A pilot hydraulic angle self-servo valve

Abstract

The present invention provides a pilot hydraulic angle self-servo valve, comprising a connecting plate, a steering gear cover, a left end cover, a cylinder body, a steering gear, a pilot valve, a main valve and a right end cover, wherein the pilot valve comprises a pilot valve sleeve, a pilot valve core, a pilot valve body, a pilot fixed stopper and a pilot blade, and the main valve comprises a main valve sleeve, a main valve core, a main valve body, a fixed stopper and a main blade, the connecting plate is mounted on the left end of the steering gear cover, the pilot valve body is concentrically mounted in a cylindrical cavity opened in the left end cover, the right end of the left end cover is mounted on the left end of the cylinder body, the right end cover is mounted on the right end of the cylinder body, and the output shaft of the main valve body passes through the right end cover and extends outward; the present invention has the characteristics of simple structure, easy processing, balanced force on the valve core, large output torque, high transmission ratio efficiency, good dynamic characteristics, linear flow gain, fast response speed and high control accuracy.

Description

Technical Field

[0001] The invention belongs to the technical field of servo valves, and in particular relates to a pilot hydraulic angle self-servo valve. Background Art

[0002] Hydraulic angle servo technology combines hydraulic and motor technologies, taking advantage of their respective advantages, using the small torque of the motor to directly drive the valve core to open the valve port, allowing high-pressure oil to act on the valve body, and then obtaining a large output torque. The hydraulic angle self-servo valve is the core component of the hydraulic control system. It has the characteristics of high precision and fast response. It is widely used in high-precision mechatronics systems, aerospace airborne drive systems, and large-scale test equipment, and has therefore attracted the attention of domestic and foreign scientific and technological personnel.

[0003] At present, Associate Professor Zhu Xinglong and others from Yangzhou University in China have proposed the concept of hydraulic angle servo for the first time in the study of hydraulic servo joints. They have made useful explorations in the internal integration of hydraulic servo mechanisms and the reduction of the size of hydraulic joints, and have achieved certain research results. However, the hydraulic clamping force and friction force on the valve core are relatively large, the dynamic characteristics of the valve core are deteriorated, and the servo blind area is relatively large.

[0004] Patent application No. 201210033081.6 discloses an easy-to-control hydraulic angle self-servo valve, which overcomes the above-mentioned problems. The servo valve core is easy to prepare, the radial force and axial force on the valve core are balanced, the dynamic characteristics are good, the servo blind area is small and easy to control. However, it has a complex structure, especially there are many complex internal oil channels inside the valve core and the valve sleeve, which makes it difficult to ensure the processing accuracy. There are also problems such as insufficient output torque and the use of a circular valve port design, which causes its flow gain to be nonlinear, thereby resulting in insufficient accuracy.

[0005] The patent application with application number 201710035559.1 discloses an angular self-servo passive compliant hydraulic robot joint, in which the internal drive of the robot joint is directly driven by the servo to drive the valve body to realize the movement of the joint. This is a first-level transmission, and the transmission ratio efficiency and flexibility are still insufficient; its valve core, valve sleeve and valve body are not simple enough in the axial direction, and too many annular grooves will cause the parts structure to be easily deformed and the response speed is not fast enough; the four threaded holes of the fixed block of the joint are directly opened on the arc surface of the fixed block, so the fastening screws that cooperate with the fixed block are in contact between the plane and the arc surface, which will inevitably lead to loose cooperation and shorten the life of the screws.

[0006] Therefore, it is necessary to design a pilot hydraulic angle self-servo valve with simple structure, easy processing, balanced valve core force, large output torque, high transmission ratio, good dynamic characteristics, linear flow gain, fast response speed and high control accuracy. Summary of the invention

[0007] In view of the problems existing in the prior art, the technical solutions adopted by the present invention to solve the problems existing in the prior art are as follows:

[0008] A pilot hydraulic angle self-servo valve, comprising a coupling plate 1, a steering gear cover 2, a left end cover 4, a cylinder body 6, a steering gear 17, a pilot valve, a main valve and a right end cover 7, characterized in that: the pilot valve comprises a pilot valve sleeve 13, a pilot valve core 15, a pilot valve body 12, a pilot fixed stopper 19 and a pilot vane 30, the main valve comprises a main valve sleeve 9, a main valve core 15, a main valve body 8, a fixed stopper 22 and a main vane 26, the coupling plate 1 is mounted on the left end of the steering gear cover 2, the pilot valve body 12 is concentrically mounted in a cylindrical cavity 33 opened in the left end cover 4, the right end of the left end cover 4 is mounted on the left end of the cylinder body, the right end cover 7 is mounted on the right end of the cylinder body 6, and the output shaft of the main valve body 8 passes through the right end cover 7 and extends outward;

[0009] A pilot fixed stopper 19 is installed on the inner wall of the left end cover 4 perpendicular to the axial direction, and the pilot fixed stopper 19 is dynamically matched with the pilot valve body 12; a pilot blade 30 is fixedly installed on the outer wall of the cylindrical cavity 41 of the pilot valve body, and the pilot blade 30 is dynamically matched with the left end cover 4; the pilot fixed stopper 19 and the pilot blade 30 are arranged alternately;

[0010] A fixed stopper 22 is installed on the upper part of the inner wall of the cylinder body 6, and the fixed stopper 22 is in dynamic cooperation with the main valve body 8; a main blade 26 is fixedly installed on the outer wall of the cylindrical cavity 68 of the main valve body, and the main blade 26 is in dynamic cooperation with the cylinder body 6; the fixed stopper 22 and the main blade 26 are arranged alternately;

[0011] The pilot valve sleeve 13 is installed concentrically in the cylindrical cavity 41 of the pilot valve body. The left end surface of the pilot valve sleeve 13 is fixed together with the left end surface of the pilot valve body 12 by a cylindrical pin. The left end of the pilot valve core 15 is installed concentrically in the cylindrical hole starting from the middle of the left end cover 4. The right end of the pilot valve core 15 passes through the pilot valve sleeve 13 and is installed concentrically in the bearing groove 39 of the pilot valve body. The steering gear 17 is fixed on the left end cover 4. The output shaft of the steering gear 17 is keyed concentrically with the inner hole of the left end of the pilot valve core 15.

[0012] The main valve sleeve 9 is installed concentrically in the cylindrical cavity 68 of the main valve body. The left end surface of the main valve sleeve 9 is fixed with the left end surface of the main valve body 8 by a cylindrical pin. The left end of the main valve core 10 is installed concentrically in the small cylindrical hole of the cylinder body 6. The right end of the main valve core 10 passes through the main valve sleeve 9 and is installed concentrically in the bearing groove 64 of the main valve body. The right end of the pilot valve body 12 is connected with the center of the inner hole of the left end of the main valve core 10.

[0013] The upper part of the left end cover is provided with a left end cover first radial low-pressure oil passage 34 and a left end cover second radial low-pressure oil passage 35, and the left end cover first radial low-pressure oil passage 34 and the left end cover second radial low-pressure oil passage 35 are communicated with each other; the left end cover radial high-pressure oil passage 27 is provided in the radial direction just below the left end cover 4;

[0014] The second radial low-pressure oil passage 35 of the left end cover is communicated with the first radial low-pressure oil passage 56 of the cylinder body, the high-pressure oil passage of the left end cover is communicated with the high-pressure oil passage of the cylinder body, the inlet of the first radial low-pressure oil passage 34 of the left end cover is communicated with the left T-port 45 of the pilot valve sleeve through the first radial low-pressure oil hole 18 of the pilot valve body, the left T-port 45 of the pilot valve sleeve is communicated with the rectangular groove on the first annular boss 51 of the pilot valve core, the rectangular groove on the first annular boss 51 of the pilot valve core is communicated with the A-port 46 of the pilot valve sleeve, and the A-port 46 of the pilot valve sleeve is communicated with the corresponding first working chamber of the left end cover through the first rectangular valve port 42 of the pilot valve body;

[0015] The inlet of the second low-pressure oil passage 35 of the left end cover is communicated with the low-pressure oil annular groove 37 of the pilot valve body, the low-pressure oil annular groove 37 of the pilot valve body is communicated with the internal low-pressure oil passage through the second radial low-pressure oil passage 20 of the pilot valve, the second radial low-pressure oil passage 20 of the pilot valve is communicated with the right T-port 50 of the pilot valve sleeve, and the right T-port 50 of the pilot valve sleeve is communicated with the rectangular groove on the third annular boss 53 of the pilot valve core;

[0016] The high-pressure oil inlet 31 of the left end cover is communicated with the high-pressure oil annular groove 38 of the pilot valve body, the high-pressure oil annular groove 38 of the pilot valve body is communicated with the internal high-pressure oil channel of the left end cover through the radial high-pressure oil passage 27 of the left end cover, the internal high-pressure oil channel of the left end cover is communicated with the left P port 47 of the pilot valve sleeve and the right P port 48 of the pilot valve sleeve respectively, the left P port 47 of the pilot valve sleeve is communicated with the A port 46 of the pilot valve sleeve through the left rectangular groove on the second annular boss 52 of the pilot valve core, and the A port 46 of the pilot valve sleeve is communicated with the corresponding first working chamber of the left end cover through the first rectangular valve port 42 of the pilot valve;

[0017] The right P port 48 of the pilot valve sleeve is communicated with the B port 49 of the pilot valve sleeve through the right rectangular groove on the second annular boss 52 of the pilot valve core, and the B port 49 of the pilot valve sleeve is communicated with the corresponding second working chamber of the left end cover through the second rectangular valve port 43 of the pilot valve;

[0018] A first radial low-pressure oil passage 56 is provided in the upper part of the cylinder body in the radial direction, and a second radial low-pressure oil passage 57 is provided in the axial direction. The first radial low-pressure oil passage 56 and the second radial low-pressure oil passage 57 are communicated with each other; a cylinder high-pressure oil passage 59 is provided in the axial direction directly below the cylinder body 6;

[0019] The inlet of the first radial low-pressure oil passage 56 of the cylinder body is directly connected to the left T-port 71 of the main valve sleeve through the first radial low-pressure oil passage 21 of the main valve body, the left T-port 71 of the main valve sleeve is connected to the rectangular groove on the first annular boss 78 of the main valve core, the rectangular groove on the first annular boss 78 of the main valve core is connected to the A-port 72 of the main valve sleeve, and the A-port 72 of the main valve sleeve is connected to the corresponding first working chamber 82 of the cylinder body through the first rectangular valve port 69 of the main valve body;

[0020] The inlet of the second radial low-pressure oil passage 57 of the cylinder body is communicated with the low-pressure oil annular groove 62 of the main valve body, the low-pressure oil annular groove 62 of the main valve body is communicated with the low-pressure oil passage inside the cylinder body through the second radial low-pressure oil passage 86 of the main valve body, the second radial low-pressure oil passage 86 of the main valve body is communicated with the right T-port 76 of the main valve sleeve, and the right T-port 76 of the main valve sleeve is communicated with the rectangular groove on the third annular boss 80 of the main valve core;

[0021] The outlet of the cylinder high-pressure oil passage 59 is communicated with the main valve body high-pressure oil annular groove 63, the main valve body high-pressure oil annular groove 63 is communicated with the main valve body high-pressure radial oil passage 23 through the main blade folded line oil passage 25, the cylinder body internal high-pressure oil passage is communicated with the main valve sleeve left P port 73 and the main valve sleeve right P port 74 respectively, the main valve sleeve left P port 73 is communicated with the main valve sleeve A port 72 through the left rectangular groove on the second annular boss 79 of the main valve core, and the main valve sleeve A port 72 is communicated with the corresponding cylinder body first working chamber 82 through the main valve body first rectangular valve port 69;

[0022] The right P port 74 of the main valve sleeve communicates with the B port 75 of the main valve sleeve through the right rectangular groove on the second annular boss 79 of the main valve core, and the B port 75 of the main valve sleeve communicates with the corresponding second working chamber 83 of the cylinder body through the second rectangular valve port 70 of the main valve body.

[0023] The pilot valve body 12 includes, from left to right, a pilot valve body hollow cylinder, a pilot valve body cylindrical boss, and a pilot valve body output shaft;

[0024] The outer diameter of the cylindrical boss of the pilot valve body is the same as the nominal size of the inner diameter of the cylindrical cavity 33 of the left end cover. Three valve body sealing grooves are opened on the cylindrical surface of the cylindrical boss of the pilot valve body. A pilot valve body low-pressure oil annular groove 37 is opened between the two valve body sealing grooves on the left. A pilot valve body second radial low-pressure oil passage 20 is opened in the pilot valve body low-pressure oil annular groove 37. A pilot valve body high-pressure oil annular groove 38 is opened on the right. A pilot valve body high-pressure radial oil passage 44 is opened in the pilot valve body high-pressure oil annular groove 38. The two corresponding prime lines of the pilot valve body second radial low-pressure oil passage 20 and the pilot valve body high-pressure radial oil passage 44 on the pilot valve body 12 differ by 180°.

[0025] Two valve body sealing grooves are provided on the cylindrical surface near the left end of the pilot valve body hollow cylinder, a first radial low-pressure oil hole 18 of the pilot valve body is provided between the two valve body sealing grooves, and the inner diameter of the pilot valve body cylindrical cavity 41 is the same as the nominal size of the outer diameter of the pilot valve sleeve 13; a first rectangular valve port 42 of the pilot valve body and a second rectangular valve port 43 of the pilot valve body are provided on the pilot valve body hollow cylinder near the cylindrical boss of the pilot valve body, and the sizes of the first rectangular valve port 42 of the pilot valve body and the second rectangular valve port 43 of the pilot valve body are the same;

[0026] The element line of the high-pressure radial oil hole of the left end cover is located in the middle of the element line of the center of the first rectangular valve port 42 of the pilot valve body and the element line of the center of the second rectangular valve port 43 of the pilot valve body. The angle between the element line of the center of the first rectangular valve port 42 of the pilot valve body and the element line of the center of the second rectangular valve port 43 of the pilot valve body is θ1, and its size is

[0027] (1)

[0028] In formula (1): b 11 is the arc length of the inner wall of the guide blade;

[0029] b 12 is the arc length of the rectangular valve port on the hollow cylinder of the pilot valve body;

[0030] r1 is the outer diameter of the hollow cylinder of the pilot valve body.

[0031] The main valve body 8 includes, from left to right, a main valve body hollow cylinder, a main valve body cylindrical boss and a main valve body output shaft;

[0032] The outer diameter of the main valve body cylindrical boss is the same as the nominal size of the inner diameter of the cylinder cylindrical cavity 58. Three valve body sealing grooves are opened on the cylindrical surface of the main valve body cylindrical boss. A main valve body low-pressure oil annular groove 62 is opened between the two valve body sealing grooves on the left. A main valve body second radial low-pressure oil passage 86 is opened in the main valve body low-pressure oil annular groove 62. A main valve body high-pressure oil annular groove 63 is opened on the right. A main valve body high-pressure radial oil passage 23 is opened in the main valve body high-pressure oil annular groove 63. The two corresponding element lines of the main valve body second radial low-pressure oil passage 86 and the main valve body high-pressure radial oil passage 23 on the main valve body 8 differ by 180°.

[0033] Two valve body sealing grooves are opened on the cylindrical surface near the left end of the hollow cylinder of the main valve body, and the first radial low-pressure oil passage 21 of the main valve body is opened between the two valve body sealing grooves. The inner diameter of the cylindrical cavity 68 of the main valve body is the same as the nominal size of the outer diameter of the main valve sleeve 9; the first rectangular valve port 69 of the main valve body and the second rectangular valve port 70 of the main valve body are provided on the hollow cylinder of the main valve body near the cylindrical boss of the main valve body, and the sizes of the first rectangular valve port 69 of the main valve body and the second rectangular valve port 70 of the main valve body are the same.

[0034] The element line of the cylinder high-pressure radial oil hole is located in the middle of the element line of the center of the first rectangular valve opening 69 of the main valve body and the element line of the center of the second rectangular valve opening 70 of the main valve body. The angle between the element line of the center of the first rectangular valve opening 69 of the main valve body and the element line of the center of the second rectangular valve opening 70 of the main valve body is θ2, and its size is

[0035] (2)

[0036] In formula (2): b 21 is the arc length of the inner wall of the main blade;

[0037] b 22 is the arc length of the rectangular valve port on the hollow cylinder of the main valve body;

[0038] R2 is the outer diameter of the hollow cylinder of the main valve body.

[0039] The left end of the pilot valve core 15 is coaxially provided with an inner hole connected to the output shaft of the steering gear 17. The pilot valve core 15 is provided with a first annular boss 51, a second annular boss 52, and a third annular boss 53 from left to right. The first annular boss 51 of the pilot valve core has two rectangular grooves of the same size on the right, the second annular boss 52 of the pilot valve core has two rectangular grooves on the left and right sides, and the third annular boss 53 of the pilot valve core has two rectangular grooves of the same size on the left. The corresponding rectangular grooves are distributed at 180°, and every two rectangular grooves are located on the same circular line; the two rectangular groove center lines of the first annular boss 51 of the pilot valve core and the two rectangular groove center lines on the right side of the second annular boss 52 of the pilot valve core are located on two axis-symmetrical prime lines, and the two rectangular groove center lines on the left side of the second annular boss 52 of the pilot valve core and the two rectangular groove center lines of the third annular boss 53 of the pilot valve core are located on another two axis-symmetrical prime lines, and each prime line differs by 90°.

[0040] The main valve core 10 is provided with a first annular boss 78, a second annular boss 79 and a third annular boss 80 of the main valve core from left to right. Two rectangular grooves of the same size are opened on the right side of the first annular boss 78 of the main valve core, two rectangular grooves are opened on the left and right sides of the second annular boss 79 of the main valve core respectively, and two rectangular grooves of the same size are opened on the left side of the third annular boss 80 of the main valve core. Every two corresponding rectangular grooves are distributed at 180°. The two center lines of the rectangular grooves of the first boss 78 of the main valve core and the two center lines of the rectangular grooves on the right side of the second annular boss 79 of the main valve core are respectively located on two plain lines with axial symmetry. The two center lines of the rectangular grooves on the left side of the second annular boss 79 of the main valve core and the two center lines of the rectangular grooves of the third annular boss 80 of the main valve core are respectively located on two other plain lines with axial symmetry, and each plain line differs by 90°.

[0041] The pilot valve sleeve 13 is composed of six annular bosses and five annular grooves, which are arranged alternately; two rectangular openings are respectively opened on the two annular grooves on the far left and the far right, and the two rectangular openings are arranged at 180 degrees, the two rectangular openings on the leftmost annular groove are the left T openings 45 of the pilot valve sleeve, and the two rectangular openings on the rightmost annular groove are the right T openings 50 of the pilot valve sleeve; the second and fourth annular grooves of the pilot valve sleeve 13 from the left are respectively opened with a group of rectangular openings, namely the pilot valve sleeve A opening 46 and the pilot valve sleeve B opening 49, and the third annular groove from the left is opened with two rectangular openings on the left and the right, and each group of rectangular openings The opening is composed of two rectangular openings arranged at 180° to each other; the center lines of the rectangular openings on the five annular grooves are all located on the same corresponding element line, and the sizes of the rectangular openings on the five annular grooves are the same as the sizes of the rectangular grooves of the three bosses of the pilot valve core 15; the left and right side surfaces of each group of rectangular openings on the three middle annular grooves are in the same plane as the left and right side surfaces of the adjacent annular bosses; the six groups of rectangular openings of the pilot valve sleeve 13 are, from left to right, the pilot valve sleeve left T opening 45, the pilot valve sleeve A opening 46, the pilot valve sleeve left P opening 47, the pilot valve sleeve right P opening 48, the pilot valve sleeve B opening 49 and the pilot valve sleeve right T opening 50.

[0042] The main valve sleeve 9 is composed of six annular bosses and five annular grooves, which are arranged alternately; two rectangular openings are respectively opened on the two annular grooves on the far left and the far right, and the two rectangular openings are arranged at 180 degrees. The two rectangular openings on the first annular groove of the main valve sleeve from the left are the left T opening 71 of the main valve sleeve, and the two rectangular openings on the sixth annular groove from the left are the right T opening 76 of the main valve sleeve; the second and fourth annular grooves of the main valve sleeve 9 from the left are respectively opened with a group of rectangular openings, which are the main valve sleeve A opening 72 and the main valve sleeve B opening 75, and the third annular groove has two rectangular openings on the left and the right, and each group of rectangular openings is The shaped opening is composed of two rectangular openings arranged at 180 degrees to each other; the center lines of the rectangular openings on the five annular grooves are all located on the same corresponding element line, and the sizes of the rectangular openings on the five annular grooves are the same as the sizes of the rectangular grooves of the three bosses of the main valve core 10; the left and right side surfaces of each group of rectangular openings on the three middle annular grooves of the main valve sleeve are in the same plane as the right side surfaces of the adjacent annular bosses; the six groups of rectangular openings of the main valve sleeve 9 are, from left to right, the main valve sleeve left T opening 71, the main valve sleeve A opening 72, the main valve sleeve left P opening 73, the main valve sleeve right P opening 74, the main valve sleeve B opening 75 and the main valve sleeve right T opening 76.

[0043] The pilot fixed stopper 19 is strip-shaped, and the difference between the upper and lower arc surfaces of the pilot fixed stopper 19 is half of the difference between the inner diameter of the cylindrical cavity 33 of the left end cover and the outer diameter of the hollow cylinder of the pilot valve body 12; a strip-shaped sealing groove is provided at the center of the lower arc surface of the pilot fixed stopper 19 along the axial direction, and the length of the strip-shaped sealing groove is equal to that of the pilot fixed stopper 19, and a stopper sealing strip is embedded in the strip-shaped sealing groove.

[0044] The fixed stopper 22 is strip-shaped, and the difference between the upper and lower arc surfaces of the fixed stopper 22 is half of the difference between the inner diameter of the cylindrical cavity 58 of the cylinder body and the outer diameter of the hollow cylinder of the main valve body 8; a strip-shaped sealing groove is provided at the center of the lower arc surface of the fixed stopper 22 along the axial direction, and the length of the strip-shaped sealing groove is equal to that of the fixed stopper 22, and a stopper sealing strip is embedded in the strip-shaped sealing groove.

[0045] The pilot blade 30 is strip-shaped, and the difference between the upper and lower arc surfaces of the pilot blade 30 is half of the difference between the inner diameter 33 of the cylindrical cavity of the left end cover and the outer diameter of the hollow cylinder of the pilot valve body 12; a strip-shaped sealing groove is provided at the center of the lower arc surface of the pilot blade 30 along the axial direction, and the strip-shaped sealing groove is equal to the length of the pilot blade 30, and a blade sealing strip is embedded in the strip-shaped sealing groove;

[0046] The main blade 26 is strip-shaped, and the difference between the upper and lower arc surfaces of the main blade 26 is half of the difference between the inner diameter of the cylindrical cavity 58 of the cylinder body and the outer diameter of the hollow cylinder of the main valve body 8; a strip-shaped sealing groove is provided at the center of the lower arc surface of the main blade 26 along the axial direction, and the length of the strip-shaped sealing groove is equal to that of the main blade 26, and a blade sealing strip is embedded in the strip-shaped sealing groove.

[0047] The high-pressure oil inlet P of the present invention enters the high-pressure oil channels of the left end cover and the cylinder body through the high-pressure oil nozzle of the left end cover at the same time, and then enters the high-pressure oil annular grooves of the pilot valve body and the main valve body respectively, and then enters the internal high-pressure oil channels of the two valve bodies through their respective high-pressure radial oil channels, and then enters the pilot valve sleeve P port and the main valve sleeve P port. At this time, the pilot valve core is directly connected to the motor, and the pilot valve body output shaft is connected to the main valve core. The pilot valve core first controls the steering of the valve port under the action of the motor. After the high-pressure oil enters the working chamber formed by the pilot valve body and the inner wall of the left end cover, it pushes the pilot vane to make the pilot valve body operate, and the pilot valve body output shaft then drives the main valve core to operate. The high-pressure oil enters the working chamber formed by the main valve body and the cylinder body from the main valve sleeve P port through the rectangular groove, thereby driving the vane to drive the main valve body to operate, and finally achieving the purpose of amplifying the torque of the smaller motor by the pilot valve core to drive the large-size output mechanism to operate, and the transmission of the steering gear and the output mechanism main valve body is significantly increased compared with before.

[0048] The specific working process is: when the pilot valve core rotates counterclockwise relative to the pilot valve sleeve, the high-pressure oil enters the left rectangular groove on the second annular boss of the pilot valve core from the left P port of the pilot valve sleeve, then enters the A port of the pilot valve sleeve, and finally enters the first working chamber of the left end cover through the first rectangular valve port of the pilot valve body, pushing the pilot blade to rotate counterclockwise, so that the pilot valve body follows the movement of the pilot valve core, and the low-pressure oil in the second working chamber of the left end cover enters the B port of the pilot valve sleeve through the second rectangular valve port of the pilot valve body, then enters the rectangular groove on the third annular boss of the pilot valve core, and finally enters the right T port of the pilot valve sleeve to realize oil return. At the same time, the main valve core will maintain the same following motion as the pilot valve body, and the working process is completely consistent, that is, the high-pressure oil enters the left rectangular groove on the second annular boss of the main valve core from the left P port of the main valve sleeve, then enters the A port of the main valve sleeve, and finally enters the first working chamber of the cylinder through the first rectangular valve port of the main valve body, pushing the blade to rotate counterclockwise, so that the main valve body follows the movement of the main valve core, and the low-pressure oil in the second working chamber of the cylinder body enters the B port of the main valve sleeve through the second rectangular valve port of the main valve body, then enters the rectangular groove on the third annular boss of the main valve core, and finally enters the right T port of the main valve sleeve;

[0049] When the pilot valve core rotates clockwise relative to the pilot valve sleeve, the high-pressure oil enters the right rectangular groove on the second annular boss of the pilot valve core from the right P port of the pilot valve sleeve, then enters the B port of the pilot valve sleeve, and finally enters the second working chamber of the left end cover through the second rectangular valve port of the pilot valve body, pushing the pilot blade to rotate clockwise, so that the pilot valve body moves with the pilot valve core, and the low-pressure oil in the first working chamber of the left end cover enters the A port of the pilot valve sleeve through the first rectangular valve port of the pilot valve body, then enters the rectangular groove on the first annular boss of the pilot valve core, and finally enters the left T port of the pilot valve sleeve. At the same time, the main valve core will maintain the same following motion as the pilot valve body, and the working process is completely consistent, that is, when the main valve core rotates clockwise relative to the main valve sleeve, the high-pressure oil enters the right rectangular groove on the second annular boss of the main valve core from the right P port of the main valve sleeve, and then enters the B port of the main valve sleeve, and finally enters the second working chamber of the cylinder body through the second rectangular valve port of the main valve body, pushing the blade to rotate clockwise, so that the main valve body follows the movement of the main valve core, and the low-pressure oil in the first working chamber of the cylinder body enters the A port of the main valve sleeve through the first rectangular valve port of the main valve body, and then enters the rectangular groove on the first annular boss of the main valve core, and finally enters the left T port of the main valve sleeve.

[0050] The low-pressure oil at the left T port of the pilot valve sleeve directly enters the first radial low-pressure oil channel of the left end cover through the first radial low-pressure oil passage of the pilot valve body, and finally enters the low-pressure oil outlet T and gradually flows back; the low-pressure oil at the right T port of the pilot valve sleeve enters the low-pressure oil annular groove of the pilot valve body through the second radial low-pressure oil passage of the pilot valve body, and then enters the low-pressure oil outlet T of the left end cover through the second radial low-pressure oil passage of the left end cover and gradually flows back.

[0051] The low-pressure oil at the left T port of the main valve sleeve directly enters the first radial low-pressure oil passage of the cylinder body through the first radial low-pressure oil passage of the main valve body, and finally enters the low-pressure oil outlet T and gradually flows back; the low-pressure oil at the right T port of the main valve sleeve enters the low-pressure oil annular groove of the main valve body through the second radial low-pressure oil passage of the main valve body, and then enters the outlet of the cylinder low-pressure oil passage through the second radial low-pressure oil passage of the cylinder body, and finally flows back through the low-pressure oil outlet T of the cylinder body.

[0052] When the A port of the pilot valve sleeve is communicated with the first working chamber of the left end cover, the B port of the pilot valve sleeve is communicated with the second working chamber of the left end cover, and the A port of the pilot valve sleeve is not communicated with the second working chamber of the left end cover, and the B port of the pilot valve sleeve is not communicated with the first working chamber of the left end cover; when the A port of the pilot valve sleeve is communicated with the second working chamber of the left end cover, the B port of the pilot valve sleeve is communicated with the first working chamber of the left end cover, and the A port of the pilot valve sleeve is not communicated with the first working chamber of the left end cover, and the B port of the pilot valve sleeve is not communicated with the second working chamber of the left end cover. Except for the above situation, the valve port of the pilot valve sleeve is not communicated with the first working chamber of the left end cover and the second working chamber of the left end cover.

[0053] When the A port of the main valve sleeve is communicated with the first working chamber of the cylinder body, the B port of the main valve sleeve is communicated with the second working chamber of the cylinder body, and the A port of the main valve sleeve is not communicated with the second working chamber of the cylinder body, and the B port of the main valve sleeve is not communicated with the first working chamber of the cylinder body; when the A port of the main valve sleeve is communicated with the second working chamber of the cylinder body, the B port of the main valve sleeve is communicated with the first working chamber of the cylinder body, and the A port of the main valve sleeve is not communicated with the first working chamber of the cylinder body, and the B port of the main valve sleeve is not communicated with the second working chamber of the cylinder body. Except for the above situation, the valve ports of the main valve sleeve are not communicated with the first working chamber and the second working chamber of the cylinder body.

[0054] The present invention has the following advantages:

[0055] (1) The servo valve of the present invention adds a pilot valve so that the steering gear is not connected to the main valve core of the output mechanism but is directly connected to the pilot valve core, and then the output shaft of the pilot valve body is connected to the main valve core. The pilot valve first controls the direction of the valve port under the action of the motor, and the oil enters the working chamber formed by the pilot valve body and the inner wall of the left end cover, and then pushes the pilot vane to make the pilot valve body operate. The output shaft of the pilot valve body then drives the main valve core to operate. The high-pressure oil of the main valve core enters the working chamber formed by the main valve body and the cylinder body through the rectangular groove from the main valve sleeve p port, thereby driving the main vane to drive the main valve body to operate, and finally achieving the purpose of amplifying the torque of the smaller motor to drive the large-size output mechanism to operate through the pilot valve core, and the transmission ratio of the steering gear and the output mechanism is significantly increased;

[0056] (2) In the design of the valve core and the valve sleeve, the present invention provides two pairs of rectangular grooves on the left and right sides of the second boss of the valve core, which are distributed at 90 degrees, thereby eliminating the second boss and the fourth boss in the prior art. Therefore, while meeting the same requirements, the valve core has a faster response speed, a simpler and more compact structure, a greatly reduced axial size, and a reduced number of processing steps for the part.

[0057] (3) In the prior art, the four threaded holes of the fixed block are directly opened on the arc surface of the fixed block, so that the fastening screws that cooperate with the fixed block are in contact between the plane and the arc surface, which will inevitably result in a loose fit and a short life of the screws. The present invention opens four countersunk holes downward on the arc surface of the four threaded holes to form four annular planes that just contact with the plane of the screw head, making the fit tighter and the service life longer.

[0058] Therefore, the servo valve of the present invention has the characteristics of simple and compact structure, easy processing, balanced valve core force, large output torque, high transmission ratio efficiency, good flexibility, good dynamic characteristics, linear flow gain, fast response speed and high control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a structural schematic diagram of the present invention;

[0060] Figure 2 yes Figure 1 AA cross-sectional diagram of ;

[0061] Figure 3 yes Figure 1 A schematic diagram of the structure of the middle left end cover 4;

[0062] Figure 4 yes Figure 3 BB cross-sectional diagram;

[0063] Figure 5 1 is a schematic diagram of the structure of the pilot valve body 12;

[0064] Figure 6 yes Figure 5 Schematic diagram of CC cross section;

[0065] Figure 7 yes Figure 5 A top view of

[0066] Figure 8 yes Figure 1 A schematic diagram of the structure of the middle pilot valve sleeve 13;

[0067] Fig. 9 yes Figure 8 DD cross-sectional diagram;

[0068] Fig.10 yes Figure 1 A schematic diagram of the structure of the middle pilot valve core 15;

[0069] Fig.11 yes Fig.10 EE cross-sectional diagram of ;

[0070] Fig.12 yes Figure 1A schematic structural diagram of a cylinder body 6;

[0071] Fig.13 yes Fig.12 FF cross-sectional diagram;

[0072] Fig.14 yes Figure 1 A schematic diagram of the structure of the main valve body 8;

[0073] Fig.15 yes Fig.14 Schematic diagram of the GG cross section.

[0074] Fig.16 yes Fig.15 A top view of

[0075] Fig.17 yes Figure 1 A schematic structural diagram of the main valve sleeve 13;

[0076] Fig.18 yes Fig.17 Schematic diagram of HH section;

[0077] Fig.19 yes Figure 1 A schematic structural diagram of the main valve core 10;

[0078] Fig. 20 yes Fig.19 Schematic diagram of section II;

[0079] Fig.21 yes Fig.19 Left view of

[0080] Fig. 22 yes Figure 1 Schematic diagram of kk cross section;

[0081] Fig.23 yes Figure 1 ll cross-sectional schematic diagram;

[0082] Fig.24 It is the left side view of the right end cap;

[0083] Fig.25 yes Fig.24 MM cross-sectional diagram;

[0084] Among them: 1-connecting plate, 2-servo cover, 3-support frame, 4-left end cover, 5-deep groove ball bearing, 6-cylinder body, 7-right end cover, 8-main valve body, 9-main valve sleeve, 10-main valve core, 11-thrust ball bearing A, 12-pilot valve body, 13-pilot valve sleeve, 14-thrust ball bearing B, 15-pilot valve core, 16-servo plate, 17-servo, 18-pilot valve body first radial low-pressure oil passage, 19-pilot fixed stopper, 20-pilot valve body second radial low-pressure oil passage, 21-main valve body first radial low-pressure oil passage, 22-fixed stopper, 23-main valve body high-pressure radial oil passage, 24-cylinder body low-pressure oil passage, 25-main blade broken line oil passage, 26-main blade, 27-left end cover diameter To the high-pressure oil passage, 28-high-pressure oil nozzle, 29-pilot blade folded oil passage, 30-pilot blade, 31-left end cover high-pressure oil inlet, 32-left end cover low-pressure oil annular groove, 33-left end cover cylindrical cavity, 34-left end cover first radial low-pressure oil passage, 35-left end cover second radial low-pressure oil passage, 36-left end cover low-pressure oil inlet, 37-pilot valve body low-pressure oil annular groove, 38-pilot valve body high-pressure oil annular groove, 39-pilot valve body bearing groove, 40-pilot valve body output shaft end flat key, 41-pilot valve body cylindrical cavity, 42-pilot valve first rectangular valve port, 43-pilot valve second rectangular valve port, 44-pilot valve body high-pressure radial oil passage, 45-pilot valve sleeve left T port, 46-pilot Valve sleeve A port, 47-pilot valve sleeve left P port, 48-pilot valve sleeve right P port, 49-pilot valve sleeve B port, 50-pilot valve sleeve right T port, 51-pilot valve core first annular boss, 52-pilot valve core second annular boss, 53-pilot valve core third annular boss, 54-pilot valve core right bearing boss, 55-cylinder bearing groove, 56-cylinder first radial low-pressure oil passage, 57-cylinder second radial low-pressure oil passage, 58-cylinder cylindrical cavity, 59-cylinder high-pressure oil passage, 60-cylinder cylindrical hole, 61-cylinder low-pressure oil annular groove, 62-main valve body low-pressure oil annular groove, 63-main valve body high-pressure oil annular groove, 64-main valve body bearing groove, 65-main valve body output shaft, 66-main valve - the second shaft shoulder of the main valve body, 67-the first shaft shoulder of the main valve body, 68-the cylindrical cavity of the main valve body, 69-the first rectangular valve port of the main valve body, 70-the second rectangular valve port of the main valve body, 71-the left T port of the main valve sleeve, 72-the A port of the main valve sleeve, 73-the left P port of the main valve sleeve, 74-the right P port of the main valve sleeve, 75-the B port of the main valve sleeve, 76-the right T port of the main valve sleeve, 77-the bearing boss of the main valve body, 78-the first annular boss of the main valve core, 79-the second annular boss of the main valve core, 80-the third annular boss of the main valve core, 81-the concave keyway of the main valve core, 82-the first working chamber of the cylinder body, 83-the second working chamber of the cylinder body, 84-the cylindrical cavity of the right end cover, 85-the cylindrical output shaft hole of the right end cover, 86-the second radial low-pressure oil passage of the main valve body. DETAILED DESCRIPTION

[0085] The technical solution of the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. Figure 1-2 As shown, a pilot hydraulic angle self-servo valve comprises a coupling plate 1, a steering gear cover 2, a left end cover 4, a cylinder body 6, a steering gear 17, a pilot valve, a main valve and a right end cover 7, characterized in that: the pilot valve comprises a pilot valve sleeve 13, a pilot valve core 15, a pilot valve body 12, a pilot fixed stopper 19 and a pilot vane 30, the main valve comprises a main valve sleeve 9, a main valve core 15, a main valve body 8, a fixed stopper 22 and a main vane 26, the coupling plate 1 is mounted on the left end of the steering gear cover 2, the pilot valve body 12 is concentrically mounted in a cylindrical cavity 33 opened in the left end cover 4, the right end of the left end cover 4 is mounted on the left end of the cylinder body, the right end cover 7 is mounted on the right end of the cylinder body 6, and the output shaft of the main valve body 8 passes through the right end cover 7 and extends outward;

[0086] A pilot fixed stopper 19 is installed on the inner wall of the left end cover 4 perpendicular to the axial direction, and the pilot fixed stopper 19 is dynamically matched with the pilot valve body 12; a pilot blade 30 is fixedly installed on the outer wall of the cylindrical cavity 41 of the pilot valve body, and the pilot blade 30 is dynamically matched with the left end cover 4; the pilot fixed stopper 19 and the pilot blade 30 are arranged alternately;

[0087] A fixed stopper 22 is installed on the upper part of the inner wall of the cylinder body 6, and the fixed stopper 22 is in dynamic cooperation with the main valve body 8; a main blade 26 is fixedly installed on the outer wall of the cylindrical cavity 68 of the main valve body, and the main blade 26 is in dynamic cooperation with the cylinder body 6; the fixed stopper 22 and the main blade 26 are arranged alternately;

[0088] like Figure 8 and Fig. 9 As shown, the pilot valve sleeve 13 is installed concentrically in the cylindrical cavity 41 of the pilot valve body, the left end surface of the pilot valve sleeve 13 is fixed together with the left end surface of the pilot valve body 12 by a cylindrical pin, the left end of the pilot valve core 15 is installed concentrically in the cylindrical hole starting from the middle of the left end cover 4, the right end of the pilot valve core 15 passes through the pilot valve sleeve 13 and is installed concentrically in the bearing groove 39 of the pilot valve body, the steering gear 17 is fixed on the left end cover 4, and the output shaft of the steering gear 17 is keyed concentrically with the inner hole of the left end of the pilot valve core 15;

[0089] The main valve sleeve 9 is installed concentrically in the cylindrical cavity 68 of the main valve body. The left end surface of the main valve sleeve 9 is fixed with the left end surface of the main valve body 8 by a cylindrical pin. The left end of the main valve core 10 is installed concentrically in the small cylindrical hole of the cylinder body 6. The right end of the main valve core 10 passes through the main valve sleeve 9 and is installed concentrically in the bearing groove 64 of the main valve body. The right end of the pilot valve body 12 is connected with the center of the inner hole of the left end of the main valve core 10.

[0090] The upper part of the left end cover is provided with a first radial low-pressure oil passage 34 of the left end cover in the axial direction, and a second radial low-pressure oil passage 35 of the left end cover is provided in the radial direction. The first radial low-pressure oil passage 34 of the left end cover is communicated with the second radial low-pressure oil passage 35 of the left end cover; the left end cover radial high-pressure oil passage 27 is provided in the radial direction just below the left end cover 4;

[0091] like Figure 3 and Figure 4 As shown, the second radial low-pressure oil passage 35 of the left end cover is communicated with the first radial low-pressure oil passage 56 of the cylinder body, the high-pressure oil passage of the left end cover is communicated with the high-pressure oil passage of the cylinder body, the inlet of the first radial low-pressure oil passage 34 of the left end cover is communicated with the left T-port 45 of the pilot valve sleeve through the first radial low-pressure oil hole 18 of the pilot valve body, the left T-port 45 of the pilot valve sleeve is communicated with the rectangular groove on the first annular boss 51 of the pilot valve core, the rectangular groove on the first annular boss 51 of the pilot valve core is communicated with the A-port 46 of the pilot valve sleeve, and the A-port 46 of the pilot valve sleeve is communicated with the corresponding first working chamber of the left end cover through the first rectangular valve port 42 of the pilot valve body;

[0092] The inlet of the second low-pressure oil passage 35 of the left end cover is communicated with the low-pressure oil annular groove 37 of the pilot valve body, the low-pressure oil annular groove 37 of the pilot valve body is communicated with the internal low-pressure oil passage through the second radial low-pressure oil passage 20 of the pilot valve, the second radial low-pressure oil passage 20 of the pilot valve is communicated with the right T-port 50 of the pilot valve sleeve, and the right T-port 50 of the pilot valve sleeve is communicated with the rectangular groove on the third annular boss 53 of the pilot valve core;

[0093] The high-pressure oil inlet 31 of the left end cover is communicated with the high-pressure oil annular groove 38 of the pilot valve body, the high-pressure oil annular groove 38 of the pilot valve body is communicated with the internal high-pressure oil channel of the left end cover through the radial high-pressure oil passage 27 of the left end cover, the internal high-pressure oil channel of the left end cover is communicated with the left P port 47 of the pilot valve sleeve and the right P port 48 of the pilot valve sleeve respectively, the left P port 47 of the pilot valve sleeve is communicated with the A port 46 of the pilot valve sleeve through the left rectangular groove on the second annular boss 52 of the pilot valve core, and the A port 46 of the pilot valve sleeve is communicated with the corresponding first working chamber of the left end cover through the first rectangular valve port 42 of the pilot valve;

[0094] The right P port 48 of the pilot valve sleeve is communicated with the B port 49 of the pilot valve sleeve through the right rectangular groove on the second annular boss 52 of the pilot valve core, and the B port 49 of the pilot valve sleeve is communicated with the corresponding second working chamber of the left end cover through the second rectangular valve port 43 of the pilot valve;

[0095] like Fig.12 and Fig.13 As shown, a first radial low-pressure oil passage 56 of the cylinder body is radially provided at the upper part of the cylinder body, and a second radial low-pressure oil passage 57 of the cylinder body is provided in the axial direction, and the first radial low-pressure oil passage 56 of the cylinder body and the second radial low-pressure oil passage 57 of the cylinder body are communicated with each other; a cylinder high-pressure oil passage 59 is provided in the axial direction just below the cylinder body 6;

[0096] The inlet of the first radial low-pressure oil passage 56 of the cylinder body is directly connected to the left T-port 71 of the main valve sleeve through the first radial low-pressure oil passage 21 of the main valve body, the left T-port 71 of the main valve sleeve is connected to the rectangular groove on the first annular boss 78 of the main valve core, the rectangular groove on the first annular boss 78 of the main valve core is connected to the A-port 72 of the main valve sleeve, and the A-port 72 of the main valve sleeve is connected to the corresponding first working chamber 82 of the cylinder body through the first rectangular valve port 69 of the main valve body;

[0097] The inlet of the second radial low-pressure oil passage 57 of the cylinder body is communicated with the low-pressure oil annular groove 62 of the main valve body, the low-pressure oil annular groove 62 of the main valve body is communicated with the low-pressure oil passage inside the cylinder body through the second radial low-pressure oil passage 86 of the main valve body, the second radial low-pressure oil passage 86 of the main valve body is communicated with the right T-port 76 of the main valve sleeve, and the right T-port 76 of the main valve sleeve is communicated with the rectangular groove on the third annular boss 80 of the main valve core;

[0098] The outlet of the cylinder high-pressure oil passage 59 is communicated with the main valve body high-pressure oil annular groove 63, the main valve body high-pressure oil annular groove 63 is communicated with the main valve body high-pressure radial oil passage 23 through the main blade folded line oil passage 25, the cylinder body internal high-pressure oil passage is communicated with the main valve sleeve left P port 73 and the main valve sleeve right P port 74 respectively, the main valve sleeve left P port 73 is communicated with the main valve sleeve A port 72 through the left rectangular groove on the second annular boss 79 of the main valve core, and the main valve sleeve A port 72 is communicated with the corresponding cylinder body first working chamber 82 through the main valve body first rectangular valve port 69;

[0099] like Fig.17 and Fig.18 As shown, the right P port 74 of the main valve sleeve is communicated with the B port 75 of the main valve sleeve through the right rectangular groove on the second annular boss 79 of the main valve core, and the B port 75 of the main valve sleeve is communicated with the corresponding second working chamber 83 of the cylinder body through the second rectangular valve port 70 of the main valve body.

[0100] like Figure 5-7 As shown, the pilot valve body 12 includes, from left to right, a pilot valve body hollow cylinder, a pilot valve body cylindrical boss, and a pilot valve body output shaft;

[0101] The outer diameter of the cylindrical boss of the pilot valve body is the same as the nominal size of the inner diameter of the cylindrical cavity 33 of the left end cover. Three valve body sealing grooves are opened on the cylindrical surface of the cylindrical boss of the pilot valve body. A pilot valve body low-pressure oil annular groove 37 is opened between the two valve body sealing grooves on the left. A pilot valve body second radial low-pressure oil passage 20 is opened in the pilot valve body low-pressure oil annular groove 37. A pilot valve body high-pressure oil annular groove 38 is opened on the right. A pilot valve body high-pressure radial oil passage 44 is opened in the pilot valve body high-pressure oil annular groove 38. The two corresponding prime lines of the pilot valve body second radial low-pressure oil passage 20 and the pilot valve body high-pressure radial oil passage 44 on the pilot valve body 12 differ by 180°.

[0102] Two valve body sealing grooves are provided on the cylindrical surface near the left end of the pilot valve body hollow cylinder, a first radial low-pressure oil hole 18 of the pilot valve body is provided between the two valve body sealing grooves, and the inner diameter of the pilot valve body cylindrical cavity 41 is the same as the nominal size of the outer diameter of the pilot valve sleeve 13; a first rectangular valve port 42 of the pilot valve body and a second rectangular valve port 43 of the pilot valve body are provided on the pilot valve body hollow cylinder near the cylindrical boss of the pilot valve body, and the sizes of the first rectangular valve port 42 of the pilot valve body and the second rectangular valve port 43 of the pilot valve body are the same;

[0103] The element line of the high-pressure radial oil hole of the left end cover is located in the middle of the element line of the center of the first rectangular valve port 42 of the pilot valve body and the element line of the center of the second rectangular valve port 43 of the pilot valve body. The angle between the element line of the center of the first rectangular valve port 42 of the pilot valve body and the element line of the center of the second rectangular valve port 43 of the pilot valve body is θ1, and its size is

[0104] (1)

[0105] In formula (1): b 11 is the arc length of the inner wall of the guide blade;

[0106] b 12 is the arc length of the rectangular valve port on the hollow cylinder of the pilot valve body;

[0107] r1 is the outer diameter of the hollow cylinder of the pilot valve body.

[0108] like Figure 14-16 As shown, the main valve body 8 includes, from left to right, a main valve body hollow cylinder, a main valve body cylindrical boss, and a main valve body output shaft;

[0109] The outer diameter of the main valve body cylindrical boss is the same as the nominal size of the inner diameter of the cylinder cylindrical cavity 58. Three valve body sealing grooves are opened on the cylindrical surface of the main valve body cylindrical boss. A main valve body low-pressure oil annular groove 62 is opened between the two valve body sealing grooves on the left. A main valve body second radial low-pressure oil passage 86 is opened in the main valve body low-pressure oil annular groove 62. A main valve body high-pressure oil annular groove 63 is opened on the right. A main valve body high-pressure radial oil passage 23 is opened in the main valve body high-pressure oil annular groove 63. The two corresponding element lines of the main valve body second radial low-pressure oil passage 86 and the main valve body high-pressure radial oil passage 23 on the main valve body 8 differ by 180°.

[0110] Two valve body sealing grooves are opened on the cylindrical surface near the left end of the hollow cylinder of the main valve body, and the first radial low-pressure oil passage 21 of the main valve body is opened between the two valve body sealing grooves. The inner diameter of the cylindrical cavity 68 of the main valve body is the same as the nominal size of the outer diameter of the main valve sleeve 9; the first rectangular valve port 69 of the main valve body and the second rectangular valve port 70 of the main valve body are provided on the hollow cylinder of the main valve body near the cylindrical boss of the main valve body, and the sizes of the first rectangular valve port 69 of the main valve body and the second rectangular valve port 70 of the main valve body are the same.

[0111] The element line of the cylinder high-pressure radial oil hole is located in the middle of the element line of the center of the first rectangular valve opening 69 of the main valve body and the element line of the center of the second rectangular valve opening 70 of the main valve body. The angle between the element line of the center of the first rectangular valve opening 69 of the main valve body and the element line of the center of the second rectangular valve opening 70 of the main valve body is θ2, and its size is

[0112] (2)

[0113] In formula (2): b 21 is the arc length of the inner wall of the main blade;

[0114] b 22 is the arc length of the rectangular valve port on the hollow cylinder of the main valve body;

[0115] R2 is the outer diameter of the hollow cylinder of the main valve body.

[0116] like Figure 10-11 As shown, the left end of the pilot valve core 15 is coaxially provided with an inner hole connected to the output shaft of the steering gear 17. The pilot valve core 15 is provided with a first annular boss 51 of the pilot valve core, a second annular boss 52 of the pilot valve core, and a third annular boss 53 of the pilot valve core from left to right. The first annular boss 51 of the pilot valve core has two rectangular grooves of the same size on the right side, the second annular boss 52 of the pilot valve core has two rectangular grooves on the left and right sides respectively, and the third annular boss 53 of the pilot valve core has two rectangular grooves of the same size on the left side, and each pair of rectangular grooves is provided. The corresponding rectangular grooves are distributed at 180°, and every two rectangular grooves are located on the same circular line; the two rectangular groove center lines of the first annular boss 51 of the pilot valve core and the two rectangular groove center lines on the right side of the second annular boss 52 of the pilot valve core are located on two axis-symmetrical prime lines, and the two rectangular groove center lines on the left side of the second annular boss 52 of the pilot valve core and the two rectangular groove center lines of the third annular boss 53 of the pilot valve core are located on another two axis-symmetrical prime lines, and each prime line differs by 90°.

[0117] like Figure 19-21 As shown, the main valve core 10 is provided with a first annular boss 78, a second annular boss 79 and a third annular boss 80 of the main valve core from left to right. Two rectangular grooves of the same size are opened on the right side of the first annular boss 78 of the main valve core, two rectangular grooves are opened on the left and right sides of the second annular boss 79 of the main valve core respectively, and two rectangular grooves of the same size are opened on the left side of the third annular boss 80 of the main valve core, and every two corresponding rectangular grooves are distributed at 180°. The center lines of the two rectangular grooves of the first boss 78 of the main valve core and the center lines of the two rectangular grooves on the right side of the second annular boss 79 of the main valve core are respectively located on two plain lines with axial symmetry, and the center lines of the two rectangular grooves on the left side of the second annular boss 79 of the main valve core and the two rectangular grooves on the third annular boss 80 of the main valve core are respectively located on two other plain lines with axial symmetry, and each plain line differs by 90°.

[0118] like Figure 8 and Fig. 9 As shown, the pilot valve sleeve 13 is composed of six annular bosses and five annular grooves, which are arranged alternately; two rectangular openings are respectively opened on the two annular grooves on the far left and the far right, and the two rectangular openings are arranged at 180 degrees, the two rectangular openings on the leftmost annular groove are the left T openings 45 of the pilot valve sleeve, and the two rectangular openings on the rightmost annular groove are the right T openings 50 of the pilot valve sleeve; the second and fourth annular grooves of the pilot valve sleeve 13 from the left are respectively opened with a group of rectangular openings, namely the pilot valve sleeve A opening 46 and the pilot valve sleeve B opening 49, and the third annular groove from the left is opened with two rectangular openings on the left and the right, and each group of rectangular openings The opening is composed of two rectangular openings arranged at 180° to each other; the center lines of the rectangular openings on the five annular grooves are all located on the same corresponding element line, and the sizes of the rectangular openings on the five annular grooves are the same as the sizes of the rectangular grooves of the three bosses of the pilot valve core 15; the left and right side surfaces of each group of rectangular openings on the three middle annular grooves are in the same plane as the left and right side surfaces of the adjacent annular bosses; the six groups of rectangular openings of the pilot valve sleeve 13 are, from left to right, the pilot valve sleeve left T opening 45, the pilot valve sleeve A opening 46, the pilot valve sleeve left P opening 47, the pilot valve sleeve right P opening 48, the pilot valve sleeve B opening 49 and the pilot valve sleeve right T opening 50.

[0119] like Fig.17 As shown, the main valve sleeve 9 is composed of six annular bosses and five annular grooves, which are arranged alternately; two rectangular openings are respectively opened on the two annular grooves on the far left and the far right, and the two rectangular openings are arranged at 180 degrees. The two rectangular openings on the first annular groove of the main valve sleeve from the left are the left T opening 71 of the main valve sleeve, and the two rectangular openings on the sixth annular groove from the left are the right T opening 76 of the main valve sleeve; the second and fourth annular grooves of the main valve sleeve 9 from the left are respectively opened with a group of rectangular openings, which are the main valve sleeve A opening 72 and the main valve sleeve B opening 75, and the third annular groove has two rectangular openings on the left and the right, and each group of rectangular openings is The shaped opening is composed of two rectangular openings arranged at 180 degrees to each other; the center lines of the rectangular openings on the five annular grooves are all located on the same corresponding element line, and the sizes of the rectangular openings on the five annular grooves are the same as the sizes of the rectangular grooves of the three bosses of the main valve core 10; the left and right side surfaces of each group of rectangular openings on the three middle annular grooves of the main valve sleeve are in the same plane as the right side surfaces of the adjacent annular bosses; the six groups of rectangular openings of the main valve sleeve 9 are, from left to right, the main valve sleeve left T opening 71, the main valve sleeve A opening 72, the main valve sleeve left P opening 73, the main valve sleeve right P opening 74, the main valve sleeve B opening 75 and the main valve sleeve right T opening 76.

[0120] The pilot fixed stopper 19 is strip-shaped, and the difference between the upper and lower arc surfaces of the pilot fixed stopper 19 is half of the difference between the inner diameter of the cylindrical cavity 33 of the left end cover and the outer diameter of the hollow cylinder of the pilot valve body 12; a strip-shaped sealing groove is provided at the center of the lower arc surface of the pilot fixed stopper 19 along the axial direction, and the length of the strip-shaped sealing groove is equal to that of the pilot fixed stopper 19, and a stopper sealing strip is embedded in the strip-shaped sealing groove.

[0121] The fixed stopper 22 is strip-shaped, and the difference between the upper and lower arc surfaces of the fixed stopper 22 is half of the difference between the inner diameter of the cylindrical cavity 58 of the cylinder body and the outer diameter of the hollow cylinder of the main valve body 8; a strip-shaped sealing groove is provided at the center of the lower arc surface of the fixed stopper 22 along the axial direction, and the length of the strip-shaped sealing groove is equal to that of the fixed stopper 22, and a stopper sealing strip is embedded in the strip-shaped sealing groove.

[0122] The pilot blade 30 is strip-shaped, and the difference between the upper and lower arc surfaces of the pilot blade 30 is half of the difference between the inner diameter 33 of the cylindrical cavity of the left end cover and the outer diameter of the hollow cylinder of the pilot valve body 12; a strip-shaped sealing groove is provided at the center of the lower arc surface of the pilot blade 30 along the axial direction, and the strip-shaped sealing groove is equal to the length of the pilot blade 30, and a blade sealing strip is embedded in the strip-shaped sealing groove;

[0123] The main blade 26 is strip-shaped, and the difference between the upper and lower arc surfaces of the main blade 26 is half of the difference between the inner diameter of the cylindrical cavity 58 of the cylinder body and the outer diameter of the hollow cylinder of the main valve body 8; a strip-shaped sealing groove is provided at the center of the lower arc surface of the main blade 26 along the axial direction, and the length of the strip-shaped sealing groove is equal to that of the main blade 26, and the strip-shaped sealing groove is embedded with a blade sealing strip.

[0124] The high-pressure oil inlet P of the present invention enters the high-pressure oil channels of the left end cover and the cylinder body through the high-pressure oil nozzle of the left end cover at the same time, and then enters the high-pressure oil annular grooves of the pilot valve body and the main valve body respectively, and then enters the internal high-pressure oil channels of the two valve bodies through their respective high-pressure radial oil channels, and then enters the pilot valve sleeve P port and the main valve sleeve P port. At this time, the pilot valve core is directly connected to the motor, and the pilot valve body output shaft is connected to the main valve core. The pilot valve core first controls the steering of the valve port under the action of the motor. After the high-pressure oil enters the working chamber formed by the pilot valve body and the inner wall of the left end cover, it pushes the pilot vane to make the pilot valve body operate, and the pilot valve body output shaft then drives the main valve core to operate. The high-pressure oil enters the working chamber formed by the main valve body and the cylinder body from the main valve sleeve P port through the rectangular groove, thereby driving the vane to drive the main valve body to operate, and finally achieving the purpose of amplifying the torque of the smaller motor by the pilot valve core to drive the large-size output mechanism to operate, and the transmission of the steering gear and the output mechanism main valve body is significantly increased compared with before.

[0125] The specific working process is: when the pilot valve core rotates counterclockwise relative to the pilot valve sleeve, the high-pressure oil enters the left rectangular groove on the second annular boss of the pilot valve core from the left P port of the pilot valve sleeve, then enters the A port of the pilot valve sleeve, and finally enters the first working chamber of the left end cover through the first rectangular valve port of the pilot valve body, pushing the pilot blade to rotate counterclockwise, so that the pilot valve body follows the movement of the pilot valve core, and the low-pressure oil in the second working chamber of the left end cover enters the B port of the pilot valve sleeve through the second rectangular valve port of the pilot valve body, then enters the rectangular groove on the third annular boss of the pilot valve core, and finally enters the right T port of the pilot valve sleeve to realize oil return. At the same time, the main valve core will maintain the same following motion as the pilot valve body, and the working process is completely consistent, that is, the high-pressure oil enters the left rectangular groove on the second annular boss of the main valve core from the left P port of the main valve sleeve, then enters the A port of the main valve sleeve, and finally enters the first working chamber of the cylinder through the first rectangular valve port of the main valve body, pushing the blade to rotate counterclockwise, so that the main valve body follows the movement of the main valve core, and the low-pressure oil in the second working chamber of the cylinder body enters the B port of the main valve sleeve through the second rectangular valve port of the main valve body, then enters the rectangular groove on the third annular boss of the main valve core, and finally enters the right T port of the main valve sleeve;

[0126] When the pilot valve core rotates clockwise relative to the pilot valve sleeve, the high-pressure oil enters the right rectangular groove on the second annular boss of the pilot valve core from the right P port of the pilot valve sleeve, then enters the B port of the pilot valve sleeve, and finally enters the second working chamber of the left end cover through the second rectangular valve port of the pilot valve body, pushing the pilot blade to rotate clockwise, so that the pilot valve body moves with the pilot valve core, and the low-pressure oil in the first working chamber of the left end cover enters the A port of the pilot valve sleeve through the first rectangular valve port of the pilot valve body, then enters the rectangular groove on the first annular boss of the pilot valve core, and finally enters the left T port of the pilot valve sleeve. At the same time, the main valve core will maintain the same following motion as the pilot valve body, and the working process is completely consistent, that is, when the main valve core rotates clockwise relative to the main valve sleeve, the high-pressure oil enters the right rectangular groove on the second annular boss of the main valve core from the right P port of the main valve sleeve, and then enters the B port of the main valve sleeve, and finally enters the second working chamber of the cylinder body through the second rectangular valve port of the main valve body, pushing the blade to rotate clockwise, so that the main valve body follows the movement of the main valve core, and the low-pressure oil in the first working chamber of the cylinder body enters the A port of the main valve sleeve through the first rectangular valve port of the main valve body, and then enters the rectangular groove on the first annular boss of the main valve core, and finally enters the left T port of the main valve sleeve.

[0127] The low-pressure oil at the left T port of the pilot valve sleeve directly enters the first radial low-pressure oil channel of the left end cover through the first radial low-pressure oil passage of the pilot valve body, and finally enters the low-pressure oil outlet T and gradually flows back; the low-pressure oil at the right T port of the pilot valve sleeve enters the low-pressure oil annular groove of the pilot valve body through the second radial low-pressure oil passage of the pilot valve body, and then enters the low-pressure oil outlet T of the left end cover through the second radial low-pressure oil passage of the left end cover and gradually flows back.

[0128] The low-pressure oil at the left T port of the main valve sleeve directly enters the first radial low-pressure oil passage of the cylinder body through the first radial low-pressure oil passage of the main valve body, and finally enters the low-pressure oil outlet T and gradually flows back; the low-pressure oil at the right T port of the main valve sleeve enters the low-pressure oil annular groove of the main valve body through the second radial low-pressure oil passage of the main valve body, and then enters the outlet of the cylinder low-pressure oil passage through the second radial low-pressure oil passage of the cylinder body, and finally flows back through the low-pressure oil outlet T of the cylinder body.

[0129] When the A port of the pilot valve sleeve is communicated with the first working chamber of the left end cover, the B port of the pilot valve sleeve is communicated with the second working chamber of the left end cover, and the A port of the pilot valve sleeve is not communicated with the second working chamber of the left end cover, and the B port of the pilot valve sleeve is not communicated with the first working chamber of the left end cover; when the A port of the pilot valve sleeve is communicated with the second working chamber of the left end cover, the B port of the pilot valve sleeve is communicated with the first working chamber of the left end cover, and the A port of the pilot valve sleeve is not communicated with the first working chamber of the left end cover, and the B port of the pilot valve sleeve is not communicated with the second working chamber of the left end cover. Except for the above situation, the valve port of the pilot valve sleeve is not communicated with the first working chamber of the left end cover and the second working chamber of the left end cover.

[0130] When the A port of the main valve sleeve is communicated with the first working chamber of the cylinder body, the B port of the main valve sleeve is communicated with the second working chamber of the cylinder body, and the A port of the main valve sleeve is not communicated with the second working chamber of the cylinder body, and the B port of the main valve sleeve is not communicated with the first working chamber of the cylinder body; when the A port of the main valve sleeve is communicated with the second working chamber of the cylinder body, the B port of the main valve sleeve is communicated with the first working chamber of the cylinder body, and the A port of the main valve sleeve is not communicated with the first working chamber of the cylinder body, and the B port of the main valve sleeve is not communicated with the second working chamber of the cylinder body. Except for the above situation, the valve ports of the main valve sleeve are not communicated with the first working chamber and the second working chamber of the cylinder body.

[0131] The protection scope of the present invention is not limited to the above-mentioned embodiments. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the scope and spirit of the present invention. If these changes and modifications fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include these changes and modifications.

Claims

1. A pilot hydraulic angular self-servo valve, comprising a coupling plate (1), a steering gear cover (2), a left end cover (4), a cylinder body (6), a steering gear (17), a pilot valve, a main valve and a right end cover (7), characterized in that: The pilot valve comprises a pilot valve sleeve (13), a pilot valve core (15), a pilot valve body (12), a pilot fixed stopper (19) and a pilot vane (30); the main valve comprises a main valve sleeve (9), a main valve core (10), a main valve body (8), a fixed stopper (22) and a main vane (26); the coupling plate (1) is mounted at the left end of the steering gear cover (2); the pilot valve body (12) is coaxially mounted in a left end cover cylindrical cavity (33) opened in the left end cover (4); the right end of the left end cover (4) is mounted at the left end of the cylinder body; the right end cover (7) is mounted at the right end of the cylinder body (6); and the output shaft of the main valve body (8) passes through the right end cover (7) and protrudes outward; A pilot fixed stopper (19) is installed on the inner wall of the left end cover (4) perpendicular to the axial direction, and the pilot fixed stopper (19) and the pilot valve body (12) are in dynamic cooperation; a pilot vane (30) is fixedly installed on the outer wall of the cylindrical cavity (41) of the pilot valve body, and the pilot vane (30) and the left end cover (4) are in dynamic cooperation; the pilot fixed stopper (19) and the pilot vane (30) are arranged alternately; A fixed stopper (22) is installed just above the inner wall of the cylinder body (6), and the fixed stopper (22) is in dynamic cooperation with the main valve body (8); a main blade (26) is fixedly installed on the outer wall of the cylindrical cavity (68) of the main valve body, and the main blade (26) is in dynamic cooperation with the cylinder body (6); the fixed stopper (22) and the main blade (26) are arranged alternately; The pilot valve sleeve (13) is cocentrically mounted in a cylindrical cavity (41) of the pilot valve body. The left end surface of the pilot valve sleeve (13) is fixed to the left end surface of the pilot valve body (12) by a cylindrical pin. The left end of the pilot valve core (15) is cocentrically mounted in a cylindrical hole starting from the middle of the left end cover (4). The right end of the pilot valve core (15) passes through the pilot valve sleeve (13) and is cocentrically mounted in a bearing groove (39) of the pilot valve body. The steering gear (17) is fixed on the left end cover (4). The output shaft of the steering gear (17) is cocentrically keyed to the inner hole of the left end of the pilot valve core (15). The main valve sleeve (9) is installed concentrically in the cylindrical cavity (68) of the main valve body. The left end surface of the main valve sleeve (9) is fixed to the left end surface of the main valve body (8) by a cylindrical pin. The left end of the main valve core (10) is installed concentrically in the small cylindrical hole of the cylinder body (6). The right end of the main valve core (10) passes through the main valve sleeve (9) and is installed concentrically in the bearing groove (64) of the main valve body. The right end of the pilot valve body (12) is connected to the center of the inner hole of the left end of the main valve core (10). A left end cover first radial low-pressure oil passage (34) and a left end cover second radial low-pressure oil passage (35) are provided at the upper portion of the left end cover, and the left end cover first radial low-pressure oil passage (34) and the left end cover second radial low-pressure oil passage (35) are communicated with each other; a left end cover radial high-pressure oil passage (27) is provided in the radial direction directly below the left end cover (4); The second radial low-pressure oil passage (35) of the left end cover is communicated with the first radial low-pressure oil passage (56) of the cylinder body, the high-pressure oil passage of the left end cover is communicated with the high-pressure oil passage of the cylinder body, the inlet of the first radial low-pressure oil passage (34) of the left end cover is communicated with the left T-port (45) of the pilot valve sleeve through the first radial low-pressure oil hole (18) of the pilot valve body, the left T-port (45) of the pilot valve sleeve is communicated with the rectangular groove on the first annular boss (51) of the pilot valve core, the rectangular groove on the first annular boss (51) of the pilot valve core is communicated with the A-port (46) of the pilot valve sleeve, and the A-port (46) of the pilot valve sleeve is communicated with the corresponding first working chamber of the left end cover through the first rectangular valve port (42) of the pilot valve body; The inlet of the second radial low-pressure oil passage (35) of the left end cover is communicated with the low-pressure oil annular groove (37) of the pilot valve body, the low-pressure oil annular groove (37) of the pilot valve body is communicated with the internal low-pressure oil passage through the second radial low-pressure oil passage (20) of the pilot valve body, the second radial low-pressure oil passage (20) of the pilot valve body is communicated with the right T-port (50) of the pilot valve sleeve, and the right T-port (50) of the pilot valve sleeve is communicated with the rectangular groove on the third annular boss (53) of the pilot valve core; The high-pressure oil inlet (31) of the left end cover is communicated with the high-pressure oil annular groove (38) of the pilot valve body. The high-pressure oil annular groove (38) of the pilot valve body is communicated with the high-pressure oil channel inside the left end cover through the radial high-pressure oil passage (27) of the left end cover. The high-pressure oil channel inside the left end cover is communicated with the left P port (47) of the pilot valve sleeve and the right P port (48) of the pilot valve sleeve respectively. The left P port (47) of the pilot valve sleeve is communicated with the A port (46) of the pilot valve sleeve through the left rectangular groove on the second annular boss (52) of the pilot valve core. The A port (46) of the pilot valve sleeve is communicated with the corresponding first working chamber of the left end cover through the first rectangular valve port (42) of the pilot valve body. The right P port (48) of the pilot valve sleeve is communicated with the B port (49) of the pilot valve sleeve through the right rectangular groove on the second annular boss (52) of the pilot valve core, and the B port (49) of the pilot valve sleeve is communicated with the corresponding second working chamber of the left end cover through the second rectangular valve port (43) of the pilot valve; A first radial low-pressure oil passage (56) is provided in the upper part of the cylinder body in the radial direction, and a second radial low-pressure oil passage (57) is provided in the axial direction. The first radial low-pressure oil passage (56) and the second radial low-pressure oil passage (57) are communicated with each other. A cylinder high-pressure oil passage (59) is provided in the axial direction directly below the cylinder body (6). The inlet of the first radial low-pressure oil passage (56) of the cylinder body is directly connected to the left T-port (71) of the main valve sleeve through the first radial low-pressure oil passage (21) of the main valve body, the left T-port (71) of the main valve sleeve is connected to the rectangular groove on the first annular boss (78) of the main valve core, the rectangular groove on the first annular boss (78) of the main valve core is connected to the A-port (72) of the main valve sleeve, and the A-port (72) of the main valve sleeve is connected to the corresponding first working chamber (82) of the cylinder body through the first rectangular valve port (69) of the main valve body; The inlet of the second radial low-pressure oil passage (57) of the cylinder body is communicated with the low-pressure oil annular groove (62) of the main valve body, the low-pressure oil annular groove (62) of the main valve body is communicated with the internal low-pressure oil passage through the second radial low-pressure oil passage (86) of the main valve body, the second radial low-pressure oil passage (86) of the main valve body is communicated with the right T-port (76) of the main valve sleeve, and the right T-port (76) of the main valve sleeve is communicated with the rectangular groove on the third annular boss (80) of the main valve core; The outlet of the cylinder high-pressure oil passage (59) is communicated with the main valve body high-pressure oil annular groove (63), the main valve body high-pressure oil annular groove (63) is communicated with the main valve body high-pressure radial oil passage (23) through the main blade fold line oil passage (25), the cylinder body internal high-pressure oil passage is communicated with the main valve sleeve left P port (73) and the main valve sleeve right P port (74) respectively, the main valve sleeve left P port (73) is communicated with the main valve sleeve A port (72) through the left rectangular groove on the second annular boss (79) of the main valve core, and the main valve sleeve A port (72) is communicated with the corresponding cylinder body first working chamber (82) through the main valve body first rectangular valve port (69); The right P port (74) of the main valve sleeve is communicated with the B port (75) of the main valve sleeve through the right rectangular groove on the second annular boss (79) of the main valve core, and the B port (75) of the main valve sleeve is communicated with the corresponding second working chamber (83) of the cylinder body through the second rectangular valve port (70) of the main valve body; The pilot valve body (12) comprises, from left to right, a pilot valve body hollow cylinder, a pilot valve body cylindrical boss and a pilot valve body output shaft; The outer diameter of the cylindrical boss of the pilot valve body is the same as the nominal size of the inner diameter of the cylindrical cavity (33) of the left end cover. Three valve body sealing grooves are formed on the cylindrical surface of the cylindrical boss of the pilot valve body. A pilot valve body low-pressure oil annular groove (37) is formed between the two valve body sealing grooves on the left. A pilot valve body second radial low-pressure oil passage (20) is formed in the pilot valve body low-pressure oil annular groove (37). A pilot valve body high-pressure oil annular groove (38) is formed on the right. A pilot valve body high-pressure radial oil passage (44) is formed in the pilot valve body high-pressure oil annular groove (38). Two corresponding lines of the pilot valve body second radial low-pressure oil passage (20) and the pilot valve body high-pressure radial oil passage (44) on the pilot valve body (12) differ by 180°. Two valve body sealing grooves are formed on the cylindrical surface near the left end of the pilot valve body hollow cylinder, a first radial low-pressure oil hole (18) of the pilot valve body is formed between the two valve body sealing grooves, the inner diameter of the pilot valve body cylindrical cavity (41) is the same as the nominal size of the outer diameter of the pilot valve sleeve (13); a first rectangular valve port (42) of the pilot valve body and a second rectangular valve port (43) of the pilot valve body are formed on the pilot valve body hollow cylinder near the pilot valve body cylindrical boss, and the sizes of the first rectangular valve port (42) of the pilot valve body and the second rectangular valve port (43) of the pilot valve body are the same; The element line of the high-pressure radial oil hole of the left end cover is located in the middle of the element line of the center of the first rectangular valve opening (42) of the pilot valve body and the element line of the center of the second rectangular valve opening (43) of the pilot valve body. The included angle between the element line of the center of the first rectangular valve opening (42) of the pilot valve body and the element line of the center of the second rectangular valve opening (43) of the pilot valve body is θ1, and its magnitude is: （1） In formula (1): b 11 is the arc length of the inner wall of the guide blade; b 12 is the arc length of the rectangular valve port on the hollow cylinder of the pilot valve body; r1 is the outer diameter of the hollow cylinder of the pilot valve body; The main valve body (8) comprises, from left to right, a main valve body hollow cylinder, a main valve body cylindrical boss and a main valve body output shaft; The outer diameter of the main valve body cylindrical boss is the same as the nominal size of the inner diameter of the cylinder body cylindrical cavity (58). Three valve body sealing grooves are formed on the cylindrical surface of the main valve body cylindrical boss. A main valve body low-pressure oil annular groove (62) is formed between the two valve body sealing grooves on the left. A main valve body second radial low-pressure oil passage (86) is formed in the main valve body low-pressure oil annular groove (62). A main valve body high-pressure oil annular groove (63) is formed on the right. A main valve body high-pressure radial oil passage (23) is formed in the main valve body high-pressure oil annular groove (63). The two corresponding lines of the main valve body second radial low-pressure oil passage (86) and the main valve body high-pressure radial oil passage (23) on the main valve body (8) are 180° apart. Two valve body sealing grooves are provided on the cylindrical surface near the left end of the hollow cylinder of the main valve body, a first radial low-pressure oil passage (21) of the main valve body is provided between the two valve body sealing grooves, the inner diameter of the cylindrical cavity (68) of the main valve body is the same as the nominal size of the outer diameter of the main valve sleeve (9); a first rectangular valve port (69) of the main valve body and a second rectangular valve port (70) of the main valve body are provided on the hollow cylinder of the main valve body near the cylindrical boss of the main valve body, and the sizes of the first rectangular valve port (69) of the main valve body and the second rectangular valve port (70) of the main valve body are the same; The element line of the cylinder high-pressure radial oil hole is located in the middle of the element line of the center of the first rectangular valve opening (69) of the main valve body and the element line of the center of the second rectangular valve opening (70) of the main valve body. The included angle between the element line of the center of the first rectangular valve opening (69) of the main valve body and the element line of the center of the second rectangular valve opening (70) of the main valve body is θ2, and its magnitude is: （2） In formula (2): b 21 is the arc length of the inner wall of the main blade; b 22 is the arc length of the rectangular valve port on the hollow cylinder of the main valve body; R2 is the outer diameter of the hollow cylinder of the main valve body.

2. A pilot-operated hydraulic angle self-servo valve as claimed in claim 1, characterized in that: The left end of the pilot valve core (15) is coaxially provided with an inner hole connected to the output shaft of the steering gear (17). The pilot valve core (15) is provided with a first annular boss (51) of the pilot valve core, a second annular boss (52) of the pilot valve core, and a third annular boss (53) of the pilot valve core from left to right. The first annular boss (51) of the pilot valve core has two rectangular grooves of the same size on the right side, the second annular boss (52) of the pilot valve core has two rectangular grooves on the left and right sides respectively, and the third annular boss (53) of the pilot valve core has two rectangular grooves of the same size on the left side. , every two corresponding rectangular grooves are distributed at 180°, and every two rectangular grooves are located on the same circumferential line; the two rectangular groove center lines of the first annular boss (51) of the pilot valve core and the two rectangular groove center lines on the right side of the second annular boss (52) of the pilot valve core are respectively located on two axis-symmetrical prime lines, the two rectangular groove center lines on the left side of the second annular boss (52) of the pilot valve core and the two rectangular groove center lines of the third annular boss (53) of the pilot valve core are respectively located on another two axis-symmetrical prime lines, and each prime line differs by 90°.

3. A pilot-operated hydraulic angle self-servo valve as claimed in claim 1, characterized in that: The main valve core (10) is provided with a first annular boss (78) of the main valve core, a second annular boss (79) of the main valve core, and a third annular boss (80) of the main valve core from left to right. Two rectangular grooves of the same size are opened on the right side of the first annular boss (78) of the main valve core, two rectangular grooves are opened on the left and right sides of the second annular boss (79) of the main valve core, and two rectangular grooves of the same size are opened on the left side of the third annular boss (80) of the main valve core. Every two corresponding rectangular grooves are distributed at 180°. The two rectangular groove center lines of the first annular boss (78) of the main valve core and the two rectangular groove center lines on the right side of the second annular boss (79) of the main valve core are respectively located on two plain lines with axial symmetry. The two rectangular groove center lines on the left side of the second annular boss (79) of the main valve core and the two rectangular groove center lines of the third annular boss (80) of the main valve core are respectively located on two other plain lines with axial symmetry, and each plain line differs by 90°.

4. A pilot-operated hydraulic angle self-servo valve as claimed in claim 1, characterized in that: The pilot valve sleeve (13) is composed of six annular bosses and five annular grooves, which are arranged alternately. The two annular grooves on the left and right are respectively provided with two rectangular openings, which are arranged at 180 degrees. The two rectangular openings on the leftmost annular groove are the left T openings (45) of the pilot valve sleeve, and the two rectangular openings on the rightmost annular groove are the right T openings (50) of the pilot valve sleeve. The second and fourth annular grooves on the pilot valve sleeve (13) from the left are respectively provided with a group of rectangular openings, which are the pilot valve sleeve A opening (46) and the pilot valve sleeve B opening (49). The third annular groove on the left is provided with two rectangular openings on the left and right, and each group of rectangular openings is provided with a plurality of rectangular openings. The pilot valve sleeve (13) is composed of two rectangular openings arranged at 180 degrees to each other; the center lines of the rectangular openings on the five annular grooves are all located on the same corresponding element line, and the sizes of the rectangular openings on the five annular grooves are the same as the sizes of the rectangular openings on the three bosses of the pilot valve core (15); the left and right side surfaces of each group of rectangular openings on the three middle annular grooves are in the same plane as the left and right side surfaces of the adjacent annular bosses; the six groups of rectangular openings of the pilot valve sleeve (13) are, from left to right, the pilot valve sleeve left T opening (45), the pilot valve sleeve A opening (46), the pilot valve sleeve left P opening (47), the pilot valve sleeve right P opening (48), the pilot valve sleeve B opening (49) and the pilot valve sleeve right T opening (50).

5. The pilot-operated hydraulic angle self-servo valve according to claim 1, characterized in that: The main valve sleeve (9) is composed of six annular bosses and five annular grooves, which are arranged alternately. Two rectangular openings are respectively opened on the two annular grooves on the far left and the far right, and the two rectangular openings are arranged at 180 degrees. The two rectangular openings on the first annular groove from the left of the main valve sleeve are the left T openings (71) of the main valve sleeve, and the two rectangular openings on the sixth annular groove from the left are the right T openings (76) of the main valve sleeve. The second and fourth annular grooves from the left of the main valve sleeve (9) are respectively opened with a group of rectangular openings, namely the main valve sleeve A opening (72) and the main valve sleeve B opening (75). The third annular groove has two rectangular openings on the left and the right, and each group of rectangular openings The main valve sleeve (9) is composed of two rectangular openings arranged at 180 degrees to each other; the center lines of the rectangular openings on the five annular grooves are all located on the same corresponding element line, and the sizes of the rectangular openings on the five annular grooves are the same as the sizes of the rectangular openings on the three bosses of the main valve core (10); the left and right side surfaces of each group of rectangular openings on the three middle annular grooves of the main valve sleeve are in the same plane as the right side surfaces of the adjacent annular bosses; the six groups of rectangular openings of the main valve sleeve (9) are, from left to right, the main valve sleeve left T opening (71), the main valve sleeve A opening (72), the main valve sleeve left P opening (73), the main valve sleeve right P opening (74), the main valve sleeve B opening (75) and the main valve sleeve right T opening (76).

6. A pilot-operated hydraulic angle self-servo valve as claimed in claim 1, characterized in that: The pilot fixed stopper (19) is strip-shaped, and the difference between the upper and lower arc surfaces of the pilot fixed stopper (19) is half the difference between the inner diameter of the cylindrical cavity (33) of the left end cover and the outer diameter of the hollow cylinder of the pilot valve body (12); a strip-shaped sealing groove is provided at the center of the lower arc surface of the pilot fixed stopper (19) along the axial direction, the strip-shaped sealing groove is equal to the length of the pilot fixed stopper (19), and a stopper sealing strip is embedded in the strip-shaped sealing groove.

7. A pilot-operated hydraulic angle self-servo valve as claimed in claim 1, characterized in that: The fixed stopper (22) is strip-shaped, and the difference between the upper and lower arc surfaces of the fixed stopper (22) is half the difference between the inner diameter of the cylindrical cavity (58) of the cylinder body and the outer diameter of the hollow cylinder of the main valve body (8); a strip-shaped sealing groove is provided at the center of the lower arc surface of the fixed stopper (22) along the axial direction, the strip-shaped sealing groove is equal to the length of the fixed stopper (22), and a stopper sealing strip is embedded in the strip-shaped sealing groove.

8. The pilot-operated hydraulic angle self-servo valve according to claim 1, characterized in that: The pilot blade (30) is strip-shaped, and the difference between the upper and lower arc surfaces of the pilot blade (30) is half the difference between the inner diameter of the cylindrical cavity (33) of the left end cover and the outer diameter of the hollow cylinder of the pilot valve body (12); a strip-shaped sealing groove is provided at the center of the lower arc surface of the pilot blade (30) along the axial direction, the strip-shaped sealing groove is equal to the length of the pilot blade (30), and a blade sealing strip is embedded in the strip-shaped sealing groove; The main blade (26) is strip-shaped, and the difference between the upper and lower arc surfaces of the main blade (26) is half the difference between the inner diameter of the cylindrical cavity (58) of the cylinder body and the outer diameter of the hollow cylinder of the main valve body (8); a strip-shaped sealing groove is provided at the center of the lower arc surface of the main blade (26) along the axial direction, the strip-shaped sealing groove is equal to the length of the main blade (26), and a blade sealing strip is embedded in the strip-shaped sealing groove.

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