阅读说明：本技术 一种用于过盈内锁紧液压缸的控制系统 (Control system for interference internal locking hydraulic cylinder ) 是由 陆军 麦志辉 吴平平 李光远 张静波 马振军 邓达紘 陈�峰 吴韩 徐天殷 刘会 于 2020-06-19 设计创作，主要内容包括：本发明公开了一种用于过盈内锁紧液压缸的控制系统,包括控制器、调压阀和交互设备；调压阀安装在过盈内锁紧液压缸的解锁油管路中,解锁油管路连通过盈内锁紧液压缸活塞表面的油槽或者锁紧套内表面的油槽；交互设备用于向控制器输入设备参数和控制参数,控制器依据公式计算解锁油管路所需要的目标油压p并控制调压阀将解锁油管路的油压调节至p；本发明的控制系统确定了液压缸内间隙与解锁油油压的关系,用户输入所需要的间隙大小后控制系统即可自动计算油压并调整调压阀,并且本发明设置了油压反馈系统和形变反馈系统,实现了过盈内锁紧液压缸的自动化精确控制。(The invention discloses a control system for an interference internal locking hydraulic cylinder, which comprises a controller, a pressure regulating valve and interactive equipment, wherein the controller is used for controlling the pressure regulating valve; the pressure regulating valve is arranged in an unlocking oil pipeline of the interference internal locking hydraulic cylinder, and the unlocking oil pipeline is communicated with an oil groove on the surface of a piston of the interference internal locking hydraulic cylinder or an oil groove on the inner surface of a locking sleeve; the interactive device is used for inputting device parameters and control parameters to the controller, and the controller calculates a target oil pressure p required by unlocking the oil pipeline according to a formula and controls the pressure regulating valve to regulate the oil pressure of the unlocking oil pipeline to p; the control system of the invention determines the relation between the clearance in the hydraulic cylinder and the oil pressure of the unlocking oil, and the control system can automatically calculate the oil pressure and adjust the pressure regulating valve after a user inputs the required clearance.)

1. A control system for an interference internal locking hydraulic cylinder, characterized by: the system comprises a controller, a pressure regulating valve and an interactive device;

the pressure regulating valve is arranged in an unlocking oil pipeline of the interference internal locking hydraulic cylinder;

the interaction device is used for inputting device parameters and control parameters to the controller, wherein the device parameters comprise the elastic modulus E of the material of the outer barrel₁Elastic modulus E of inner tube material₂The Poisson ratio mu of the material of the outer cylinder₁Inner barrel material Poisson ratio mu₂The inner radius a of the inner cylinder, the outer radius of the inner cylinder, the inner radius b of the outer cylinder and the outer radius c of the outer cylinder; the control parameters comprise the clearance between the inner cylinder and the outer cylinder;

the controller is based on the formula

And calculating a target oil pressure p required by unlocking the oil pipeline and controlling the pressure regulating valve to regulate the oil pressure of the unlocking oil pipeline to p.

2. The control system for an interference internal locking hydraulic cylinder of claim 1, wherein: the oil pressure measuring device further comprises a first pressure sensor, wherein the first pressure sensor is installed in the unlocking oil pipeline, and the first pressure sensor measures the actual oil pressure p of the unlocking oil pipeline_{Fruit of Chinese wolfberry}Transmitted to a controller, and the controller is based on the actual oil pressure p_{Fruit of Chinese wolfberry}The difference value from the target oil pressure p controls the pressure regulating valve until the actual oil pressure p_{Fruit of Chinese wolfberry}The difference from the target oil pressure p is smaller than the set oil pressure error value.

3. The control system for an interference internal locking hydraulic cylinder of claim 2, wherein: the device also comprises a first deformation measuring unit and a second deformation measuring unit, wherein the first deformation measuring unit and the second deformation measuring unit are respectively arranged on the inner cylinder and the outer cylinder, and transmit the measured inner cylinder deformation value and the measured outer cylinder deformation value to the controller;

the controller adds the inner cylinder deformation value and the outer cylinder deformation value to obtain the actual gap value of the inner cylinder and the outer cylinder_{Fruit of Chinese wolfberry}The controller is based on the formula

Correcting the target oil pressure required to unlock the oil line to p_NewAnd controlling the pressure regulating valve to regulate the oil pressure of the unlocking oil pipeline to p_New。

4. The control system for an interference internal locking hydraulic cylinder of claim 3, wherein: the controller is provided with three working modes, namely a locking mode, a high-precision displacement mode and a quick response mode;

in the lock mode, the controller sets a target oil pressure of the unlock oil line to p_{Locking device}；

In the high-precision displacement mode, the controller sets the clearance between the inner cylinder and the outer cylinder to be_{High precision}；

In the quick response mode, the controller sets a gap between the inner and outer cylinders to be_{Fast speed}；

p_{Locking device}、_{High precision}And_{fast speed}Is set by a user, and_{high precision}<_{Fast speed}。

5. The control system for an interference internal locking hydraulic cylinder of claim 4, wherein: the speed sensor is arranged on the inner cylinder and used for measuring the movement speed of the inner cylinder and transmitting the measurement result to the controller;

the controller is internally provided with a first self-testing module, when the first self-testing module is started, the controller gradually increases the clearance between the inner cylinder and the outer cylinder, starts the hydraulic cylinder according to each clearance value and measures and compares the movement speed v of the inner cylinder, and when the movement speed of the inner cylinder reaches a set value v₁The controller determines the current gap value as the gap value between the inner cylinder and the outer cylinder in the high-precision displacement mode_{High precision}。

6. The control system for an interference internal locking hydraulic cylinder of claim 5, wherein: the controller sets a clearance value between the inner cylinder and the outer cylinder in a quick response mode_{Fast speed}＝2_{High precision}。

7. The control system for an internal interference locking cylinder of claim 5, whereinThe method comprises the following steps: after the first self-testing module is started, the controller gradually increases the clearance between the inner cylinder and the outer cylinder, the controller starts the hydraulic cylinder according to each clearance value and measures and compares the movement speed v of the inner cylinder, and when the movement speed of the inner cylinder reaches a set value v₂When the controller determines the current gap value as the gap value between the inner cylinder and the outer cylinder in the quick response mode_{Fast speed}。

8. The control system for an interference internal locking hydraulic cylinder of claim 7, wherein: the controller stores the list of the clearance between the inner cylinder and the outer cylinder and the movement speed v of the inner cylinder and displays the list through the interactive device.

9. The control system for an interference internal locking hydraulic cylinder of claim 8, wherein: the hydraulic cylinder also comprises a second pressure sensor which is arranged in a hydraulic oil pipeline of the hydraulic cylinder; the second pressure sensor measures oil in the hydraulic oil pipeline and transmits the measured value to the controller;

the controller is internally provided with a second self-testing module, after the second self-testing module is started, the controller gradually increases the clearance between the inner cylinder and the outer cylinder, starts the hydraulic cylinder according to each clearance value and measures and compares the hydraulic oil pressure p in the hydraulic cylinder_{Liquid for treating urinary tract infection}When the hydraulic oil pressure reaches a set value p₁The controller determines the current gap value as the gap value between the inner cylinder and the outer cylinder in the high-precision displacement mode_{High precision}。

10. The control system for an interference internal locking hydraulic cylinder of claim 9, wherein: after the second self-testing module is started, the controller gradually increases the clearance between the inner cylinder and the outer cylinder, starts the hydraulic cylinder according to each clearance value and measures and compares the hydraulic oil pressure p in the hydraulic cylinder_{Liquid for treating urinary tract infection}When the hydraulic oil pressure reaches a set value p₂When the controller determines the current gap value as the gap value between the inner cylinder and the outer cylinder in the quick response mode_{Fast speed}。

Technical Field

The invention relates to the field of hydraulic equipment, in particular to a control system for an interference internal locking hydraulic cylinder.

Background

The interference internal locking hydraulic cylinder generally comprises two forms: 1. the hydraulic cylinder comprises a piston and a cylinder barrel, an oil groove is formed in the surface of the piston, and the piston is in interference fit with the cylinder barrel; 2. the pneumatic cylinder includes piston, cylinder and lock sleeve, and the internal surface of lock sleeve is provided with the oil groove, piston and lock sleeve interference fit. The principle of locking pneumatic cylinder in two kinds of interference all is the oil pressure of unblock oil in the control oil groove, and then the clearance of control piston and cylinder or the clearance of piston and lock sleeve for the piston can be locked or the displacement at any time as required. The prior art has the defect that an effective control system is lacked, the oil pressure required by piston unlocking is generally determined according to experience and experiments, and the unlocking oil pressure of each hydraulic cylinder is independent, so that the unlocking control of the hydraulic cylinders is not accurate enough.

Disclosure of Invention

The invention aims to solve the technical problem that an interference internal locking hydraulic cylinder in the prior art is lack of an effective unlocking control system.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a control system for an interference internal locking hydraulic cylinder comprises a controller, a pressure regulating valve and an interaction device;

the pressure regulating valve is arranged in an unlocking oil pipeline of the interference internal locking hydraulic cylinder, and the unlocking oil pipeline is communicated with an oil groove on the surface of a piston of the interference internal locking hydraulic cylinder or an oil groove on the inner surface of a locking sleeve;

the interaction device is used for inputting device parameters and control parameters to the controller, wherein the device parameters comprise the elastic modulus E of the material of the outer barrel₁Elastic modulus E of inner tube material₂The Poisson ratio mu of the material of the outer cylinder₁Inner barrel material Poisson ratio mu₂The inner radius a of the inner cylinder, the outer radius of the inner cylinder, the inner radius b of the outer cylinder and the outer radius c of the outer cylinder; the control parameters comprise the clearance between the inner cylinder and the outer cylinder;

the controller is based on the formula

Calculating a target oil pressure p required by unlocking the oil pipeline and controlling a pressure regulating valve to regulate the oil pressure of the unlocking oil pipeline to p;

the inner cylinder is a piston, the outer cylinder is a cylinder or a locking sleeve, and the inner cylinder is determined according to the form of an interference internal locking hydraulic cylinder; taking an internally locked hydraulic cylinder with a piston and a cylinder barrel in interference fit as an example:

when the oil pressure of the unlocking oil is p,

radial deflection of cylinder barrel₁：

Radial deformation of piston₂：

The size of the clearance between the cylinder barrel and the piston is as follows:

＝|₁|+|₂|

the relationship between the oil pressure p and the gap size can be obtained by transforming the above formula:

the invention determines the relation between the unlocking oil pressure and the clearance of the locking hydraulic cylinder in the interference by using a formula, and a user can complete the control operation of the hydraulic cylinder only by inputting the required clearance according to the requirement, thereby not only having convenient operation, but also having accurate control.

In order to accurately control the oil pressure of the unlocking oil, the invention is also provided with a first pressure sensor which is arranged in the unlocking oil pipeline and measures the actual oil pressure p of the unlocking oil pipeline_{Fruit of Chinese wolfberry}Transmitted to a controller, and the controller is based on the actual oil pressure p_{Fruit of Chinese wolfberry}The difference value from the target oil pressure p controls the pressure regulating valve until the actual oil pressure p_{Fruit of Chinese wolfberry}The difference value between the target oil pressure p and the oil pressure p is smaller than the set oil pressure error value; the design of the feedback adjustment of the oil pressure of the unlocking oil can increase the control precision of the control system on the oil pressure of the unlocking oil of the hydraulic cylinder.

Furthermore, the control system of the invention also comprises a first deformation measuring unit and a second deformation measuring unit (the deformation measuring unit can adopt a strain gauge or other strain measuring sensors), the first deformation measuring unit and the second deformation measuring unit are respectively arranged on the piston and the cylinder, and the first deformation unit and the second deformation measuring unit transmit the measured deformation values of the piston and the cylinder to the controller;

the controller adds the piston deformation value and the cylinder deformation value to obtain an actual clearance value between the piston and the cylinder_{Fruit of Chinese wolfberry}The controller is based on the formula

Correcting the target oil pressure required to unlock the oil line to p_NewAnd controlling the pressure regulating valve to regulate the oil pressure of the unlocking oil pipeline to p_New(ii) a The first deformation measuring unit and the second deformation measuring unit form deformation feedback, and hydraulic pressure of a control system is improvedAccuracy of in-cylinder clearance control.

In order to adapt to the working mode of the hydraulic cylinder and simplify the operation, the controller is provided with three working modes, namely a locking mode, a high-precision displacement mode and a quick response mode;

in the lock mode, the controller sets a target oil pressure of the unlock oil line to p_{Locking device}；

In the high-precision displacement mode, the controller sets the clearance between the piston and the cylinder to be_{High precision}；

In the quick response mode, the controller sets the clearance between the piston and the cylinder to_{Fast speed}；

p_{Locking device}、_{High precision}And_{fast speed}Is preset by a user, and_{high precision}<_{Fast speed}；

p_{Locking device}The value can be set to be 0 or lower, the interference fit between the piston and the cylinder barrel is kept, and the requirement of locking the piston can be met; in the actual use, a user directly clicks a corresponding mode through interactive equipment (such as a key, a touch screen and the like), the control system automatically executes a corresponding program to realize the locking and unlocking of the piston, and in the high-precision displacement mode, the clearance between the piston and the cylinder barrel is small, the displacement speed of the piston is low, but the displacement precision is high; in the fast corresponding mode, the clearance between the piston and the cylinder barrel is large, and the displacement speed of the piston is fast.

Furthermore, the invention also comprises a speed sensor, wherein the speed sensor is arranged on the piston rod and is used for measuring the movement speed of the piston and transmitting the measurement result to the controller;

the controller is internally provided with a first self-testing module, after the first self-testing module is started, the controller gradually increases the clearance between the piston and the cylinder barrel, starts the hydraulic cylinder according to each clearance value and measures and compares the movement speed v of the piston, and when the movement speed of the piston reaches a set value v₁The controller determines the current clearance value as the clearance value between the piston and the cylinder in the high-precision displacement mode_{High precision}。

For hydraulic cylinders, the clearance between the piston and the cylinder barrelThe larger the movement speed of the piston is, the faster the response speed of the piston is, and the lower the displacement precision of the piston is; even for the same type of hydraulic cylinder, as the service time of the hydraulic cylinder is increased and the service environment (such as temperature) is changed, the influence effect of the clearance between the piston and the cylinder barrel on the speed of the piston is changed, and a user has difficulty in accurately controlling the current piston state after a long time. The first self-testing module provided by the invention can measure the relationship between the piston movement speed and the clearance value in real time and select a proper clearance value_{High precision}To accommodate the high precision displacement pattern of the piston.

To simplify the work flow, the controller may empirically set the clearance value between the piston and the cylinder in the quick response mode_{Fast speed}＝2_{High precision}(ii) a Can also be measured again in the same way_{Fast speed}Specifically, after the first self-testing module is started, the controller gradually increases the clearance between the piston and the cylinder barrel, the controller starts the hydraulic cylinder according to each clearance value and measures and compares the movement speed v of the piston, and when the movement speed of the piston reaches a set value v₂When (v)₂＞v₁) The controller determines the current clearance value as the clearance value between the piston and the cylinder in the quick response mode_{Fast speed}。

Further, the controller stores the clearance between the piston and the cylinder barrel and the movement speed v of the piston in a list and displays the list through an interactive device; the user can select proper ones according to the list data and practical production experience_{High precision}And_{fast speed}。

Furthermore, the control system also comprises a second pressure sensor, and the second pressure sensor is arranged in a hydraulic oil pipeline of the hydraulic cylinder; the second pressure sensor measures oil in the hydraulic oil pipeline and transmits the measured value to the controller;

a second self-testing module is arranged in the controller, when the second self-testing module is started, the controller gradually increases the clearance between the piston and the cylinder barrel, starts the hydraulic cylinder according to each clearance value and measures and compares the hydraulic oil pressure p in the hydraulic cylinder_{Liquid for treating urinary tract infection}When the hydraulic oil pressure exceeds a set value p₁Time, controlThe device determines the current clearance value as the clearance value between the piston and the cylinder barrel in the high-precision displacement mode_{High precision}。

For the hydraulic cylinder, the larger the gap between the piston and the cylinder barrel is, the faster the response speed of the piston is, the lower the pressure of hydraulic oil used for driving the piston in the hydraulic cylinder is, and the lower the displacement precision of the piston is; therefore, the control system can quantify the displacement accuracy of the piston according to the pressure of hydraulic oil in the hydraulic cylinder, and further select the clearance value between the piston and the cylinder barrel in the high-accuracy displacement mode_{High precision}(ii) a In the same way, after the second self-testing module is started, the controller gradually increases the clearance between the piston and the cylinder barrel, starts the hydraulic cylinder according to each clearance value and measures and compares the hydraulic oil pressure p in the hydraulic cylinder_{Liquid for treating urinary tract infection}When the hydraulic oil pressure exceeds a set value p₂When (p)₁＞p₂) The controller determines the current clearance value as the clearance value between the piston and the cylinder in the quick response mode_{Fast speed}。

Has the advantages that: (1) the control system determines the relation between the internal clearance of the hydraulic cylinder and the oil pressure of the unlocking oil, and the control system can automatically calculate the oil pressure and adjust the pressure regulating valve after a user inputs the required clearance, so that the automatic accurate control of the locking hydraulic cylinder in the interference fit is realized. (2) According to the control system, the first pressure sensor is arranged in the unlocking oil pipeline, and the controller controls the pressure regulating valve in real time through the feedback data of the first pressure sensor, so that the control precision of the oil pressure of the unlocking oil is improved. (3) According to the control system, the deformation measuring units are arranged on the inner cylinder and the outer cylinder, and the controller calculates the required unlocking oil pressure in real time again according to the deformation feedback data, so that closed-loop control over the adjustment of the clearance between the inner cylinder and the outer cylinder is realized, and the control precision of the hydraulic cylinder is improved. (4) The control system of the invention presets a locking mode, a high-precision displacement mode and a quick response mode, and a user can lock the hydraulic cylinder, control the high-precision displacement and the quick displacement by clicking the corresponding mode, so that the operation is convenient and fast. (5) The control system is provided with the first self-testing module and the second self-testing module, and can automatically measure and obtain a proper gap value according to the movement speed of the piston rod or the pressure of hydraulic oil_{High precision}And_{fast speed}The selection process can be automatically determined according to the specific situation of each hydraulic cylinder, does not depend on the use experience, and has higher accuracy.

Drawings

Fig. 1 is an operation schematic diagram of a control system of embodiment 1.

Fig. 2 is a sectional view of the hydraulic cylinder of embodiment 1.

Fig. 3 is a front view of the piston rod in embodiment 1.

Wherein: 100. a piston; 110. an oil sump; 200. a cylinder barrel.

Detailed Description

The present invention will be described in further detail with reference to specific embodiments.