阅读说明：本技术 基于Halbach阵列双向磁悬浮联轴节的二维半桥式电液比例换向阀 (Two-dimensional half-bridge type electro-hydraulic proportional reversing valve based on Halbach array bidirectional magnetic suspension coupling ) 是由 孟彬 徐豪 王登 蒲涛 阮健 刘备 于 2019-09-10 设计创作，主要内容包括：基于Halbach阵列双向磁悬浮联轴节的二维半桥式电液比例换向阀,包括二维半桥式电液比例换向阀本体、比例电磁铁和Halbach阵列双向磁悬浮联轴节,二维半桥式电液比例换向阀本体是由阀芯和阀体所组成的2D阀,阀体的左端安装有一个双向比例电磁铁,阀芯的左端装有一个Halbach阵列双向磁悬浮联轴节,阀芯通过Halbach阵列双向磁悬浮联轴节连接双向比例电磁铁；轭铁的极靴表面贴有轭铁Halbach阵列磁片,与轭铁极靴表面相对应的斜翼动子上下两侧翼面上贴有Halbach阵列磁片,从而形成磁排斥力,而该磁排斥力使得斜翼动子可以无须借助任何机械结构,纯粹靠磁力“悬浮”在轭铁中间；阀芯左端的左端高压圆形孔、右端高、低压圆形孔和感受通道构成四通转阀,并串联形成液压阻力半桥,控制阀芯两端的左敏感腔和右敏感腔的压力。(The two-dimensional half-bridge electro-hydraulic proportional reversing valve based on the Halbach array bidirectional magnetic suspension coupling comprises a two-dimensional half-bridge electro-hydraulic proportional reversing valve body, a proportional electromagnet and the Halbach array bidirectional magnetic suspension coupling, wherein the two-dimensional half-bridge electro-hydraulic proportional reversing valve body is a 2D valve consisting of a valve core and a valve body, the left end of the valve body is provided with the bidirectional proportional electromagnet, the left end of the valve core is provided with the Halbach array bidirectional magnetic suspension coupling, and the valve core is connected with the bidirectional proportional electromagnet through the Halbach array bidirectional magnetic suspension coupling; halbach array magnetic sheets are attached to the surfaces of pole shoes of the yokes, Halbach array magnetic sheets are attached to the upper side wing surfaces and the lower side wing surfaces of the inclined wing rotors corresponding to the surfaces of the pole shoes of the yokes, so that magnetic repulsion force is formed, and the inclined wing rotors can be suspended in the middle of the yokes purely by means of magnetic force without any mechanical structure due to the magnetic repulsion force; the left end high-pressure circular hole, the right end low-pressure circular hole and the sensing channel at the left end of the valve core form a four-way rotary valve, and are connected in series to form a hydraulic resistance half bridge to control the pressure of a left sensitive cavity and a right sensitive cavity at the two ends of the valve core.)

1. Two-dimensional half-bridge type electro-hydraulic proportional reversing valve based on Halbach array bidirectional magnetic suspension coupling is characterized in that: the two-dimensional half-bridge electro-hydraulic proportional reversing valve comprises a two-dimensional half-bridge electro-hydraulic proportional reversing valve body, a proportional electromagnet and a Halbach array bidirectional magnetic suspension coupling, wherein the two-dimensional half-bridge electro-hydraulic proportional reversing valve body is a 2D valve consisting of a valve core (8) and a valve body (9), the left end of the valve body (9) is provided with the bidirectional proportional electromagnet (2), the left end of the valve core (8) is provided with the bidirectional magnetic suspension coupling, and the valve core (8) is connected with the bidirectional proportional electromagnet (2) through the Halbach array bidirectional magnetic suspension coupling;

the Halbach array bidirectional magnetic suspension coupling comprises a linear bearing (5), a yoke (6), a fixing pin (7), an oblique wing rotor (13), a yoke Halbach array magnetic sheet (14), an oblique wing rotor Halbach array magnetic sheet (15) and a spring collar (16), wherein in order to enable the yoke (6) to only do horizontal linear motion, the linear bearing (5) is sleeved on the fixing pin (7) and is installed at the upper end and the lower end of the yoke (6); the front side and the rear side of the yoke (6) are respectively provided with two pole shoes which are in 180-degree array characteristics by taking an axis which is vertical to the plane of the yoke (6) and is vertically upward as a central axis; a yoke Halbach array magnetic sheet (14) is attached to the surface of a pole shoe of the yoke (6), Halbach array magnetic sheets (15) are attached to upper and lower side wing surfaces of the inclined wing rotor (13) corresponding to the surface of the pole shoe of the yoke (6), and the inclined wing rotor (13) is suspended in the middle of the yoke (6) by magnetic force; the yoke Halbach array magnetic sheet (14) and the oblique wing rotor Halbach array magnetic sheet (15) are combined bodies formed by three magnetic blocks with different magnetization directions, so that the magnetic field on the air gap side of the array is obviously enhanced, and the non-air gap side of the array is obviously weakened; the pole shoe surface of the yoke (6) and the two side wing surfaces of the inclined wing rotor (13) have the same inclination angle beta and are in a 180-degree array characteristic with a vertical upward shaft perpendicular to a horizontal plane as a central shaft, so that front and rear inclined working air gaps with the same height are formed, and the inclined wing rotor (13) is rotatably arranged in the middle of the yoke (6);

the valve core (8) is rotatably and axially movably arranged in an inner hole of the valve body (9); the bidirectional proportional electromagnet (2) is fixed on the left end cover (4); an inner hole of the valve body (9) is sequentially provided with a T port, an A port, a P port, a B port and a T port, wherein the P port is an oil inlet, the pressure is system pressure, the middle part of the valve core (8) is provided with two shoulders, and the two middle shoulders are respectively positioned above the A port and the B port; a valve core (8) of the 2D valve is connected with an inclined wing rotor (13) of the two-way magnetic suspension coupling through a key and is axially fixed through a spring collar; a high-pressure hole (a) communicated with the port P is formed in the middle of the valve core (8), and a high-pressure circular hole (b) communicated with the left sensitive cavity (g) is formed in the left end of the valve core (8); the high-pressure circular hole (b) enables the left sensitive cavity (g) to be constantly communicated with high pressure, and a pair of high-pressure and low-pressure circular holes (c and f) which are respectively communicated with the port P and the port T are formed in the shoulder at the right end of the valve core (8); a sensing channel (e) communicated with the right sensitive cavity (h) is correspondingly arranged on the inner hole wall at the right end of the valve body (9); the left high-pressure circular hole (b), the right high-pressure and low-pressure circular holes (c and f) and the sensing channel (e) form a four-way rotary valve, and are connected in series to form a hydraulic resistance half bridge, so that the pressure of a left sensitive cavity (g) and a right sensitive cavity (h) at two ends of the valve core (8) is controlled; a closed cavity formed by the bidirectional proportional electromagnet (2) at the left end, the left end part of the valve body (9) and the left end cover (4) is a left sensitive cavity (g), a right sensitive cavity (h) is a closed cavity formed by the valve core (8), the inner hole of the valve body (9) and the end plate (12), and the bidirectional magnetic suspension coupling is arranged in the sensitive cavity (g); two springs (3) are respectively arranged on two sides of the Halbach array bidirectional magnetic suspension coupling.

2. The Halbach array bidirectional magnetic levitation coupling-based two-dimensional half-bridge electro-hydraulic proportional reversing valve as claimed in claim 1, wherein: left side end cover (4) are fixed on valve body (9) of 2D valve, have put ring stopper (11) in valve body (9) right side hole, and in order to prevent that fluid in the 2D valve from revealing from valve body (9) right side, right-hand member at valve body (9) is fixed in apron (12).

Technical Field

The invention belongs to a flow and reversing control valve for an electro-hydraulic proportional control technology in the field of fluid transmission and control, and particularly relates to a two-dimensional half-bridge electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling.

Background

Since the advent of the electro-hydraulic servo control technology in the fortieth years of the last century, the electro-hydraulic servo control technology has occupied a high-end position in the electro-mechanical transmission and control technology due to the remarkable characteristics of high power-to-weight ratio, large output force (torque), excellent static and dynamic characteristics and the like, and is mainly applied to various strategic industrial occasions such as aerospace, military weapons, ships, large-scale power stations, steel and the like, thereby achieving great success. However, the electro-hydraulic servo valve is extremely sensitive to oil pollution, and harsh in application and maintenance conditions, and in addition, the requirement of seeking a zero-position characteristic to meet the requirement of closed-loop control is very strict in the requirements on the machining and assembling precision of key parts, so that the electro-hydraulic servo valve is difficult to be accepted by the industry, people generally expect a control technology which has reliable performance, high quality and low price, and can meet the actual requirements of an industrial control system on the control precision and the response characteristic, and the electro-hydraulic proportional control technology is developed under the background. In 1967, swiss bringer (Beringer) used a proportional electro-mechanical converter (proportional solenoid) for the first time in an industrial hydraulic valve, and the produced KL-type proportional directional valve was considered to be the earliest proportional valve in the world. In the seventh and eighties of the twentieth century, due to the application of various feedback and electric correction means such as pressure, flow, displacement, dynamic pressure and the like, the static and dynamic characteristics of the proportional valve are greatly improved, and in addition, the proportional valve is deeply integrated with the latest insertion technology, and the electro-hydraulic proportional control technology enters a golden age. By the development of the prior art, almost all traditional flow, pressure and reversing valves can find corresponding electro-hydraulic proportional valve products, and the electro-hydraulic proportional valve products are more and more widely applied to industrial production.

The proportional reversing valve requires continuous proportional positioning control of displacement (position) of a valve core, and the simplest mode is to linearly convert thrust output by a proportional electromagnet into displacement of the valve core through a spring, which is also the basic working principle of a single-stage or direct-acting proportional reversing valve or a flow valve. However, when oil flows through the valve port, a hydrodynamic force (also called bernoulli force) acts on the valve core due to the bernoulli effect, and the magnitude of the hydrodynamic force is proportional to the product of the opening area of the valve port and the pressure drop, so that the proportional characteristic of the direct-acting proportional valve is obviously deteriorated along with the increase of the pressure difference of the valve port, and even the abnormal phenomenon that the flow passing through the proportional valve is reduced along with the increase of the pressure difference of the valve port occurs. Therefore, the principle of controlling the position of the valve core according to the balance of the thrust force and the spring force of the electromagnet is only suitable for the proportional valve with small flow, and the maximum working flow in practical application is generally below 15L/min (the maximum working pressure is 21 MPa). In addition, in order to realize the balance of axial static pressure, the direct-acting proportional reversing valve or the flow valve adopts a slide valve structure, and is easily affected by friction force and oil pollution to generate a 'clamping stagnation' phenomenon. If a direct-acting proportional reversing valve or a flow valve is required to obtain better proportional characteristics, the matching between the valve core and the valve core hole must achieve higher precision, particularly cylindricity which is sensitive to friction force. For example, the precision of the valve core of the phi 6 drift diameter proportional valve of a certain foreign company is within 1 micron, the high cylindricity is similar to the precision requirement of the valve core of the servo valve, and the high cylindricity is difficult to be realized by domestic common hydraulic part manufacturers, so that the high cylindricity is one of the main reasons for the non-ideal performance of the domestic direct-acting proportional reversing valve. The position of the valve core is measured and closed-loop controlled by a linear displacement transducer (LVDT), an electric feedback type direct-acting proportional reversing valve is formed, the positioning rigidity and the control precision of the valve core can be improved to a great extent, and finally the electric feedback type direct-acting proportional valve can be applied to the closed-loop control of a hydraulic system (the valve is called as a proportional servo valve) like a servo valve.

The most fundamental method is to adopt a pilot control technology. In 1936, in order to solve the problem that the direct-acting overflow valve cannot realize pressure control of a high-pressure and high-flow system due to the influence of hydraulic force, the Harry Vickers invented a pilot overflow valve. The idea of guiding control is widely applied to the design of other hydraulic valves, so that the high-pressure and large-flow control of a hydraulic system becomes practical. Later electro-hydraulic servo control elements also adopt the design idea of pilot control, wherein electro-hydraulic proportional valves are also included.

Among numerous guide and control level structure innovations, the flow amplification mechanism designed based on Two-Dimensional (2D or Two-Dimensional) degrees of freedom of motion of the valve core combines the originally separated guide and control level and power level into one and is integrated on a single valve core, so that the structure is simple, the dynamic response is fast, and more importantly, the pollution resistance of the valve is greatly improved. Ruan Jian and so on propose one directly move-guide control integrated 2D electric liquid proportion switching-over valve, combine 2D valve and proportion electro-magnet through pressing and twisting the amplification technique, make it have directly move and guide control electric liquid proportion switching-over valve advantage separately concurrently, plus the anti-pollution ability is strong, does not have the special high requirement to the machining precision, has fine large-scale production and applied prospect. The main problem of the valve is that a pressure-torsion coupling playing a role in pressure-torsion amplification is a roller inclined-plane mechanical mechanism, and nonlinear links such as friction force and assembly clearance exist, so that the valve has great influence on static characteristics such as linearity, repeatability and hysteresis of the electro-hydraulic proportional valve.

The concept of Halbach permanent magnet array was originally proposed by Klaus Halbach professor of Lawrence Berkeley national laboratory, and was successively and successfully applied in the new generation of high energy physical fields such as particle accelerator, free electron laser device, synchrotron radiation device, etc. by domestic and foreign research institutions in the 90 s of the 20 th century. The Halbach array is a new type permanent magnet arrangement mode, it arranges the permanent magnets with different magnetization directions according to a certain order, so that the magnetic field of one side of the array is obviously enhanced, and the other side is obviously weakened, and the magnetic field with ideal sinusoidal distribution in space can be easily obtained. The Halbach array has wide application prospect in the fields of electromagnetic components and permanent magnet motors due to the characteristics, and has attracted wide attention in both academic and industrial fields. In the last decade, there has been much literature relating to Halbach arrays in authoritative journals and international meetings. Some well-known universities (such as MIT, tokyo university) have conducted highly effective research into the use of Halbach arrays.

Disclosure of Invention

In order to solve the influence of a mechanical type pressure-torsion coupler of a traditional 2D electro-hydraulic proportional reversing valve on static characteristics such as linearity, repeatability and hysteresis loop of the mechanical type pressure-torsion coupler, the invention provides a two-dimensional half-bridge type electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling.

The invention relates to a two-dimensional half-bridge electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling, which comprises a two-dimensional half-bridge electro-hydraulic proportional reversing valve body, a proportional electromagnet and a Halbach array bidirectional magnetic suspension coupling, wherein the two-dimensional half-bridge electro-hydraulic proportional reversing valve body is a 2D valve consisting of a valve core 8 and a valve body 9, the left end of the valve body 9 is provided with a bidirectional proportional electromagnet 2, the left end of the valve core 8 is provided with the bidirectional magnetic suspension coupling, and the valve core 8 is connected with the bidirectional proportional electromagnet 2 through the Halbach array bidirectional magnetic suspension coupling;

the Halbach array bidirectional magnetic suspension coupling comprises a linear bearing 5, a yoke 6, a fixing pin 7, an oblique wing rotor 13, a yoke Halbach array magnetic sheet 14, an oblique wing rotor Halbach array magnetic sheet 15 and a spring collar 16, wherein in order to enable the yoke 6 to only do horizontal linear motion, the linear bearing 5 is sleeved on the fixing pin 7 and is installed at the upper end and the lower end of the yoke 6. The front and back sides of the yoke 6 are respectively provided with two pole shoes which are in 180-degree array characteristics with a vertical upward shaft perpendicular to the plane of the yoke 6 as a central shaft. The surface of the pole shoe of the yoke 6 is adhered with a yoke Halbach array magnetic sheet 14, and the upper and lower side wing surfaces of the inclined wing rotor 13 corresponding to the surface of the pole shoe of the yoke 6 are adhered with Halbach array magnetic sheets 15, so that a magnetic repulsive force is formed, and the inclined wing rotor 13 can be suspended in the middle of the yoke 6 purely by magnetic force without any mechanical structure due to the magnetic repulsive force. The yoke Halbach array magnetic sheet 14 and the oblique wing rotor Halbach array magnetic sheet 15 are combined bodies formed by three magnetic blocks with different magnetization directions, so that the magnetic field of an array air gap side (namely a gap separated between the yoke Halbach array magnetic sheet 14 and the oblique wing rotor Halbach array magnetic sheet 15) is remarkably enhanced, and a non-air gap side is remarkably weakened, namely the magnetic unilateral characteristic, so that the air gap magnetic field intensity and the electromagnetic rigidity of the whole magnetic suspension coupling are effectively improved, and the arrangement sequence of the magnetic blocks is shown in figure 8. The pole shoe surface of the yoke 6 and the wing surface of the oblique wing rotor 13 have the same inclination angle beta, and are both in a 180-degree array characteristic with a vertical upward shaft perpendicular to the horizontal plane as a central shaft, so that front and rear oblique working air gaps with the same height are formed, and the oblique wing rotor 13 is rotatably arranged in the middle of the yoke 6 and can rotate for a certain angle.

The valve core 8 is rotatably and axially movably arranged in the inner hole of the valve body 9. The bidirectional proportional electromagnet 2 is fixed on the left end cover 4. The inner hole of the valve body 9 is sequentially provided with a T port, an A port, a P port, a B port and a T port, wherein the P port is an oil inlet, the pressure is system pressure, the middle part of the valve core 8 is provided with two shoulders, and the two middle shoulders are respectively positioned above the A port and the B port. The valve core 8 of the 2D valve is connected with the inclined wing rotor 13 of the bidirectional magnetic suspension coupling through a key and is axially fixed through a spring collar. In addition, a high-pressure hole a communicated with the port P is formed in the middle of the valve core 8 (the symmetrical center positions of four shoulders on the valve core), and a high-pressure circular hole b communicated with the left side sensitive cavity g is formed in the left end of the valve core 8. The high-pressure round hole b leads the left sensitive cavity g to be constantly communicated with high pressure, and a pair of high-pressure and low-pressure round holes (c and f) which are respectively communicated with the port P and the port T are formed on the shoulder at the right end of the valve core 8. Meanwhile, a sensing channel e communicated with the right sensing cavity h is correspondingly arranged on the inner hole wall at the right end of the valve body 9. The left high-pressure circular hole b, the right high-pressure and low-pressure circular holes (c and f) and the sensing channel e form a four-way rotary valve, and are connected in series to form a hydraulic resistance half bridge to control the pressure of a left sensitive cavity g and a right sensitive cavity h at two ends of the valve core 8. The closed cavity formed by the bidirectional proportional electromagnet 2 at the left end, the left end part of the valve body 9 and the left end cover 4 is a left sensitive cavity g, the right sensitive cavity h is a closed cavity formed by the valve core 8, the inner hole of the valve body 9 and the end plate 12, and the bidirectional magnetic suspension coupling is arranged in the sensitive cavity g. The two springs 3 are respectively arranged on two sides of the bidirectional magnetic suspension coupling, mainly realize the conversion of the output force and the displacement of the bidirectional proportional electromagnet 2, and play a role in eliminating clearance and zero centering (when the bidirectional proportional electromagnet 2 is not electrified, the pilot control bridge circuit is in rotating centering, and the axial opening of the main valve is in a zero centering state).

Preferably, the left end cover 4 is fixed on the valve body 9 of the 2D valve, the ring plug 11 is placed in the inner hole on the right side of the valve body 9, and the cover plate 12 is fixed at the right end of the valve body 9 in order to prevent oil in the 2D valve from leaking from the right side of the valve body 9.

The invention has the following beneficial effects:

1. the two-dimensional half-bridge electro-hydraulic proportional reversing valve designed by the invention adopts a non-contact magnetic suspension design for the bidirectional magnetic suspension coupling, thereby fundamentally avoiding the influence of the inherent clearance and frictional wear of the pressure-torsion coupling on the static characteristics of the valve, such as linearity, repeatability, hysteresis loop and the like.

2. The two-way magnetic suspension coupling of the two-dimensional half-bridge electro-hydraulic proportional reversing valve designed by the invention can realize two-way pressure torsion, and can realize the function of two-way proportional control by being matched with a two-way linear electro-mechanical converter.

3. According to the two-dimensional half-bridge type electro-hydraulic proportional reversing valve, no oil flows in the valve cavity after pressure loss, and the valve core is not affected by hydraulic power and clamping force, so that electromagnetic thrust generated after the electro-mechanical converter is electrified can directly drive the valve core to move, and the working principle of the two-dimensional half-bridge type electro-hydraulic proportional reversing valve is the same as that of a direct-drive valve, so that so-called pilot and direct-drive integrated control is realized; for the traditional pilot-stage electro-hydraulic control element, the action of the main valve core of the power stage depends on stable pilot pressure, once the system is decompressed, the main valve core cannot be driven to axially move through the change of the pressure of the sensitive cavity, and the valve cannot work at the moment.

4. The two-dimensional half-bridge electro-hydraulic proportional reversing valve designed by the invention adopts a two-dimensional flow amplifying mechanism with two degrees of freedom of the valve core, integrates the pilot control stage and the power stage on a single valve core, simplifies the structure, reduces the processing cost and simultaneously greatly improves the power-weight ratio.

5. On the premise of not changing the size of a permanent magnet material and the size of a working air gap, the two-dimensional half-bridge type electro-hydraulic proportional reversing valve designed by the invention adopts a Halbach array to change an integral magnetic sheet on a magnetic suspension coupling yoke 6 and an oblique wing rotor 13 into a combination of a plurality of magnetic blocks, and the magnetic blocks with different magnetization directions are arranged according to a certain sequence, so-called 'magnetic single-side characteristic' that the magnetic field on one side (air gap side) of the array is obviously enhanced and the magnetic field on the other side (non-air gap side) is obviously weakened can be generated, so that the air gap magnetic field strength and the electromagnetic rigidity of the whole magnetic suspension coupling are effectively improved, and the.

Drawings

FIG. 1 is an assembly schematic diagram of a two-dimensional half-bridge electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling;

FIG. 2 is an assembly schematic diagram of a Halbach array bidirectional magnetic levitation coupling;

FIG. 3 is an assembly schematic diagram of a Halbach array bidirectional magnetic suspension coupling and a valve core 9;

FIG. 4a is a schematic structural view of the yoke 6; FIG. 4b is a schematic view of another angle of the yoke 6;

fig. 5 is a schematic structural diagram of an oblique-wing mover 13;

FIG. 6 is a schematic structural view of a Halbach array magnet piece 14 of a yoke;

FIG. 7 is a schematic structural diagram of a Halbach array magnetic sheet 15 of an oblique wing rotor;

FIG. 8 is a schematic diagram of a Halbach array magnet stack;

fig. 9a to 9d are schematic diagrams illustrating the decomposition of the driving force and the movement of the two-dimensional half-bridge electro-hydraulic proportional directional valve, where fig. 9a is a schematic diagram illustrating an initial balanced state of the two-dimensional half-bridge electro-hydraulic proportional directional valve, fig. 9b is a schematic diagram illustrating a valve core of the two-dimensional half-bridge electro-hydraulic proportional directional valve rotating after the two-dimensional half-bridge electro-hydraulic proportional directional valve is powered on, fig. 9c is a schematic diagram illustrating the axial movement of the valve core of the two-dimensional half-bridge electro-hydraulic proportional directional valve, and fig. 9 d.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1 to 9, a two-dimensional half-bridge electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling comprises a two-dimensional half-bridge electro-hydraulic proportional reversing valve body, wherein the two-dimensional half-bridge electro-hydraulic proportional reversing valve body is a 2D valve consisting of a valve core 8 and a valve body 9, a bidirectional proportional electromagnet 2 is installed at the left end of the valve body 9, a bidirectional magnetic suspension coupling is installed at the left end of the valve core 8, and the valve core 8 is connected with the bidirectional proportional electromagnet 2 through the magnetic suspension coupling. The Halbach array bidirectional magnetic suspension coupling body comprises a linear bearing 5, a yoke 6, a fixing pin 7, an oblique wing rotor 13, a yoke Halbach array magnetic sheet 14, an oblique wing rotor Halbach array magnetic sheet 15 and a spring collar 16, wherein the linear bearing 5 is sleeved on the fixing pin 7 and is installed at the upper end and the lower end of the yoke 6, so that the yoke 6 can only do horizontal linear motion. Two sides of the yoke 6 are respectively provided with two pole shoes which are in 180-degree array characteristics with a vertical upward shaft vertical to the plane of the yoke 6 as a central shaft; a yoke Halbach array magnetic sheet 14 is attached to the surface of a pole shoe of the yoke 6, and Halbach array magnetic sheets 15 are attached to upper and lower side wing surfaces of the inclined wing rotor 13 corresponding to the surface of the pole shoe of the yoke 6, so that magnetic repulsive force is formed, and the inclined wing rotor 13 is suspended in the middle of the yoke 6 purely by magnetic force without any mechanical structure. The yoke Halbach array magnetic sheet 14 and the oblique wing rotor Halbach array magnetic sheet 15 are combined bodies formed by three magnetic blocks with different magnetization directions, so that the magnetic field of an array air gap side (namely a gap separated between the yoke Halbach array magnetic sheet 14 and the oblique wing rotor Halbach array magnetic sheet 15) is remarkably enhanced, and a non-air gap side is remarkably weakened, namely the magnetic unilateral characteristic, so that the air gap magnetic field intensity and the electromagnetic rigidity of the whole magnetic suspension coupling are effectively improved, and the arrangement sequence of the magnetic blocks is shown in figure 8. The pole shoe surface of the yoke 6 and the wing surface of the oblique wing rotor 13 have the same inclination angle beta, and are both in a 180-degree array characteristic with a vertical upward shaft perpendicular to the horizontal plane as a central shaft, so that front and rear oblique working air gaps with the same height are formed, and the oblique wing rotor 13 is rotatably arranged in the middle of the yoke 6 and can rotate for a certain angle.

The invention refers to a 180-degree array characteristic taking a certain axis as a central axis, which is a characteristic description of a three-dimensional structure. The characteristics of the three-dimensional structure are common knowledge in the field of mechanical engineering, and are described in conventional design software and publicly published documents which are publicly used before filing. The "circumferential array" function in SolidWorks software version 2015, can accomplish the 180 ° array feature. In addition, the "wing-paddle torque motor feedback characteristics study" published by Benzon et al (Expo "Benzon, Shentushenwin, Lin John, Ruanjian. wing-paddle torque motor feedback characteristics study [ J ] agro-mechanistic report, 2017,48(01): 361-.

The inclined-wing mover 13 is "suspended" in the middle of the yoke 6 purely by magnetic force without any mechanical structure, and the calculation method of the required magnetic force is described in "calculation of inter-permanent-magnet force" published by Zhao Fentong et al (ex "Zhao Fentong, Wang Shuwen. calculation of inter-permanent-magnet force [ J ]. proceedings of the college of Industrial science of Jilin, 1991(01): 9-13.") and the calculation formula of the maximum repulsive force and attractive force between two integrated permanent-magnet pieces in a state of gap:

in the formula: bg-the magnetization of the permanent magnet;

ag — the magnetic pole area Ag of the permanent magnet x × y;

lg is a gap between two integral permanent magnetic sheets;

a, a is a correction coefficient, wherein a is usually 3-5, a large value is taken when the gap is large, and a small value is taken when the gap is small;

the magnetic sheets of the bidirectional magnetic suspension coupling are made of neodymium iron boron permanent magnet materials. Residual magnetic induction Br of sintered Nd-Fe-B magnet (Nd-Fe-B) is 1.555T, intrinsic coercive force Hcj is 653kA/m, and maximum magnetic energy product (BH)_max＝474kJ/m³。

And then designing the magnetic sheet in the Halbach array mode by calculating the obtained magnetic force. The magnetic sheet of Halbach array mode can strengthen the magnitude of magnetic force by a single side, and the principle of single side strengthening is shown in figure 8.

A yoke Halbach array magnetic sheet 14 is attached to the surface of a pole shoe of the yoke 6, and Halbach array magnetic sheets 15 are attached to upper and lower side wing surfaces of the oblique wing rotor 13 corresponding to the surface of the pole shoe of the yoke 6. The oblique wing mover 13 is suspended in the middle of the yoke 6 by a magnetic repulsive force generated between the Halbach array magnet piece 14 and the Halbach array magnet piece 15, which is a typical magnetic repulsive structure. In the design of a magnetic suspension system of a tracked electric vehicle published by the military affairs (the design of the magnetic suspension system of the tracked electric vehicle [ D ]. Henan university of agriculture, 2006 ]), a magnetic repulsion structure is mentioned, a substrate is fixed, a suspension body moves up and down along the vertical direction after being guided, the distance between magnetic poles changes, magnetic lines of force are compressed or relaxed, the density of the magnetic lines of force is increased or decreased, and the magnetic force also changes.

The two-dimensional half-bridge electro-hydraulic proportional directional valve body is a 2D valve consisting of a valve core 8 and a valve body 9, and the valve core 8 is rotatably and axially movably arranged in an inner hole of the valve core 9. The bidirectional proportional electromagnet 2 is fixed on a left end cover 4 by a screw 1, and the left end cover 4 is fixed on a valve body 9 of the 2D valve by a screw 10. The ring plug 11 is arranged in an inner hole at the right side of the valve body 9, prevents oil in the 2D valve from leaking from the right side of the valve body 9, and is fixed at the right end of the valve body 9 through a screw 10 by a cover plate 12. The inner hole of the valve body 9 is sequentially provided with a T port, an A port, a P port, a B port and a T port, wherein the P port is an oil inlet, the pressure is system pressure, the middle part of the valve core 8 is provided with two shoulders, and the two middle shoulders are respectively positioned above the A port and the B port. The valve core 8 of the 2D valve is connected with the inclined wing rotor 13 of the bidirectional magnetic suspension coupling through a key and is axially fixed by a spring collar. In addition, a high-pressure hole a communicated with the port P is formed in the middle of the valve core 8, and a high-pressure circular hole b communicated with the left sensitive cavity g is formed in the left end of the valve core 8. The high-pressure round hole b leads the left sensitive cavity g to be constantly communicated with high pressure, and a pair of high-pressure and low-pressure round holes (c and f) which are respectively communicated with the port P and the port T are formed on the shoulder at the right end of the valve core 8. Meanwhile, a sensing channel e communicated with the right sensing cavity h is correspondingly arranged on the inner hole wall at the right end of the valve body 9, a high-pressure circular hole b at the left end, high-pressure and low-pressure circular holes (c and f) at the right end and the sensing channel form a four-way rotary valve, the four-way rotary valve and the sensing channel are connected in series to form a hydraulic resistance half bridge, and the pressure of the left sensing cavity g and the pressure of the right sensing cavity h at the two ends of the valve core 8 are controlled. The left sensitive cavity g is a closed cavity formed by the bidirectional proportional electromagnet 2 at the left end, the left end part of the valve body 9 and the left end cover 4, the right sensitive cavity h is a closed cavity formed by the valve core 8, the inner hole of the valve body 9 and the end plate 12, and the bidirectional magnetic suspension coupling is arranged in the left sensitive cavity g. The two springs 3 are respectively arranged on two sides of the bidirectional magnetic suspension coupling, mainly realize the conversion of the output force and the displacement of the bidirectional proportional electromagnet 2, and play a role in eliminating clearance and zero centering (when the bidirectional proportional electromagnet 2 is not electrified, the pilot control bridge circuit is in rotating centering, and the axial opening of the main valve is in a zero centering state).

The bidirectional proportional electromagnet 2 of the two-dimensional half-bridge electro-hydraulic proportional reversing valve is a mature commercial product in the current market, and the Halbach array bidirectional magnetic suspension coupling has the main functions of converting axial thrust generated by the bidirectional proportional electromagnet 2 into tangential force, amplifying the tangential force and driving the valve element 8 to rotate, so that the rotating angle is within +/-2 degrees, and the translational displacement is within +/-2.5 mm.

The working principle of the implementation of the invention is shown in fig. 9a to 9 d. Such asWhen the bidirectional proportional electromagnet 2 of the two-dimensional electro-hydraulic proportional reversing valve is not electrified, the yoke 6 is kept still as shown in fig. 9 a. At this time, since the two inclined air gaps between the inclined wing rotor 13 and the yoke 6 are equal in height, the repulsive force generated between the Halbach array magnetic sheet 15 of the inclined wing rotor and the Halbach array magnetic sheet 14 of the inclined wing rotor is equal, that is, the valve element 8 is in a balanced state. As shown in fig. 9b, when the bidirectional proportional electromagnet 2 of the two-dimensional electro-hydraulic proportional reversing valve outputs F to the right_mWhen the thrust is required, the yoke iron 6 of the bidirectional magnetic suspension coupling slides rightwards under the circumferential constraint of the fixed pin 7; meanwhile, the compression amount of the right-end spring 3 is increased, and the increased spring force and the thrust F generated by the bidirectional proportional electromagnet 2_mAnd (4) balancing. At this time, the height of the inclined air gap of the two-way magnetic suspension coupling changes (d)₁And d₂，d₁>d，d₂<d) Therefore, the magnetic repulsive force exerted on the lower wing surface of the front side of the oblique wing mover 13 is increased and the magnetic repulsive force exerted on the upper wing surface is decreased, and the magnetic repulsive force exerted on the lower wing surface of the rear side is decreased and the magnetic repulsive force exerted on the upper wing surface is increased. Therefore, the spool 8 is no longer in a balanced state, and the spool 8 receives a rightward axial driving force and a counterclockwise torque (viewed from left to right). (it is pointed out that under the working condition of high pressure and large flow, the valve core 5 cannot be directly driven to move axially due to the influence of the hydraulic power, but the valve core 5 can rotate, and the rotation angle of the valve core 8 is delta theta). in the process, as the valve core 8 rotates anticlockwise, the communication area between the high-pressure circular hole (c) and the low-pressure circular hole (f) at the right end and the sensing channel e is changed, the pressure of the right sensitive cavity h of the valve is reduced, and the valve core 8 can move axially due to the pressure difference. As shown in fig. 9c, the spool 8 moves in the rightward axial direction by Δ x, and the oil flows from port P to port B and port a to port T. During the right movement, the height of the inclined air gap of the two-way magnetic levitation coupling changes again due to the wing structure of the yoke 6 (d)₃And d₄，d₃<d，d₄>d) The magnetic repulsion force borne by the lower wing surface on the front side of the oblique wing rotor 13 is reduced, and the magnetic repulsion force of the upper wing surface is increased; the magnetic repulsion force on the lower wing surface of the rear side is increased and the magnetic repulsion force on the upper wing surface is reduced. As can be seen from the force analysis, this causes the valve element 8 to rotate back synchronously (i.e., clockwise). As shown in fig. 9d, the pressure in the right sensitive cavity h rises as a result of the rotation until the pressures in the sensitive cavities (g and h) at the two ends of the valve core 8 are restored to the previous balance value, and the valve core 8 reaches a thrust F corresponding to the two-way proportional electromagnet 2_mCorresponding to the new equilibrium position. When the bidirectional proportional electromagnet 2 of the two-dimensional electro-hydraulic proportional reversing valve outputs an F to the left_mThe opposite is true for thrust of (3). After the bidirectional proportional electromagnet 2 of the two-dimensional electro-hydraulic proportional reversing valve is powered off, the bidirectional proportional electromagnet 2 does not generate the thrust F any more_mSo that the yoke 6 of the bidirectional magnetic suspension coupling slides in the opposite direction (i.e. the moving direction is opposite to the moving direction of the yoke 6 when electrified) under the circumferential constraint of the fixing pin 7. Meanwhile, the compression amount of the right end spring 3 is reduced, and the thrust F lost by the bidirectional proportional electromagnet 2 is reduced_mAnd (4) balancing. Due to the leftward movement of the yoke 6, the height of the inclined air gap of the bidirectional magnetic suspension coupling changes, and a corresponding axial driving force and torque are generated, so that the valve core 8 and the inclined wing rotor 13 return to the original position. It should be noted that, under the condition that the pressure at the P port of the valve is zero (equal to the pressure at the T port), the pressure of the sensitive chambers (g and h) at the two ends cannot be controlled by the two-dimensional reversing valve so as to drive the valve core to move axially. At the moment, no oil liquid flows in the valve cavity, the valve core 8 is not influenced by hydrodynamic force and clamping force, the valve core 8 can be directly driven by electromagnetic thrust generated by the bidirectional proportional electromagnet 2, and at the moment, the working principle of the two-dimensional electro-hydraulic proportional reversing valve is consistent with that of a direct-acting proportional valve.

The mechanism that the oblique wing rotor 13 drives the valve element 5 to rotate can be simplified into the working principle that the valve element is driven to rotate by the roller pin shaft in the design and experimental research of the valve element high-low pressure hole of the oblique groove type 2D servo valve (in the ' Luo Fan, jin Ding, oblique groove type 2D servo valve's valve element high-low pressure hole design and experimental research [ J ]. machine tool and hydraulic pressure, 2017,45(07):51-53+6 '), published by Luo Fan et al. The yoke 6 of the bidirectional magnetic suspension oblique wing joint moves axially, so that the heights of 4 inclined working air gaps of the bidirectional magnetic suspension oblique wing joint are correspondingly changed, and the oblique wing rotor 13 of the bidirectional magnetic suspension oblique wing joint outputs a magnetic torque and an axial force.

The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.