to the gerotor hydraulic motor 100 in the above embodiment, the control method comprising the steps of:

acquiring the current required rotating speed of the cycloid hydraulic motor 100;

the flow distribution valve 140 is controlled to connect or disconnect the flow distribution passage with the rotating stator cavity 111, and the actual rotation speed of the cycloid hydraulic motor 100 is adjusted.

When the cycloid hydraulic motor 100 works, the current required rotating speed of the cycloid hydraulic motor 100 is judged according to the working occasion of the cycloid hydraulic motor 100. Then, the distributing valve 140 is controlled to move, so that the distributing valve 140 connects or disconnects the distributing channel with the rotating stator cavity 111, thereby achieving the purpose of adjusting the rotating speed of the cycloid hydraulic motor 100. The on-off control of the distribution passage is realized by the distribution valve 140. It will be appreciated that when the port valve 140 controls the port passage to communicate, the port passage may cooperate with the rotating stator cavity 111 at the corresponding location to input or output oil. When the distribution valve 140 controls the distribution passage to form an open circuit, the distribution passage cannot be communicated with the rotor cavity 111 at the corresponding position, and further cannot be matched with the rotor cavity 111 at the corresponding position to input or output oil.

The distributing valve 140 can control all the distributing channels to be communicated, and at the moment, the cycloid hydraulic motor 100 has one rotating speed; the distribution channels can control the communication of part of the distribution channels, and the cycloid hydraulic motor 100 has different rotating speeds. Still further, the gerotor hydraulic motor 100 may control a different number of partial port passages communicating. That is, the number of the rotating stator chambers 111 that can be communicated to the first ring chamber 112 or the second ring chamber 113 through the distribution passage is also different, so that the cycloid hydraulic motor 100 can have different rotation speeds according to the rotation speed. That is, the distributing valve 140 may control all the distributing channels to be communicated, may control part of the distributing channels to be communicated, and selects the number of the distributing channels to be communicated when part of the distributing channels are communicated, so as to control different rotation speeds of the cycloid hydraulic motor 100.

In one embodiment, the step of controlling the flow distribution valve 140 to connect or disconnect the flow distribution channel from the rotating stator cavity 111 and adjusting the actual rotation speed of the gerotor hydraulic motor 100 comprises:

controlling the first number of the third distributing channels 133 to be communicated to the first distributing channel 131 through the distributing valve 140 and the second distributing channel 132, wherein the cycloid hydraulic motor 100 has the first rotating speed;

the cycloid hydraulic motor 100 controls the total number of the third distribution passages 133 to be communicated to the first distribution passage 131 through the distribution valve 140 and the second distribution passage 132, and has the second rotation speed.

When the cycloid hydraulic motor 100 is used for regulating the speed, the first number of the second distributing channels 132 are controlled to be communicated with the third distributing channels 133 and the first distributing channels 131 through the distributing valve 140. At this time, a part of the rotating stator cavity 111 is engaged in operation, and the remaining part of the rotating stator cavity 111 is not engaged in operation, and the cycloid hydraulic motor 100 has the first rotation speed. The total number of the second distribution passages 132 is controlled to communicate the third distribution passage 133 with the first distribution passage 131 via the distribution valve 140. At this time, all the rotating stator chambers 111 are engaged and the gerotor hydraulic motor 100 has a second rotational speed.

In one embodiment, the step of controlling the flow distribution valve 140 to connect or disconnect the flow distribution channel from the rotating stator cavity 111 and adjusting the actual rotation speed of the cycloid hydraulic motor 100 further comprises:

a second number of third distribution channels 133 is controlled to be connected to the first distribution channels 131 via the distribution valve 140 and the second distribution channels 132, the gerotor hydraulic motor 100 having a third rotational speed, wherein the first number < the second number < the total number.

The second flow distribution passage 132 controlling the second number communicates the third flow distribution passage 133 with the first flow distribution passage 131 via the flow distribution valve 140. At this time, a part of the rotating stator cavities 111 is involved in the operation, the remaining part of the rotating stator cavities 111 is not involved in the operation, and the cycloid hydraulic motor 100 has the third rotation speed.

Of course, in other embodiments of the present invention, the control method further comprises controlling the remaining number of second distribution passages 132 to communicate the third distribution passage 133 with the first distribution passage 131 via the distribution valve 140, and the cycloid hydraulic motor 100 has other rotation speeds. That is, the plurality of distribution passages may be divided into a plurality of groups, and the rotational speed adjustment is realized by combining different numbers.

When the distribution valve 140 controls the on/off of part of the second distribution channels 132, except for the first number of the second distribution channels 132 and the second number of the second distribution channels 132, if there are other numbers of the second distribution channels 132 to realize the control of the rotation speed of the cycloid hydraulic motor 100, it should be within the protection scope of the present application, and the specific working principle thereof is substantially the same as that of the first number of the third distribution channels 133, and is not repeated herein.

In an embodiment, the rotor-stator pair 110 has nine rotor-stator cavities 111, the number of the first distribution channels 131, the number of the second distribution channels 132, and the number of the third distribution channels 133 are all nine, and when the number of the second distribution channels 132 is nine, the first number is three, the second number is six, and the third number is nine.

In one embodiment, the rotor-stator pair 110 has nine rotor-stator cavities 111, and the number of the first flow distribution channels 131 and the number of the third flow distribution channels 133 are nine. The number of the second distribution passages 132 is six. The six second distributing channels 132 are communicated with the third distributing channel 133 and the first distributing channel 131 through the distributing valve 140, and the other three third distributing channels 133 are communicated with the first distributing channel 131. The six second distribution channels 132 of the present embodiment can also achieve the technical effects achieved by the nine second distribution channels 132, and also reduce the structural complexity and are easy to control. In this case, the first number is zero, the second number is three, and the third number is six.

Specifically, the step of controlling the flow distribution valve 140 to connect or disconnect the flow distribution channel and the rotating stator cavity 111 and adjusting the actual rotation speed of the cycloid hydraulic motor 100 includes:

controlling zero third distributing channels 133 to be communicated to the first distributing channel 131 through the distributing valve 140 and the second distributing channel 132, wherein the cycloid hydraulic motor 100 has a first rotating speed;

controlling the three third distributing channels 133 to be communicated to the first distributing channel 131 through the distributing valve 140 and the second distributing channel 132, wherein the cycloid hydraulic motor 100 has a third rotating speed;

the six third distributing channels 133 are controlled to be communicated to the first distributing channel 131 through the distributing valve 140 and the second distributing channel 132, and the cycloid hydraulic motor 100 has the second rotating speed.

Referring to fig. 3 to 7, the distributing valve 140 controls all the second distributing channels 132 to form an open circuit, and at this time, the distribution is performed through the first distributing channels 131 directly connected by the three third distributing channels 133. Specifically, the cycloid hydraulic motor 100 operates at a small displacement, and the output rotation speed of the cycloid hydraulic motor 100 is recorded as 3V. The distribution valve 140 controlling the speed operation operates at the right position, and the distribution valve 140 controls the second distribution channels 132E2, E3, E5, E6, E8 and E9 to form an open circuit, that is, all the second distribution channels 132 are open circuits, so that the third distribution channels 133D2, D3, D5, D6, D8 and D9 are opened. At this time, the third distribution channel 133 only reserves ports D1, D4, and D7 to be respectively communicated with ports C1, C4, and C7 of the first distribution channel 131, and further respectively connected to the three rotating stator cavities 111 of the rotating stator pair 110, and the remaining third distribution channels 133D2, D3, D5, D6, D8, and D9 are closed. Six closed cavities of the rotor-stator pair 110 are communicated with a high-pressure cavity in the oil inlet 191 or the oil outlet 192 through the first distributing channel 131C2, C3, C5, C6, C8 and C9 and the distributing valve 140, so that the six cavities of the rotor-stator pair 110 which do not participate in working are ensured to enter high-pressure oil. At this time, the cycloid hydraulic motor 100 is at a small displacement, high rotation speed, small torque output.

The distributing valve 140 controls the three second distributing channels 132 to form an open circuit, and at this time, the first distributing channel 131 directly connected by the three third distributing channels 133 and the remaining three second distributing channels 132 are communicated with the second distributing channels 132 and the first distributing channels 131 to realize distribution. Specifically, the cycloid hydraulic motor 100 is operated at a displacement, and the output rotation speed of the cycloid hydraulic motor 100 is recorded as 2V. The distributing valve 140 for controlling the speed operation works at the left position, and the distributing valve 140 controls the second distributing channels 132E3, E6 and E9 to form an open circuit, so that the third distributing channels 133D3, D6 and D9 are closed. At this time, the third distribution channel 133 keeps D1, D2, D4, D5, D7 and D8 communicated with the first distribution channels 131C1, C2, C4, C5, C7 and C8, respectively, and further connected with the six rotor stator cavities 111 of the rotor-stator pair 110, respectively, and the remaining third distribution channels 133D3, D6 and D9 are closed. The remaining three cavities of the rotor-stator pair 110 are communicated with the high-pressure cavity of the oil inlet 191 or the oil outlet 192 through the first distributing channel 131C3, C6 and C9 and the distributing valve 140, so that the three cavities of the rotor-stator pair 110 which do not participate in the work are ensured to enter high-pressure oil. The gerotor hydraulic motor 100 is at medium displacement, medium speed, medium torque output.

The distributing valve 140 controls six second distributing channels 132 to communicate the third distributing channel 133 with the first distributing channel 131, and the three first distributing channels 131 directly connected with the third distributing channel 133 are added to realize distributing. Specifically, the cycloid hydraulic motor 100 operates at a large displacement, and the rotational speed output by the cycloid hydraulic motor 100 is denoted as V. The distributing valve 140 controls the six second distributing channels 132E2, E3, E5, E6, E8 and E9 to be completely communicated with the third distributing channels 133D2, D3, D5, D6, D8 and D9 and the first distributing channels 131C2, C3, C5, C6, C8 and C9. At this time, the third distribution channels 133D1, D2, D3, D4, D5, D6, D7, D8, and D9 are respectively communicated with the first distribution channels 131C1, C2, C3, C4, C5, C6, C7, C8, and C9, and are respectively connected to the nine rotor and stator cavities 111 of the rotor and stator pair 110. The gerotor hydraulic motor 100 is at a high displacement, low rotational speed, high torque output.

The technical features of the embodiments described above can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.