Control valve group, actuating mechanism and actuating system
阅读说明:本技术 控制阀组、执行机构及执行系统 (Control valve group, actuating mechanism and actuating system ) 是由 景军清 黄飞 肖刚 于 2019-10-17 设计创作,主要内容包括:本发明涉及一种控制阀组、执行机构及执行系统。其中,控制阀组包括:阀体,设有进油口、回油口和工作油口;设于阀体内的第一、第二进油阀、第一、第二回油阀、补偿阀和换向阀;第一进油阀被构造为选择性地断开或连通进油口与第一工作油口之间的油路;第二进油阀被构造为选择性地断开或连通进油口与第二工作油口之间的油路;第一回油阀被构造为选择性地断开或连通第一工作油口与回油口之间的油路;第二回油阀被构造为选择性地断开或连通第二工作油口与回油口之间的油路;补偿阀位于进油口与第一、第二进油阀之间的油路上;换向阀被构造为选择性地将流过第一或第二进油阀的部分液压油引向补偿阀的第一控制腔。本发明用于实现进出油的精确控制。(The invention relates to a control valve group, an actuating mechanism and an actuating system. Wherein, the control valve group includes: the valve body is provided with an oil inlet, an oil return port and a working oil port; the first oil inlet valve, the second oil inlet valve, the first oil return valve, the second oil return valve, the compensating valve and the reversing valve are arranged in the valve body; the first oil inlet valve is configured to selectively disconnect or communicate an oil path between the oil inlet and the first working oil port; the second oil inlet valve is configured to selectively disconnect or communicate an oil path between the oil inlet and the second working oil port; the first oil return valve is configured to selectively disconnect or communicate an oil path between the first working oil port and the oil return port; the second oil return valve is configured to selectively disconnect or communicate an oil path between the second working oil port and the oil return port; the compensating valve is positioned on an oil path between the oil inlet and the first and second oil inlet valves; the selector valve is configured to selectively direct a portion of the hydraulic oil flowing through the first or second oil feed valve to the first control chamber of the compensating valve. The invention is used for realizing the accurate control of oil inlet and outlet.)
1. A control valve block, comprising:
the valve body (1) is provided with an oil inlet (11), an oil return port (12) and a working oil port, wherein the working oil port comprises a first working oil port (13) and a second working oil port (14);
the first oil inlet valve (2) is arranged in the valve body (1); the first oil inlet valve (2) is configured to selectively disconnect or communicate an oil path between the oil inlet (11) and the first working oil port (13);
the second oil inlet valve (3) is arranged in the valve body (1); the second oil inlet valve (3) is configured to selectively disconnect or communicate an oil path between the oil inlet (11) and the second working oil port (14);
the first oil return valve (4) is arranged in the valve body (1); the first oil return valve (4) is configured to selectively disconnect or communicate an oil path between the first working oil port (13) and the oil return port (12);
the second oil return valve (5) is arranged in the valve body (1); the second oil return valve (5) is configured to selectively disconnect or communicate an oil path between the second working oil port (14) and the oil return port (12);
the compensation valve (6) is arranged in the valve body (1), and the compensation valve (6) is positioned on an oil path between the oil inlet (11) and the first oil inlet valve (2) and is also positioned on an oil path between the oil inlet (11) and the second oil inlet valve (3); and
a directional valve (7) disposed in the valve body (1) to connect the first oil feed valve (2) and the second oil feed valve (3), the directional valve (7) being configured to selectively direct a portion of the hydraulic oil flowing through the first oil feed valve (2) or the second oil feed valve (3) to the first control chamber of the compensating valve (6).
2. The valve group as claimed in claim 1, comprising a first oil path (81), a first end of the first oil path (81) being connected to the first working oil port (13); the second end of the first oil path (81) is connected with the first oil inlet valve (2) and the first oil return valve (4);
the control valve group is configured to include a first operating condition and a second operating condition;
the first oil feed valve (2) is configured to: under a first working condition, guiding the hydraulic oil flowing out of the compensating valve (6) to the first oil path (81), and under a second working condition, guiding out part of the hydraulic oil in the first oil path (81) to be merged with the hydraulic oil flowing out of the compensating valve (6);
the first oil return valve (4) is configured to: disconnecting the oil path between the first oil path (81) and the oil return port (12) under a first working condition; and guiding the hydraulic oil in the first oil path (81) to the oil return port (12) under a second working condition.
3. The control valve group according to claim 1 or 2, characterized by comprising a second oil path (82), wherein a first end of the second oil path (82) is connected with the second working oil port (14); the second end of the second oil path (82) is connected with the second oil inlet valve (3) and the second oil return valve (5);
the control valve group is configured to include a first operating condition and a second operating condition;
the second oil feed valve (3) is configured to: under a second working condition, part of hydraulic oil in the second oil path (82) is led out and is merged with the hydraulic oil flowing out through the compensating valve (6); and under a first working condition, guiding the hydraulic oil flowing out through the compensating valve (6) to the second oil path (82);
the second spill valve (5) is configured to: guiding the hydraulic oil in the second oil path (82) to the oil return port (12) under a second working condition; and disconnecting the oil path between the second oil path (82) and the oil return port (12) under a first working condition.
4. Valve group according to claim 1, characterised in that the compensation valve (6) comprises a first port connected to the oil inlet (11) and a second port connected to the first inlet valve (2) and to the second inlet valve (3); the compensating valve (6) comprises a first station and a second station, wherein the first oil port is communicated with the second oil port at the first station; the first oil port is disconnected with the second oil port;
the first control cavity of the compensation valve (6) is a cavity with a spring;
and a second oil port of the compensating valve (6) is also communicated with a second control cavity without a spring through an oil way.
5. The group of control valves according to claim 1, characterized in that the reversing valve (7) comprises a first port connected to the first inlet valve (2), a second port connected to the first control chamber of the compensation valve (6), and a third port connected to the second inlet valve (3);
the reversing valve (7) comprises a first station and a second station, the reversing valve (7) is arranged at the first station, a first oil port is communicated with a second oil port, and a third oil port is cut off; the reversing valve (7) is arranged at the second station, the first oil port is closed, and the second oil port is communicated with the third oil port.
6. A valve group according to claim 1, characterised in that said first inlet valve (2) and said second inlet valve (3) each comprise a main inlet valve (21, 31);
the oil inlet main valve (21,31) comprises a first oil port, a second oil port and a third oil port, the first oil port is connected with the compensation valve (6), the second oil port is connected with the working oil port, and the third oil port is connected with the reversing valve (7);
the oil-inlet main valve (21,31) comprises a first station and a second station; the oil inlet main valve (21,31) is arranged at a first station, the first oil port is communicated with the third oil port, a damping is arranged on an oil way through which the first oil port is communicated with the third oil port, and the second oil port is closed; the oil inlet main valve (21,31) is arranged at a second station, the first oil port is communicated with the second oil port, the first oil port is also communicated with the third oil port, and a damping is arranged on an oil path communicated with the third oil port.
7. A control valve group according to claim 1, characterised in that said first return valve (4) and said second return valve (5) each comprise a main return valve (41, 51);
the oil return main valve (41,51) comprises a first oil port and a second oil port, the first oil port is connected with the working oil port, and the second oil port is connected with the oil return port (12);
the main oil return valve (41,51) comprises a first station and a second station; the oil return main valve (41,51) is arranged at a first station, and the first oil port and the second oil port are cut off; the oil return main valve (41,51) is arranged at a second station, and the first oil port is communicated with the second oil port.
8. The valve group according to claim 1, wherein the first inlet valve (2), the second inlet valve (3), the first return valve (4) and the second return valve (5) each comprise a main valve (21,31,41,51) and a pilot valve (22,32,42,52), a feedback spring (23,33,43,53) is respectively arranged between each main valve (21,31,41,51) and the corresponding pilot valve (22,32,42,52), and the spool of the main valve (21,31,41,51) is configured to apply a force to the feedback spring (23,33,43,53) during movement so as to adjust the movement of the spool of the pilot valve (22,32,42,52) through the feedback spring (23,33,43, 53).
9. Valve group according to claim 8, wherein the valve body (1) is further provided with a pilot oil inlet (15) and a pilot oil return (16);
the main valve (21,31,41,51) comprises a first control chamber and a second control chamber, and a spool of the main valve (21,31,41,51) is configured to move under the action of a pressure difference between the first control chamber and the second control chamber;
the pilot oil inlet (15) is communicated with a first control cavity of the main valve (21,31,41, 51);
the spool of the pilot valve (22,32,42,52) is configured to gradually connect the second control cavity of the main valve (21,31,41,51) with the oil path of the pilot oil inlet (15) and disconnect the second control cavity of the main valve (21,31,41,51) from the oil path of the pilot oil return port (16) in the moving process, or gradually disconnect the second control cavity of the main valve (21,31,41,51) from the oil path of the pilot oil inlet (15) and connect the second control cavity of the main valve (21,31,41,51) with the oil path of the pilot oil return port (16).
10. A control valve group according to claim 9, characterised in that the main valve (21,31,41,51) comprises a first and a second position, the spool of the main valve (21,31,41,51) being configured to move under the effect of the pressure difference of the first and second control chambers, so that the main valve (21,31,41,51) is in the first or second position;
the main valve (21,31,41,51) is in a first working position, and an oil way connected with the working oil port of the main valve (21,31,41,51) is disconnected; the main valve (21,31,41,51) is located at the second station, and the main valve (21,31,41,51) is communicated with an oil way connected with the working oil port.
11. The set of control valves of claim 9,
the pilot valve (22,32,42,52) comprises a first oil port, a second oil port, a third oil port, a first control cavity and a second control cavity, the first oil port is connected with the pilot oil inlet (15), and the second oil port is connected with the pilot oil return port (16); the third oil port is connected with the first control cavity and the second control cavity of the pilot valve (22,32,42, 52);
the pilot valve (22,32,42,52) includes a first station and a second station; the pilot valve (22,32,42,52) is arranged at a first station, the first oil port is communicated with the third oil port, and the second oil port is closed; the pilot valve (22,32,42,52) is arranged at a second station, the first oil port is closed, and the second oil port is communicated with the third oil port;
the valve core of the pilot valve (22,32,42,52) is positioned at the end part of the first control cavity and is connected with the feedback spring (23,33,43, 53); the valve core of the pilot valve (22,32,42,52) is positioned at the end part of the second control cavity and is connected with an electromagnetic control component;
the valve spool of the pilot valve (22,32,42,52) is configured to move under the cooperation of the first control chamber, a feedback spring (23,33,43,53), the second control chamber and the solenoid control component to control the pilot valve (22,32,42,52) to be in a first position or a second position.
12. Valve group according to claim 1, comprising an overload compensation valve (91,92) connecting the working port and the return port (12).
13. The group of control valves according to claim 1, characterized in that the first inlet valve (2), the second inlet valve (3), the first return valve (4), the second return valve (5) and the reversing valve (7) are all solenoid control valves.
14. Actuator, characterized in that it comprises an actuator and a control valve group according to any of claims 1 to 13, said actuator being connected to the first working port (13) and the second working port (14) of said control valve group, respectively.
15. Actuator according to claim 14, wherein the actuator comprises a cylinder (100) or a motor.
16. An actuator system, comprising at least one actuator according to claim 14 or 15.
17. The actuator system according to claim 16, wherein the at least one actuator comprises a first actuator and a second actuator, the first actuator comprising a third oil passage (83), the third oil passage (83) connecting an oil inlet (11) of the first actuator and a compensation valve (6) of the first actuator and also connecting an oil inlet of the second actuator.
Technical Field
The invention relates to the technical field of hydraulic control, in particular to a control valve group, an actuating mechanism and an actuating system.
Background
The traditional hydraulic valve adopts a single valve core to control oil inlet and outlet of an oil cylinder or a hydraulic motor, and oil inlet flow or oil return back pressure of the oil cylinder or the motor cannot be independently and flexibly adjusted according to working conditions due to the fact that the oil inlet and outlet machines on the single valve core are fixedly connected together, so that the energy consumption loss of a system is large, and the control mode is inflexible.
Due to the existence of the hydraulic power, the actual displacement and the instruction displacement of the valve core generally have deviation under high pressure and high flow, and particularly when the displacement of the valve core needs to be accurately controlled under the conditions of high flow and high pressure of a system, the hydraulic power can cause poor control performance seriously.
Disclosure of Invention
One of the objectives of the present invention is to provide a control valve assembly, an actuator and an actuator system, which are used to alleviate the problem of low control accuracy.
Some embodiments of the present invention provide a control valve assembly, comprising:
the valve body is provided with an oil inlet, an oil return port and a working oil port, wherein the working oil port comprises a first working oil port and a second working oil port;
the first oil inlet valve is arranged in the valve body; the first oil inlet valve is configured to selectively disconnect or communicate an oil path between the oil inlet and the first working oil port;
the second oil inlet valve is arranged in the valve body; the second oil inlet valve is configured to selectively disconnect or communicate an oil path between the oil inlet and the second working oil port;
the first oil return valve is arranged in the valve body; the first oil return valve is configured to selectively disconnect or communicate an oil path between the first working oil port and the oil return port;
the second oil return valve is arranged in the valve body; the second oil return valve is configured to selectively disconnect or communicate an oil path between the second working oil port and the oil return port;
the compensating valve is arranged in the valve body, is positioned on an oil way between the oil inlet and the first oil inlet valve and is also positioned on an oil way between the oil inlet and the second oil inlet valve; and
and a direction valve provided in the valve body to connect the first oil feed valve and the second oil feed valve, the direction valve being configured to selectively introduce a portion of the hydraulic oil flowing through the first oil feed valve or the second oil feed valve to the first control chamber of the compensating valve.
In some embodiments, the control valve group comprises a first oil path, and a first end of the first oil path is connected with the first working oil port; the second end of the first oil way is connected with the first oil inlet valve and the first oil return valve;
the control valve group is configured to include a first operating condition and a second operating condition;
the first oil feed valve is configured to: under a first working condition, guiding the hydraulic oil flowing out of the compensating valve to the first oil way, and under a second working condition, guiding out part of the hydraulic oil in the first oil way to be converged with the hydraulic oil flowing out of the compensating valve;
the first oil return valve is configured to: disconnecting an oil way between the first oil way and the oil return port under a first working condition; and guiding the hydraulic oil in the first oil way to the oil return port under a second working condition.
In some embodiments, the control valve group comprises a second oil path, and a first end of the second oil path is connected with the second working oil port; the second end of the second oil way is connected with the second oil inlet valve and the second oil return valve;
the control valve group is configured to include a first operating condition and a second operating condition;
the second oil feed valve is configured to: under a second working condition, part of hydraulic oil in the second oil way is led out and is merged with the hydraulic oil flowing out through the compensating valve; under a first working condition, the hydraulic oil flowing out of the compensating valve is guided to the second oil way;
the second scavenge valve is configured to: guiding the hydraulic oil in the second oil way to the oil return port under a second working condition; and disconnecting the oil path between the second oil path and the oil return port under the first working condition.
In some embodiments, the compensation valve comprises a first oil port and a second oil port, the first oil port is connected with the oil inlet, and the second oil port is connected with the first oil inlet valve and the second oil inlet valve; the compensating valve comprises a first station, a second station and a first station, wherein the first oil port is communicated with the second oil port; the first oil port is disconnected with the second oil port;
the first control cavity of the compensation valve is a cavity with a spring;
and the second oil port of the compensating valve is also communicated with a second control cavity without a spring through an oil way.
In some embodiments, the reversing valve comprises a first oil port, a second oil port and a third oil port, the first oil port is connected with the first oil inlet valve, the second oil port is connected with the first control cavity of the compensation valve, and the third oil port is connected with the second oil inlet valve;
the reversing valve comprises a first station and a second station, the reversing valve is arranged at the first station, the first oil port is communicated with the second oil port, and the third oil port is closed; the reversing valve is arranged at the second station, the first oil port is closed, and the second oil port is communicated with the third oil port.
In some embodiments, the first and second inlet valves each comprise a main inlet valve;
the oil inlet main valve comprises a first oil port, a second oil port and a third oil port, the first oil port is connected with the compensation valve, the second oil port is connected with the working oil port, and the third oil port is connected with the reversing valve;
the oil inlet main valve comprises a first station and a second station; the oil inlet main valve is arranged at a first station, the first oil port is communicated with the third oil port, a damping is arranged on an oil way communicated with the first oil port and the third oil port, and the second oil port is closed; the oil inlet main valve is arranged at a second station, the first oil port is communicated with the second oil port, the first oil port is also communicated with the third oil port, and a damping is arranged on an oil path communicated with the first oil port and the third oil port.
In some embodiments, the first and second return valves each comprise a main return valve;
the oil return main valve comprises a first oil port and a second oil port, the first oil port is connected with the working oil port, and the second oil port is connected with the oil return port;
the oil return main valve comprises a first station and a second station; the oil return main valve is arranged at a first station, and the first oil port and the second oil port are cut off; the oil return main valve is arranged at a second station, and the first oil port is communicated with the second oil port.
In some embodiments, each of the first oil inlet valve, the second oil inlet valve, the first oil return valve, and the second oil return valve includes a main valve and a pilot valve, and a feedback spring is disposed between each main valve and its corresponding pilot valve, and a valve core of the main valve is configured to apply a force to the feedback spring during movement, so as to adjust movement of the valve core of the pilot valve through the feedback spring.
In some embodiments, the valve body is further provided with a pilot oil inlet and a pilot oil return;
the main valve comprises a first control chamber and a second control chamber, and a valve core of the main valve is configured to move under the action of the pressure difference of the first control chamber and the second control chamber;
the pilot oil inlet is communicated with the first control cavity of the main valve;
and the valve core of the pilot valve is configured to gradually communicate the second control cavity of the main valve with the oil path of the pilot oil inlet and disconnect the second control cavity of the main valve with the oil path of the pilot oil return port in the moving process, or gradually disconnect the second control cavity of the main valve with the oil path of the pilot oil inlet and communicate the second control cavity of the main valve with the oil path of the pilot oil return port.
In some embodiments, the main valve comprises a first station and a second station, the spool of the main valve configured to move under the effect of a pressure differential between the first control chamber and the second control chamber to place the main valve in the first station or the second station;
the main valve is positioned at a first station, and an oil way connected with the working oil port is disconnected; the main valve is located at a second station and is communicated with an oil way connected with the working oil port.
In some embodiments of the present invention, the,
the pilot valve comprises a first oil port, a second oil port, a third oil port, a first control cavity and a second control cavity, the first oil port is connected with the pilot oil inlet, and the second oil port is connected with the pilot oil return port; the third oil port is connected with the first control cavity and the second control cavity;
the pilot valve comprises a first station and a second station; the pilot valve is arranged at a first station, the first oil port is communicated with the third oil port, and the second oil port is closed; the pilot valve is arranged at a second station, the first oil port is closed, and the second oil port is communicated with the third oil port;
the valve core of the pilot valve is positioned at the end part of the first control cavity and connected with the feedback spring; the valve core of the pilot valve is positioned at the end part of the second control cavity and is connected with an electromagnetic control component;
the valve core of the pilot valve is configured to move under the cooperation of the first control cavity, the feedback spring, the second control cavity and the electromagnetic control component so as to control the pilot valve to be in a first working position or a second working position.
In some embodiments, the control valve assembly includes an overload compensation valve connecting the working port and the return port.
In some embodiments, the first oil inlet valve, the second oil inlet valve, the first oil return valve, the second oil return valve and the reversing valve are all solenoid-controlled valves.
Some embodiments of the present invention provide an actuator, which includes an actuator and the above-mentioned control valve set, wherein the actuator is respectively connected to the first working oil port and the second working oil port of the control valve set.
In some embodiments, the actuator comprises a cylinder or a motor.
Some embodiments of the present invention provide an actuator system comprising at least one actuator as described above.
In some embodiments, the at least one actuator includes a first actuator and a second actuator, and the first actuator includes a third oil passage connecting an oil inlet of the first actuator and a compensation valve of the first actuator, and also connecting an oil inlet of the second actuator.
Based on the technical scheme, the invention at least has the following beneficial effects:
in some embodiments, the first oil inlet valve, the second oil inlet valve, the first oil return valve and the second oil return valve are matched to realize accurate control of oil inlet and oil return, load feedback pressure is introduced according to actual conditions through the matching of the compensation valve and the reversing valve, and the problem of control logic errors caused by simply introducing oil return pressure with higher pressure is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a control valve assembly according to some embodiments of the present invention;
fig. 2 is a schematic control diagram of an execution system according to some embodiments of the present invention.
Reference numerals in the drawings indicate:
1-a valve body; 11-an oil inlet; 12-oil return port; 13-a first working oil port; 14-a second working oil port; 15-a pilot oil inlet; 16-a pilot oil return port;
2-a first oil inlet valve; 21-a first oil-in main valve; 22-a first oil inlet pilot valve; 23-a first feedback spring;
3-a second oil inlet valve; 31-a second oil-in main valve; 32-a second oil inlet pilot valve; 33-a second feedback spring;
4-a first oil return valve; 41-a first oil return main valve; 42-a first oil return pilot valve; 43-a third feedback spring;
5-a second oil return valve; 51-a second main return valve; 52-a second oil return pilot valve; 53-fourth feedback spring;
6-a compensation valve;
7-a reversing valve;
81-a first oil passage; 82-a second oil path; 83-third oil passage;
91-a first overload compensation valve; 92-a second overload compensation valve;
100-oil cylinder;
201-a first sensor; 202-a second sensor; 203-a third sensor;
300-controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
As shown in fig. 1, some embodiments provide a control valve assembly including a valve body 1, a first oil inlet valve 2, a second
The valve body 1 is provided with an
The first oil inlet valve 2 is arranged in the valve body 1; the first oil feed valve 2 is configured to selectively disconnect or communicate an oil path between the
The first oil inlet valve 2 comprises a first station and a second station, the first oil inlet valve 2 is arranged at the first station, and an oil path between the
The second
The second
The first oil return valve 4 is arranged in the valve body 1; the first oil return valve 4 is configured to selectively disconnect or communicate an oil path between the first working
The first oil return valve 4 comprises a first station and a second station, the first oil return valve 4 is arranged at the first station, and an oil path between the first working
The second oil return valve 5 is arranged in the valve body 1; the second scavenge valve 5 is configured to selectively disconnect or communicate the oil path between the second working oil port 14 and the
The second oil return valve 5 comprises a first station and a second station, the second oil return valve 5 is arranged at the first station, and an oil path between the second working oil port 14 and the
The compensating
That is to say, the control valve group further comprises a main oil path, the
The
Optionally, the first control chamber of the
A
The reversing
The compensating
Some embodiments provide an actuator, which includes the control valve assembly of the above embodiments, and further includes an actuator, which is respectively connected to the first working
Optionally, the actuator comprises a
In some embodiments, the actuator comprises a
The operation of the control valve assembly will be described in detail below with reference to the extension of the rod of the cylinder 100:
and opening the first oil inlet valve 2, closing the first oil return valve 4, feeding oil into the rodless cavity of the
The method specifically comprises the following steps: after entering the compensating
Meanwhile, the reversing
When the reversing
Moreover, the pressure flowing out of the compensating
The principle of retraction of the cylinder rod of the
In some embodiments, the control valve group comprises a
The control valve assembly is configured to include a first operating condition and a second operating condition.
The first oil feed valve 2 is configured to: and under the first working condition, the hydraulic oil flowing out of the compensating
The first oil return valve 4 is configured to: the oil path between the
In the above embodiment, under the second operating condition of the control valve assembly, the first oil return valve 4 leads most of the hydraulic oil in the
The reversing
In some embodiments, the control valve group comprises a
The control valve assembly is configured to include a first operating condition and a second operating condition.
The second
The second spill valve 5 is configured to: guiding the hydraulic oil in the
In the above embodiment, under the first working condition of the control valve group, the second oil return valve 5 leads most of the hydraulic oil in the
In some embodiments, the principle of internal flow regeneration of the control valve group is described in detail by taking the actuating component as the
The principle of rodless and rodless chamber flow regeneration of the cylinder 100: taking the retraction of the rod of the
When the system operates, the second
Meanwhile, the first oil return valve 4 is slightly opened, so that the return oil of the rodless cavity of the
Meanwhile, the first oil inlet valve 2 is slightly opened, and because the pressure of the rod cavity of the
The area ratio of the first oil return valve 4 and the first oil inlet valve 2 is adjusted to adjust the ratio between the flow of the oil return tank of the rodless cavity of the
Meanwhile, the reversing
Through the flexible control of the openings of all the valves in the control valve group, the flow regeneration control of the
In some embodiments, the
The first control chamber of the
In some embodiments, the reversing
The reversing
In some embodiments, the first and
The first oil-in-
The main oil inlet valve comprises a first oil port, a second oil port and a third oil port, the first oil port is connected with the
The oil inlet main valve comprises a first station and a second station; the oil inlet main valve is arranged at a first station, a first oil port of the oil inlet main valve is communicated with a third oil port, a damping is arranged on an oil way through which the first oil port is communicated with the third oil port, and the second oil port is closed; the oil inlet main valve is arranged at the second station, the first oil port is communicated with the second oil port, the first oil port is also communicated with the third oil port, and a damping is arranged on an oil way through which the first oil port is communicated with the third oil port.
In some embodiments, the first oil return valve 4 and the second oil return valve 5 each comprise an oil return main valve. The main return valves include a first
The first
The main oil return valve comprises a first oil port and a second oil port, the first oil port is connected with a working oil port (a first working
The oil return main valve comprises a first station and a second station; the oil return valve is arranged at a first station, and a first oil port and a second oil port of the oil return valve are cut off; the oil return valve is arranged at the second station, and a first oil port of the oil return valve is communicated with a second oil port.
In some embodiments, the first inlet valve 2, the
the first oil feed valve 2 includes a first oil-feed
The second
The first oil return valve 4 includes a first oil return
The second return valve 5 includes a second return
And a feedback spring is arranged between the main valve and the corresponding pilot valve. Namely:
a
A
A
A fourth feedback spring 53 is provided between the second main
The spool of the main valve is configured to exert a force on the feedback spring during movement to regulate movement of the spool of the pilot valve by the feedback spring.
The first oil inlet valve 2, the second
The flexible control of the valve core area in the oil inlet and outlet process of the
Through four independent mouthful control valves of feedback type, the function of offsetting hydrodynamic force and case frictional force has promoted case control accuracy.
The main valves of the first oil inlet valve 2 and the second
In some embodiments, the valve body 1 of the control valve group is further provided with a
The main valve includes a first control chamber and a second control chamber, and a spool of the main valve is configured to move under a pressure difference between the first control chamber and the second control chamber.
The
The pilot valve is configured to selectively communicate the
The spool of the pilot valve is configured to gradually connect the second control chamber of the main valve to the oil passage of the
The main valve comprises a first station and a second station, and a valve core of the main valve is configured to move under the action of the pressure difference of the first control chamber and the second control chamber so as to enable the main valve to be in the first station or the second station.
The main valve is positioned at a first station, and an oil way connected with the working oil port is disconnected; the main valve is positioned at the second station and is communicated with the oil way connected with the working oil port.
In some embodiments, the pilot valve includes a first port, a second port, a third port, a first control chamber, and a second control chamber. The first oil port is connected with the
The pilot valve comprises a first station and a second station; the pilot valve is arranged at a first station, the first oil port is communicated with the third oil port, and the second oil port is closed; the pilot valve is at the second station, and first hydraulic fluid port ends, and the second hydraulic fluid port communicates with the third hydraulic fluid port.
The pilot valve comprises an electromagnetic control component. The valve core of the pilot valve is positioned at the end part of the first control cavity and is connected with a feedback spring; the valve core of the pilot valve is positioned at the end part of the second control cavity and is connected with the electromagnetic control component.
The valve core of the pilot valve is configured to move under the mutual cooperation of the first control chamber, the feedback spring, the second control chamber and the electromagnetic control component so as to control the pilot valve to be in the first working position or the second working position.
The first oil inlet valve 2, the second
Next, a control principle of the force feedback type independent port control valve will be described in detail by taking as an example a force feedback type independent port control valve including the first
The electromagnetic control component of the first oil
In the opening process of the first oil return
Therefore, the valve body position of the first return
The force feedback control principle of the first oil inlet valve 2, the second
In some embodiments, the control valve block includes at least one overload compensation valve connecting the working port and the
Optionally, the at least one overload compensation valve includes a first
The first
The second
In some embodiments, the first oil inlet valve 2, the second
In some implementations, the
Some embodiments provide an actuator comprising an actuator part and the above-mentioned control valve group, wherein the actuator part is respectively connected with the first working
In some embodiments, the actuator further comprises a sensor. The sensors include a
In some embodiments, the actuator comprises a
In some embodiments, the actuator is a
The first oil inlet valve 2 and the second
The first oil return valve 4 and the second oil return valve 5 are used for flow control of oil returned from the
The
The reversing
The overload oil replenishing valve is used for overload protection and oil replenishing of the
The port a of the
The
The
Some embodiments provide an actuator system comprising at least one actuator as described above.
In some embodiments, the at least one actuator comprises a first actuator and a second actuator, the first actuator comprises a
By providing the
The flow regeneration between the two actuators is premised on: 1) the driving pressure of the actuating mechanism needing to obtain the regeneration flow is lower than the oil return pressure of the actuating mechanism providing the regeneration flow; 2) the actuating mechanism providing the regeneration flow is in a negative load state, and the oil inlet pressure is far lower than the oil return pressure.
The flow regeneration between the first actuator and the second actuator will be described in detail below, taking the actuator of the first actuator providing the regeneration flow as the
The rod of the
When the system operates, the flow regeneration between the execution mechanisms is carried out according to the requirement, and the control process of the first execution mechanism is as follows:
the
The second
By adjusting the area ratio among the first oil return valve 4, the first oil inlet valve 2 and the second
Due to the utilization of the regeneration flow, the return oil flow is reduced, the movement speed of the
In some embodiments, the execution system further includes a
In some embodiments, as shown in FIG. 2, the
The executing component in the first executing mechanism is a first oil cylinder, and the executing component in the second executing mechanism is a second oil cylinder.
The inputs to the
The outputs of the
The first pilot spool is the spool of the first oil
An oil port of the
The control process of the
The first step is as follows: when the
The second step is that: the magnitude of the regeneration flow rate is controlled according to a regeneration flow rate instruction of the
The control process of the
The first step is as follows: judging the motion state of the first oil cylinder, when the
The second step is that: judging the motion state of the second oil cylinder, when the
The third step: the magnitude of the regenerative flow between mechanisms is related to the opening area and the pressure difference of the first return
Through the detection of the pressure sensor at the port a and the pressure sensor at the port B of the first cylinder, the pressure difference between the two ends of the first return
The area of the compensating
In some embodiments, the control valve group comprises an independent port control valve for realizing energy conservation and flow regeneration, and has the technical effect of stable control performance under high pressure and high flow.
In some embodiments, the execution system can be used for flow regeneration between the execution mechanism itself and the execution mechanism, and has a fully-electronically-controlled independent port control valve with extremely strong hydraulic power resistance, so that high-precision control of oil inlet and outlet of the
The control valve group comprises four force feedback type independent port control valves, a preposed compensation valve, an electric control ls reversing valve, two overload oil supplementing valves and two pressure sensors, and realizes the oil inlet and outlet flow control of an actuating mechanism; the valve bank can realize the superposition of a plurality of valve banks and control a plurality of
Through the flexible control of the compensating valve and the valve core opening for the oil inlet and outlet of the
In the description of the present invention, it should be understood that the terms "first", "second", "third", etc. are used to define the components, and are used only for the convenience of distinguishing the components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present invention.
Furthermore, the technical features of one embodiment may be combined with one or more other embodiments advantageously without explicit negatives.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
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