A multi-mode integrated hydrostatic servo mechanism

Abstract

The present invention relates to a multi-mode integrated hydrostatic servo mechanism, comprising: an actuating hydraulic cylinder, a first damping valve, a second damping valve, a third damping valve, a fourth damping valve, a first electromagnetic holding valve, a second electromagnetic holding valve, a first check valve, a second check valve, a third check valve, a balance valve, a pilot-operated check valve, a pressurized oil tank and a motor pump. Among them, the actuating hydraulic cylinder includes a rod chamber and a rodless chamber, and one side of the first damping valve, the second damping valve and the third damping valve is communicated with the rodless chamber of the actuating hydraulic cylinder; the first damping valve and the first electromagnetic holding valve are connected in series to form a first parallel oil circuit, the second damping valve and the second electromagnetic holding valve are connected in series to form a second parallel oil circuit, and the first parallel oil circuit and the second parallel oil circuit are redundant to each other; the servo mechanism includes a first branch, a first oil replenishing branch, a second branch and a second oil replenishing branch. The present invention realizes the functions of stable, controllable and rapid lowering, active lifting and active lowering of the hanging rack by adopting a multi-mode hydraulic circuit.

Description

Technical Field

[0001] The present invention relates to a multi-mode integrated hydrostatic servo mechanism, belonging to the technical field of servo mechanisms. Background Art

[0002] As an important airborne equipment of an airlift aircraft, the reliability and speed of the rack dropping mechanism are related to the safety of the aircraft. Generally speaking, the rack dropping mechanism is a truss structure. During the dropping process of an object, a strong impact is generated due to the instantaneous release of the object. The actuator of the dropping mechanism generally adopts a hydraulic solution with large driving force, obvious damping effect and strong ability to absorb vibration and shock. At present, the rack device mainly satisfies three functions: passive retraction of the actuator, active extension of the actuator and active retraction of the actuator. The rack device has the characteristics of large load and short-time lowering, and the actuator needs to fully consider the end vibration reduction and buffering functions. Moreover, the space of the rack device is narrow, and the volume and weight requirements of the actuator are harsh. Summary of the Invention

[0003] The technical problem solved by the present invention is: overcoming the deficiencies of the prior art, and providing a multi-mode integrated hydrostatic servo mechanism, which realizes the functions of stable and controllable rapid lowering, active lifting and active lowering of the rack by adopting a multi-mode hydraulic circuit.

[0004] The technical solution of the present invention for solving the problem is:

[0005] A multi-mode integrated hydrostatic servo mechanism, comprising:

[0006] An actuating hydraulic cylinder, a first damping valve, a second damping valve, a third damping valve, a fourth damping valve, a first electromagnetic holding valve, a second electromagnetic holding valve, a first check valve, a second check valve, a third check valve, a balance valve, a pilot-operated check valve, a pressurized oil tank and a motor pump

[0007] Wherein, the actuating hydraulic cylinder includes a rod chamber and a rodless chamber, and one sides of the first damping valve, the second damping valve and the third damping valve are communicated with the rodless chamber of the actuating hydraulic cylinder;

[0008] The first damping valve and the first electromagnetic holding valve are connected in series to form a first parallel oil circuit, the second damping valve and the second electromagnetic holding valve are connected in series to form a second parallel oil circuit, and the first parallel oil circuit and the second parallel oil circuit are redundant to each other;

[0009] After these two parallel oil circuits are connected in series with the first check valve, they are communicated with the rod chamber of the actuating hydraulic cylinder; after these two parallel oil circuits are connected in series with the second check valve, they are communicated with the pressurized oil tank; these two parallel oil circuits and the first check valve and the second check valve form a passive branch;

[0010] The servo mechanism includes a first branch, a first oil replenishing branch, a second branch and a second oil replenishing branch;

[0011] The first branch: The rodless cavity of the actuating hydraulic cylinder is connected in series with the fourth damping valve and then connected to one side of the motor pump.

[0012] The first oil replenishing branch: After the pressurizing oil tank is connected in series with the third one-way valve, it is connected to one side of the motor pump.

[0013] The second branch: The rodless cavity of the actuating hydraulic cylinder is connected in series with the third damping valve and the balance valve in sequence and then connected to the other side of the motor pump.

[0014] The second oil replenishing branch: After the pressurizing oil tank is connected in series with the hydraulic control one-way valve, it is connected to the other side of the motor pump.

[0015] Furthermore, it further includes a first pressure sensor, a second pressure sensor and a third pressure sensor. The pressure sensor is connected to the rodless cavity of the actuating hydraulic cylinder to measure the pressure of the rodless cavity; the pressure sensor is connected to the pressurizing oil tank to measure the pressure of the pressurizing oil tank; the pressure sensor is connected to one side of the motor pump to measure the pressure on one side of the motor pump and indirectly measure the pressure of the rodless cavity of the actuating hydraulic cylinder.

[0016] Furthermore, after the remote control hydraulic branch of the balance valve and the remote control hydraulic branch of the hydraulic control one-way valve are connected, they are connected between the fourth damping valve and the left side of the motor pump, and the pressure at this point is taken to stably control the opening and closing of the two valves.

[0017] Furthermore, it includes three working modes, namely the fast passive lowering working mode, the active lifting working mode and the active lowering working mode.

[0018] Furthermore, the three working modes have a working sequence. First is the active lifting working mode, and then is the fast passive lowering working mode; the active lowering working mode comes after the active lifting working mode.

[0019] Furthermore, when in the fast passive lowering working mode, the rodless cavity of the actuating hydraulic cylinder bears a high-pressure load, and the motor pump is in a non-working state; the first electromagnetic holding valve and the second electromagnetic holding valve are both powered on. The oil in the rodless cavity of the actuating hydraulic cylinder only passes through the passive branch and flows to the rod cavity of the actuating hydraulic cylinder and the pressurizing oil tank respectively. At this time, the first damping valve and the second damping valve are in parallel to generate a damping force, and the actuating hydraulic cylinder retracts stably and quickly; when the object is released and before reaching the end of the actuating hydraulic cylinder, the actuating hydraulic cylinder performs a buffering movement.

[0020] Furthermore, when in the active lifting working mode, the rodless cavity of the actuating hydraulic cylinder bears a high-pressure load, the first electromagnetic holding valve and the second electromagnetic holding valve are not powered on, the motor pump is in a working state, the motor pump outputs high-pressure oil, which passes through the second branch and enters the rodless cavity of the actuating hydraulic cylinder to make the piston of the actuating hydraulic cylinder extend; the oil in the rod cavity of the actuating hydraulic cylinder passes through the first branch and enters one side of the motor pump, and the first oil replenishing branch supplements the oil difference between the two cavities of the actuating hydraulic cylinder through the motor pump.

[0021] Further, when in the active lowering working mode, the rodless cavity of the actuating hydraulic cylinder bears a high-pressure load, the first electromagnetic holding valve and the second electromagnetic holding valve are both de-energized, the motor pump is in the working state, the motor pump outputs high-pressure oil, which enters the rod cavity of the actuating hydraulic cylinder through the first branch, causing the piston of the actuating hydraulic cylinder to retract. The oil in the rodless cavity of the actuating hydraulic cylinder enters the other side of the motor pump through the second branch, and the excess oil enters the pressurizing oil tank through the second supplementary oil circuit.

[0022] Further, in this working mode, the fourth damping valve generates a stable high pressure in front of the valve, controls the opening of the hydraulic control check valve, and controls the opening of the balance valve, so that the actuating hydraulic cylinder retracts smoothly and the object is lowered smoothly.

[0023] Further, among them, after the active lifting working mode is completed, the first electromagnetic holding valve and the second electromagnetic holding valve are both energized, so that the fast passive lowering working mode is in a ready state; if the airborne equipment is in the ground working state, only the active lifting working mode and the active lowering working mode are carried out.

[0024] The beneficial effects of the present invention compared with the prior art are as follows:

[0025] (1) The present invention is designed in a parallel layout structure, with the motor pump, the actuating hydraulic cylinder, and the control driver in parallel layout, and they are connected through flanges and threaded structures. This layout method can meet the requirements of the narrow installation space of the pylon, and has the advantages of compact structure, high reliability, and maintenance-free.

[0026] (2) The present invention designs a heavy-duty pilot balance circuit and a pump control with low speed and large load drive, realizing the problem of active lowering of heavy loads of the pylon and the function of stopping at any position; a remote control balance valve is arranged in the rodless cavity, and the remote control pressure comes from the oil circuit of the rod cavity, and a throttle valve is arranged to ensure the reliability of the remote control pressure.

[0027] (3) The present invention designs a fast lowering differential circuit to realize the passive fast lowering function of the pylon; when the pylon is in the lowering function, it is required to be completed within a certain time range. A double-redundancy solenoid valve and a throttle valve differential circuit are designed, and at the same time, the electro-hydrostatic servo actuator is approximately a closed-end cavity for buffering and vibration damping. Description of the Drawings

[0028] Figure 1 It is the schematic diagram of the multi-mode integrated electro-hydrostatic servo mechanism;

[0029] Figure 2 View of the end buffer structure;

[0030] Figure 3 Partial view A of the buffer structure. Detailed Embodiments

[0031] The present invention will be further described below in conjunction with embodiments.

[0032] A multi-mode integrated hydrostatic servo mechanism, as Figures 1-3 shown, includes:

[0033] An actuating hydraulic cylinder 1, a first safety valve 2.1, a second safety valve 2.2, a first damping valve 3.1, a second damping valve 3.2, a third damping valve 3.3, a fourth damping valve 3.4, a first electromagnetic holding valve 4.1, a second electromagnetic holding valve 4.2, a first check valve 5.1, a second check valve 5.2, a third check valve 5.3, a filling check valve 5.4, a balance valve 6, a hydraulic control check valve 7, a pressurized oil tank 8, and a motor pump 9

[0034] Among them, the actuating hydraulic cylinder 1 includes a rod chamber and a rodless chamber. One side of the first damping valve 3.1, the second damping valve 3.2, and the third damping valve 3.3 is communicated with the rodless chamber of the actuating hydraulic cylinder 1;

[0035] In the case of overload of the actuating hydraulic cylinder 1, the servo mechanism is protected by the first safety valve 2.1 and the second safety valve 2.2;

[0036] By controlling the filling check valve 5.4, the servo mechanism is filled with oil;

[0037] The first damping valve 3.1 and the first electromagnetic holding valve 4.1 are connected in series to form a first parallel oil circuit, and the second damping valve 3.2 and the second electromagnetic holding valve 4.2 are connected in series to form a second parallel oil circuit. The first parallel oil circuit and the second parallel oil circuit are redundant to each other;

[0038] After these two parallel oil circuits are connected in series with the first check valve 5.1, they are communicated with the rod chamber of the actuating hydraulic cylinder 1; after these two parallel oil circuits are connected in series with the second check valve 5.2, they are communicated with the pressurized oil tank 8; these two parallel oil circuits and the first check valve 5.1 and the second check valve 5.2 form a passive branch;

[0039] The servo mechanism includes a passive branch, a first branch, a first oil replenishing branch, a second branch, and a second oil replenishing branch;

[0040] First branch: The rod chamber of the actuating hydraulic cylinder 1 is connected in series with the fourth damping valve 3.4 and then communicated with one side of the motor pump 9;

[0041] First oil replenishing branch: The pressurized oil tank 8 is connected in series with the third check valve 5.3 and then communicated with one side of the motor pump 9;

[0042] Second branch: The rodless chamber of the actuating hydraulic cylinder 1 is connected in series with the third damping valve 3.3 and the balance valve 6 in sequence and then communicated with the other side of the motor pump 9;

[0043] Second oil replenishing branch: The pressurized oil tank 8 is connected in series with the hydraulic control check valve 7 and then communicated with the other side of the motor pump 9.

[0044] It also includes a first pressure sensor 10.1, a second pressure sensor 10.2 and a third pressure sensor 10.3. The pressure sensor 10.1 is connected to the rodless cavity of the actuating hydraulic cylinder 1 to measure the pressure in the rodless cavity; the pressure sensor 10.2 is connected to the booster oil tank 8 to measure the pressure in the booster oil tank; the pressure sensor 10.3 is connected to one side of the motor pump 9 to measure the pressure on one side of the motor pump 9, indirectly measuring the pressure in the rod cavity of the actuating hydraulic cylinder 1.

[0045] After the remote control hydraulic branch of the balance valve 6 and the remote control hydraulic branch of the hydraulic check valve 7 are connected, they are connected between the fourth damping valve 3.4 and the left side of the motor pump 9, and the pressure at this point is taken to stably control the opening and closing of the two valves.

[0046] It includes three working modes, namely the fast passive lowering working mode, the active lifting working mode and the active lowering working mode.

[0047] The three working modes have a working sequence. First is the active lifting working mode, and then the fast passive lowering working mode; the active lowering working mode comes after the active lifting working mode; among them, after the active lifting working mode is completed, the first electromagnetic holding valve 4.1 and the second electromagnetic holding valve 4.2 are both powered on, putting the fast passive lowering working mode in a ready state; if the airborne equipment is in a ground working state, only the active lifting working mode and the active lowering working mode are carried out.

[0048] When in the fast passive lowering working mode, the rodless cavity of the actuating hydraulic cylinder 1 bears a high-pressure load, and the motor pump 9 is in a non-working state; the first electromagnetic holding valve 4.1 and the second electromagnetic holding valve 4.2 are both powered on, and the oil in the rodless cavity of the actuating hydraulic cylinder 1 only passes through the passive branch and flows to the rod cavity of the actuating hydraulic cylinder 1 and the booster oil tank 8 respectively. At this time, the first damping valve 3.1 and the second damping valve 3.2 are connected in parallel to generate a damping force, and the actuating hydraulic cylinder 1 retracts stably and quickly; when the object is released and before reaching the end of the actuating hydraulic cylinder 1, the actuating hydraulic cylinder 1 performs a buffering movement.

[0049] When in the active lifting working mode, the rodless cavity of the actuating hydraulic cylinder 1 bears a high-pressure load, the first electromagnetic holding valve 4.1 and the second electromagnetic holding valve 4.2 are not powered on, the motor pump 9 is in a working state, the motor pump 9 outputs high-pressure oil, which passes through the second branch and enters the rodless cavity of the actuating hydraulic cylinder 1, causing the piston of the actuating hydraulic cylinder 1 to extend; the oil in the rod cavity of the actuating hydraulic cylinder 1 passes through the first branch and enters one side of the motor pump 9, and the first oil replenishing branch supplements the oil difference between the two cavities of the actuating hydraulic cylinder 1 through the motor pump 9.

[0050] When in the active lowering working mode, the rodless chamber of the actuating hydraulic cylinder 1 bears a high-pressure load. The first electromagnetic holding valve 4.1 and the second electromagnetic holding valve 4.2 are both de-energized. The motor pump 9 is in the working state. The motor pump 9 outputs high-pressure oil, which enters the rod chamber of the actuating hydraulic cylinder 1 through the first branch, causing the piston of the actuating hydraulic cylinder 1 to retract. The oil in the rodless chamber of the actuating hydraulic cylinder 1 enters the other side of the motor pump 9 through the second branch, and the excess oil enters the pressurizing oil tank 8 through the second supplementary oil circuit. In this working mode, the fourth damping valve 3.4 generates a stable high pressure in front of the valve, controls the opening of the hydraulic control check valve 7, and controls the opening of the balance valve 6, so that the actuating hydraulic cylinder 1 retracts smoothly and the object is lowered smoothly.

[0051] The present invention is designed in a parallel layout structure. The motor pump, the actuating hydraulic cylinder, and the control driver are in a parallel layout and are connected by flanges and threaded structures. This layout method can meet the requirements of a narrow installation space for the pylon, and has the advantages of a compact structure, high reliability, and maintenance-free.

[0052] The present invention designs a heavy-duty pilot balance circuit and a pump control for low-speed and large-load drive, realizing the problem of active lowering of the heavy load of the pylon and the function of stopping at any position; a remote control balance valve is set in the rodless chamber, and the remote control pressure comes from the rod chamber oil circuit, and a throttle valve is set to ensure the reliability of the remote control pressure.

[0053] The present invention designs a fast-lowering differential circuit to realize the passive fast-lowering function of the pylon; when the pylon is in the lowering function, it is required to be completed within a certain time range. A double-redundancy solenoid valve and a throttle valve differential circuit are designed, and at the same time, the electro-hydrostatic servo actuator is approximately a closed-end cavity for buffering and vibration damping.

[0054] The present invention adopts a flow matching design method to meet the requirements of the narrow installation space of the pylon device, and designs an asymmetric actuating form by using a small pressurizing oil tank, a hydraulic control check valve, and a single-rod asymmetric hydraulic cylinder; the area difference between the rod chamber and the rodless chamber of the asymmetric hydraulic cylinder is the annular area of the piston rod, and this area accounts for less than 8% of the entire rodless chamber area. When the actuator moves, the volume of oil that needs to be supplemented by the oil tank or returned to the oil tank is small, and the flow matching of the asymmetric electro-hydrostatic servo mechanism can be realized through the small oil tank and the hydraulic control check valve.

[0055] The present invention adopts a segmented modular mechanical structure design method. The actuating hydraulic cylinder is arranged in the middle. The control driver has a relatively large structure and is arranged in the upper section of the actuating hydraulic cylinder. The motor pump and the solenoid valve have relatively small structures and are arranged in the lower section of the actuating hydraulic cylinder. Other valve parts and structural parts are installed inside or at the rear end of the tail section of the actuating hydraulic cylinder.

[0056] The present invention integrates the controller and the actuating actuator, and the pressure sensor is integrated into the cavity of the controller housing, with strong anti-electromagnetic interference ability.

[0057] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and decorations made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention all fall within the protection scope of the technical solution of the present invention.

Claims

1. A multi-mode integrated hydrostatic servo mechanism, characterized in that Including: An actuating hydraulic cylinder (1), a first damping valve (3.1), a second damping valve (3.2), a third damping valve (3.3), a fourth damping valve (3.4), a first electromagnetic holding valve (4.1), a second electromagnetic holding valve (4.2), a first check valve (5.1), a second check valve (5.2), a third check valve (5.3), a balance valve (6), a pilot-operated check valve (7), a pressurizing oil tank (8), and a motor pump (9); Wherein, the actuating hydraulic cylinder (1) includes a rod chamber and a rodless chamber, and one side of the first damping valve (3.1), the second damping valve (3.2), and the third damping valve (3.3) is communicated with the rodless chamber of the actuating hydraulic cylinder (1); The first damping valve (3.1) and the first electromagnetic holding valve (4.1) are connected in series to form a first parallel oil circuit, the second damping valve (3.2) and the second electromagnetic holding valve (4.2) are connected in series to form a second parallel oil circuit, and the first parallel oil circuit and the second parallel oil circuit are redundant to each other; After these two parallel oil circuits are connected in series with the first check valve (5.1), they are communicated with the rod chamber of the actuating hydraulic cylinder (1); after these two parallel oil circuits are connected in series with the second check valve (5.2), they are communicated with the pressurizing oil tank (8); these two parallel oil circuits and the first check valve (5.1) and the second check valve (5.2) form a passive branch; The servo mechanism includes a first branch, a first oil replenishing branch, a second branch, and a second oil replenishing branch; First branch: The rod chamber of the actuating hydraulic cylinder (1) is connected in series with the fourth damping valve (3.4) and then communicated with one side of the motor pump (9); First oil replenishing branch: The pressurizing oil tank (8) is connected in series with the third check valve (5.3) and then communicated with one side of the motor pump (9); Second branch: The rodless chamber of the actuating hydraulic cylinder (1) is connected in series with the third damping valve (3.3) and the balance valve (6) in sequence and then communicated with the other side of the motor pump (9); Second oil replenishing branch: The pressurizing oil tank (8) is connected in series with the pilot-operated check valve (7) and then communicated with the other side of the motor pump (9).

2. The multi-mode integrated hydrostatic servo mechanism according to claim 1, wherein It further includes a first pressure sensor (10.1), a second pressure sensor (10.2), and a third pressure sensor (10.3). The first pressure sensor (10.1) is connected to the rodless chamber of the actuating hydraulic cylinder (1) to measure the pressure of the rodless chamber; the second pressure sensor (10.2) is connected to the pressurizing oil tank (8) to measure the pressure of the pressurizing oil tank; the third pressure sensor (10.3) is connected to one side of the motor pump (9) to measure the pressure on one side of the motor pump (9) and indirectly measure the pressure of the rod chamber of the actuating hydraulic cylinder (1).

3. A multi-mode integrated hydrostatic servo mechanism according to claim 1, wherein, After the remote control hydraulic branch of the balance valve (6) and the remote control hydraulic branch of the pilot-operated check valve (7) are connected, they are connected between the fourth damping valve (3.4) and the left side of the motor pump (9) to take the pressure at this point and stably control the opening and closing of the two valves.

4. A multi-mode integrated hydrostatic servo mechanism according to claim 1, characterized in that, It includes three working modes, namely a fast passive lowering working mode, an active lifting working mode, and an active lowering working mode.

5. A multi-mode integrated hydrostatic servo mechanism according to claim 4, characterized in that, The three working modes have a working sequence. First is the active lifting working mode, then is the fast passive lowering working mode; the active lowering working mode comes after the active lifting working mode.

6. A multi-mode integrated hydrostatic servo mechanism according to claim 4 or 5, characterized in that, When in the fast passive lowering working mode, the rodless cavity of the actuating hydraulic cylinder (1) bears a high-pressure load, and the motor pump (9) is in a non-working state; both the first electromagnetic holding valve (4.1) and the second electromagnetic holding valve (4.2) are powered on. The oil in the rodless cavity of the actuating hydraulic cylinder (1) only passes through the passive branch and flows to the rod cavity of the actuating hydraulic cylinder (1) and the pressurizing oil tank (8) respectively. At this time, the first damping valve (3.1) and the second damping valve (3.2) are connected in parallel to generate a damping force, and the actuating hydraulic cylinder (1) retracts stably and quickly; when the object is released and before reaching the end of the actuating hydraulic cylinder (1), the actuating hydraulic cylinder (1) performs a buffering movement.

7. A multi-mode integrated hydrostatic servo mechanism according to claim 4 or 5, characterized in that, When in the active lifting working mode, the rodless cavity of the actuating hydraulic cylinder (1) bears a high-pressure load, both the first electromagnetic holding valve (4.1) and the second electromagnetic holding valve (4.2) are not powered on, and the motor pump (9) is in a working state. The motor pump (9) outputs high-pressure oil, which passes through the second branch and enters the rodless cavity of the actuating hydraulic cylinder (1) to make the piston of the actuating hydraulic cylinder (1) extend; the oil in the rod cavity of the actuating hydraulic cylinder (1) passes through the first branch and enters one side of the motor pump (9). The first oil replenishing branch replenishes the oil difference between the two cavities of the actuating hydraulic cylinder (1) through the motor pump (9).

8. A multi-mode integrated hydrostatic servo mechanism according to claim 4 or 5, characterized in that, When in the active lowering working mode, the rodless cavity of the actuating hydraulic cylinder (1) bears a high-pressure load, both the first electromagnetic holding valve (4.1) and the second electromagnetic holding valve (4.2) are not powered on, and the motor pump (9) is in a working state. The motor pump (9) outputs high-pressure oil, which passes through the first branch and enters the rod cavity of the actuating hydraulic cylinder (1) to make the piston of the actuating hydraulic cylinder (1) retract. The oil in the rodless cavity of the actuating hydraulic cylinder (1) passes through the second branch and enters the other side of the motor pump (9). The excess oil enters the pressurizing oil tank (8) through the second oil replenishing circuit.

9. A multi-mode integrated hydrostatic servo mechanism according to claim 8, characterized in that, In the active lowering working mode, the fourth damping valve (3.4) generates a stable high pressure in front of the valve, controls the opening of the hydraulic control check valve (7), and controls the opening of the balance valve (6) to make the actuating hydraulic cylinder (1) retract smoothly and the object be lowered smoothly.

10. A multi-mode integrated hydrostatic servo mechanism according to claim 5, characterized in that, Among them, After the active lifting working mode is completed, both the first electromagnetic holding valve (4.1) and the second electromagnetic holding valve (4.2) are powered on to make the fast passive lowering working mode in a ready state; if the airborne equipment is in a ground working state, only the active lifting working mode and the active lowering working mode are performed.

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