Direct-driven rotary servo valve

Abstract

The utility model relates to a direct drive type rotary servo valve, and relates to the field of hydraulic components, the direct drive type rotary servo valve comprises a valve body, a valve sleeve, a rotor valve core and a servo driving mechanism, a plurality of hydraulic oil ports are formed in the valve body, a plurality of valve cavities communicated with the hydraulic oil ports are formed in the valve body, the valve sleeve is fixed in the valve body, and the rotor valve core is fixed in the valve sleeve. The valve sleeve is arranged in the valve cavity, a plurality of valve sleeve valve ports communicated with the valve cavity are formed in the wall of the valve sleeve, the rotor valve element comprises a valve element part and a rotor part which are integrally formed, the valve element part is rotationally arranged in the valve sleeve, a plurality of valve element oil grooves are formed in the side wall of the valve sleeve, and the servo driving mechanism corresponds to the rotor part so that the rotor valve element can be driven to rotate. The control precision of the servo valve can be improved.

Description

Technical Field

[0001] The present application relates to the field of hydraulic components, and in particular to a direct-drive rotary servo valve. Background Art

[0002] Hydraulic valve is a hydraulic component used to control liquid pressure, flow and flow direction in hydraulic transmission. It can be operated in manual, hydraulic control or electric control mode, and is an indispensable component in the field of hydraulic transmission. Electro-hydraulic servo valve, also known as servo valve, is a hydraulic valve that can control the output modulated flow and pressure through closed-loop control under the control of analog electrical signals. It has the advantages of fast dynamic response, high control accuracy and long service life. It is widely used in high-precision mechatronics systems, aerospace, ships, metallurgy, chemical industry and other fields, and electro-hydraulic servo control systems of large test equipment.

[0003] According to the different ways of movement of the valve core in the valve body, servo valves can be divided into sliding servo valves and rotary servo valves. The rotary servo valve controls the pressure, flow and flow direction of the liquid by controlling the rotation direction and rotation angle of the valve core in the valve body. During the control process, the axial movement of the valve core is not required, and no external leakage will be formed. At the same time, the valve core can be remotely moved under the direct drive of the servo motor without the need for conversion between rotary motion and linear motion. It has the advantages of small leakage, stable operation and high control accuracy. According to the different ways of driving the valve core, servo valves can be divided into two-stage servo valves and direct-drive servo valves. Direct-drive servo valves use servo drive devices to directly drive the movement of the valve core. It has the advantages of simple valve structure, high control reliability and long service life.

[0004] The existing rotary direct-drive servo valve is usually made of a servo motor integrated on the valve body. The servo motor and the valve core are connected to each other through a transmission connection structure, which affects the driving efficiency and driving accuracy of the valve core. In order to ensure the flow of liquid, the valve core usually has a certain volume and mass, which not only requires the servo motor to have a larger driving force, but also leads to a longer response time of the servo valve. Summary of the invention

[0005] In order to improve the control accuracy of a servo valve, the present application provides a rotary direct-drive servo valve.

[0006] The rotary direct-drive servo valve provided in this application adopts the following technical solution:

[0007] A direct-drive rotary servo valve comprises a valve body, a valve sleeve, a rotor valve core and a servo drive mechanism, wherein the valve body is provided with a plurality of hydraulic oil ports, and a plurality of valve cavities respectively connected with the hydraulic oil ports are provided inside the valve body, the valve sleeve is fixed inside the valve body, and a plurality of valve sleeve valve ports connected with the valve cavities are provided on the wall, the rotor valve core comprises an integrally formed valve core portion and a rotor portion, the valve core portion is rotatably arranged in the valve sleeve, and a plurality of valve core oil grooves are provided on the side wall, and the servo drive mechanism is arranged corresponding to the rotor portion so as to be able to drive the rotor valve core to rotate.

[0008] By adopting the above technical solution, by using a plurality of valve sleeve valve ports provided on the valve sleeve and a plurality of valve core oil grooves provided on the valve core part, the size of the on-off and flow area between the valve core oil groove and the corresponding valve sleeve valve port can be changed when the rotor valve core rotates, so that the flow rate, flow direction and pressure of the liquid can be controlled. By using the rotor part of the rotor valve core, the rotor valve core can be rotated under the drive of the servo drive mechanism, so that the valve core part of the rotor valve core rotates, forming the rotation of the valve core part under the direct drive of the servo drive mechanism, avoiding the setting of a transmission connection structure between the valve core and the drive shaft of the servo motor, improving the transmission accuracy and transmission efficiency, thereby improving the control accuracy of the servo valve, which is conducive to reducing the response time of the servo valve.

[0009] In a specific possible implementation scheme, the servo drive mechanism includes a motor housing, a stator and a magnetic encoder, the motor housing is fixed at one end of the valve body, the stator is fixed in the motor housing, the rotor part is installed in the stator, and the magnetic encoder is arranged at the end of the rotor part.

[0010] By adopting the above technical solution, the angular displacement of the rotor valve core can be fed back in real time by using the end magnetic encoder arranged on the rotor part, so that the rotor valve core displacement can be closed-loop controlled by the servo control circuit, thereby forming precise control of the flow area between the valve core oil groove and the valve sleeve valve port, thereby improving the control accuracy of the servo valve.

[0011] In a specific possible implementation scheme, the direct-drive rotary servo valve of the present application also includes a rotor seat, which is fixed on the valve body between the motor housing and the valve body, and the rotor part is enclosed in the rotor seat through the gap between the rotor part and the stator.

[0012] By adopting the above technical solution and utilizing the rotor seat fixed between the motor housing and the valve body, it is possible to isolate the servo valve liquid passage from the electric control circuit, thereby preventing the influence of liquid leakage on the electric control circuit.

[0013] In a specific feasible implementation scheme, the rotor valve core also includes a connecting portion, which is arranged between the valve core portion and the rotor portion, a first bearing mounting seat is arranged at the end of the valve core portion, a second bearing mounting seat is arranged on the connecting portion, a third bearing mounting portion is arranged at the end of the rotor portion, a first bearing mounting hole and a second bearing mounting hole are respectively arranged at both ends of the valve body, a third bearing mounting hole is arranged at the end inside the rotor seat, and bearings are installed between the first bearing mounting seat and the first bearing mounting hole, between the second bearing mounting seat and the second bearing mounting hole, and between the third bearing mounting portion and the third bearing mounting hole.

[0014] By adopting the above technical solution and utilizing three bearings respectively arranged at different positions of the rotor valve core, it is beneficial to improve the smoothness of the rotation of the rotor valve core, reduce the resistance of the rotor valve core rotation, and improve the response speed of the rotor valve core.

[0015] In a specific possible implementation manner, a hollow cavity is arranged inside the rotor part, a permanent magnet mounting column is arranged on the rotor part, and an annular permanent magnet is arranged on the permanent magnet mounting column.

[0016] By adopting the above technical solution, the hollow cavity is provided inside the rotor part, which can effectively reduce the mass of the rotor part with a larger diameter, reduce the motion inertia of the rotor valve core, and improve the response speed of the valve core rotation. By using the annular permanent magnets provided on the permanent magnet mounting column of the rotor part, the rotor part can be driven to produce rotational motion under the action of the current in the stator coil. Compared with the traditional multi-tile structure permanent magnets, it not only eliminates the risk of permanent magnets falling off, but also can reduce the magnetic pole spacing, improve the cogging torque of the motor, improve the rotational stability of the rotor part, and improve the control accuracy of the servo valve.

[0017] In a specific feasible implementation scheme, the hydraulic oil ports on the valve body include P port, T port, A port and B port, a valve body main hole is arranged inside the valve body, and the valve cavity includes T1 cavity, A cavity, P cavity, B cavity and T2 cavity arranged in sequence on the valve body main hole, the T1 cavity and T2 cavity are connected to the T port, and the A cavity, P cavity and B cavity are connected to the A port, P port and B port respectively.

[0018] By adopting the above technical solution, the T1 cavity, A cavity, P cavity, B cavity and T2 cavity arranged on the valve body main control in sequence are used to control the connection state between the A cavity and the B cavity and the T1 cavity and the T2 cavity or the P cavity, thereby controlling the flow state of the liquid in the A cavity and the B cavity, and forming a control of the flow direction of the liquid. The P port, T port, A port and B port arranged on the valve body can be connected to the external pressure liquid, the oil tank and the two working oil ports respectively, so that the direct-drive rotary servo valve of the present application can control the pressure liquid to flow to the A port or the B port through the P port to drive the hydraulic power device to work, and at the same time, the liquid refluxed from the B port or the A port flows back to the oil tank through the T port to realize the circulation of the pressure liquid.

[0019] In a specific possible implementation scheme, the valve sleeve valve port includes a valve sleeve T1 port corresponding to the T1 cavity, a valve sleeve A port corresponding to the A cavity, a valve sleeve P port corresponding to the P cavity, a valve sleeve B port corresponding to the B cavity, and a valve sleeve T2 port corresponding to the T2 cavity; the valve core oil groove includes a valve core A groove, a valve core P groove, and a valve core B groove, the valve core A groove extends from a portion of the valve core portion corresponding to the valve sleeve T1 port to a portion corresponding to the valve sleeve A port, the valve core P groove extends from a portion of the valve core portion corresponding to the valve sleeve A port to a portion corresponding to the valve sleeve B port, the valve core B groove extends from a portion of the valve core portion corresponding to the valve sleeve B port to a portion corresponding to the valve sleeve T2 port, and the valve sleeve T1 port, valve sleeve A port, valve sleeve P port, valve sleeve B port, and valve sleeve T2 port The port, and the valve core A groove, valve core P groove and valve core B groove are arranged so that, in different rotation states of the rotor valve core, the valve sleeve T1 port and the valve sleeve A port, the valve sleeve P port and the valve sleeve A port and the valve sleeve B port, and the valve sleeve B port and the valve sleeve T2 port are all in a first state in which they are isolated from each other, or the valve sleeve T1 port and the valve sleeve A port are connected through the valve core A groove, the valve sleeve P port is isolated from the valve sleeve A port and connected to the valve sleeve B port through the valve core P groove, and the valve sleeve B port is isolated from the valve sleeve T2 port in a second state, or the valve sleeve T1 port and the valve sleeve A port are isolated, the valve sleeve P port and the valve sleeve A port are connected through the valve core P groove and isolated from the valve sleeve B port, and the valve sleeve B port and the valve sleeve T2 port are connected through the valve core B groove in a third state.

[0020] By adopting the above technical solution, by using the cooperation between the valve core A groove, valve core P groove and valve core B groove and the valve sleeve T1 port, valve sleeve A port, valve sleeve P port, valve sleeve B port and valve sleeve T2 port, it is possible to form different overlapping states between the valve core A groove and the valve sleeve T1 port and valve sleeve A port, between the valve core P groove and the valve sleeve A port, between the valve sleeve P port and the valve sleeve B port, and between the valve core B groove and the valve sleeve B port and the valve sleeve T2 port, and the flow area of ​​the flow port formed by the overlap between them, thereby controlling the flow direction and flow rate of the flowing liquid. By using different rotation states of the rotor valve core, it is possible to form a zero position state in which the P port, T port, A port and B port of the servo valve are all blocked, a first liquid supply state in which the P port is connected to the B port and the A port is connected to the T port, and a second liquid supply state in which the P port is connected to the A port and the B port is connected to the T port, thereby controlling the on-off and liquid supply direction of the liquid supply path.

[0021] In a specific possible implementation scheme, the valve sleeve T1 port includes a first valve sleeve T1 port and a second valve sleeve T1 port which are arranged radially opposite to each other in the valve sleeve, the valve sleeve A port includes a first valve sleeve A port and a second valve sleeve A port which are arranged radially opposite to each other in the valve sleeve, the valve sleeve P port includes a first valve sleeve P port and a second valve sleeve P port which are arranged radially opposite to each other in the valve sleeve, the valve sleeve B port includes a first valve sleeve B port and a second valve sleeve B port which are arranged radially opposite to each other in the valve sleeve, the valve sleeve T2 port includes a first valve sleeve T2 port and a second valve sleeve T2 port which are arranged radially opposite to each other in the valve sleeve, and the valve core A groove includes a first valve sleeve T2 port and a second valve sleeve T2 port which are arranged radially opposite to each other in the valve core portion. a first valve core A groove and a second valve core A groove, the valve core P groove includes a first valve core P groove and a second valve core P groove which are arranged radially opposite to each other on the valve core portion, and the valve core B groove includes a first valve core B groove and a second valve core B groove which are arranged radially opposite to each other on the valve core portion; when the rotor valve core is in the first state, the first valve core A groove and the second valve core A groove are both isolated from the first valve sleeve T1 port and the second valve sleeve T1 port, the first valve core P groove and the second valve core P groove are both isolated from the first valve sleeve A port, the second valve sleeve A port, the first valve sleeve B port and the second valve sleeve B port, and the first valve core B groove and the second valve core B groove are isolated from the first valve sleeve T2 port and the second valve sleeve T3 port. The two valve sleeve T2 ports are both isolated; when the rotor valve core is in the second state, the first valve core A groove is respectively connected to the first valve sleeve T1 port and the first valve sleeve A port, the second valve core A groove is respectively connected to the second valve sleeve T1 port and the second valve sleeve A port, the first valve core P groove is respectively connected to the first valve sleeve P port and the second valve sleeve B port, the second valve core P groove is respectively connected to the second valve sleeve P port and the first valve sleeve B port, and the first valve core P groove and the second valve core P groove are both isolated from the first valve sleeve A port and the second valve sleeve A port, the first valve core B groove and the second valve core B groove are connected to the first valve sleeve T2 port and the second valve sleeve T2 port are both isolated; when the rotor valve core is in the third state, the first valve core A groove and the second valve core A groove are both isolated from the first valve sleeve T1 port and the second valve sleeve T1 port, the first valve core P groove is respectively connected with the first valve sleeve A port and the first valve sleeve P port, the second valve core P groove is respectively connected with the second valve sleeve A port and the second valve sleeve P port, and the first valve core P groove and the second valve core P groove are both isolated from the first valve sleeve B port and the second valve sleeve B port, the first valve core B groove is respectively connected with the first valve sleeve B port and the first valve sleeve T2 port, and the second valve core B groove is respectively connected with the second valve sleeve B port and the second valve sleeve T2 port.

[0022] By adopting the above technical scheme, utilizing the paired arrangement of the valve sleeve T1 port, valve sleeve A port, valve sleeve P port, valve sleeve B port and valve sleeve T2 port in the radial relative positions of the valve sleeve, and the paired arrangement of the valve core A groove, valve core P groove and valve core B groove in the radial relative positions of the valve core part, it is possible to achieve synchronous change in the relative positions of the two groups of valve core A grooves, valve core P grooves and valve core B grooves and the two groups of valve sleeve T1 port, valve sleeve A port, valve sleeve P port, valve sleeve B port and valve sleeve T2 port, thereby utilizing the limited rotor valve core volume to form a larger flow cross-sectional area of ​​the flow channel, thereby improving the flow capacity of the flow channel and reducing the pressure loss of the flow channel.

[0023] In a specific feasible implementation scheme, a first oil return shaft hole is provided on the end face of the valve core portion, a first oil return groove is provided on the outer peripheral surface of the valve core portion corresponding to the T1 cavity, and a first oil return connecting hole is provided between the first oil return groove and the first oil return shaft hole; a second oil return shaft hole is provided on the end face of the rotor portion, a second oil return groove is provided on the outer peripheral surface of the valve core portion corresponding to the T2 cavity, a second oil return connecting hole is provided between the second oil return groove and the second oil return shaft hole, and a rotor portion oil return hole connected to the second oil return shaft hole is provided on the outer peripheral surface of the rotor portion adjacent to the valve core portion.

[0024] By adopting the above technical solution, the first oil return shaft hole, the first oil return connection hole and the first oil return groove, which are arranged at the end of the valve core and are interconnected, can form an oil return channel connecting the gap at the end of the valve core and the T1 cavity, so that a small amount of liquid leaking to the end surface of the valve core can flow back to the T1 cavity during the rotation of the rotor valve core. The second oil return groove, which is arranged at a position relative to the T2 cavity of the valve core, and the second oil return connection hole, the second oil return shaft hole and the rotor oil return hole, which are interconnected with the second oil return groove, can form an oil return channel connecting the gap at the end of the rotor and the gap around the rotor with the T2 cavity, so that a small amount of liquid leaking to the periphery of the valve rotor and the end surface of the rotor can flow back to the T2 cavity during the rotation of the rotor valve core.

[0025] In a specific feasible implementation scheme, valve body cylindrical pin holes are provided on the side walls at both ends of the valve body main hole, valve sleeve cylindrical pin holes are provided at corresponding positions on the outside of both ends of the valve sleeve, and the valve sleeve is installed in the valve body main hole through the cooperation of an elastic cylindrical pin with the valve body cylindrical pin hole and the valve sleeve cylindrical pin hole.

[0026] By adopting the above technical solution, the valve sleeve can be stably fixed inside the valve body by using the elastic cylindrical pin that cooperates with the cylindrical pin hole of the valve body and the cylindrical pin hole of the valve sleeve, thereby preventing the valve sleeve from rotating and sliding inside the valve body.

[0027] In a specific possible implementation scheme, the valve sleeve and the rotor valve core are both made of ZrO2 ceramic material by 3D printing.

[0028] By adopting the above technical solution, the valve sleeve and rotor valve core made of ZrO2 ceramic material can reach a hardness of 85HRC after firing, so that the hardness of the rotor valve core and the valve sleeve far exceeds the hardness of common particulate pollutants in the oil, thereby preventing the particulate pollutants mixed in the oil from damaging the rotor valve core and the valve sleeve, and improving the anti-pollution ability, reliability and service life of the direct-drive rotary servo valve of this application. Using 3D printing technology to make valve sleeves and rotor valve cores can reduce the processing amount in the manufacturing process, reduce the cost of raw materials and processing costs, and can easily form a cavity structure inside the rotor valve core, avoiding the processing holes on the wall of the rotor valve core, thereby reducing the mass of the rotor valve core to a greater extent on the basis of ensuring the structural strength of the rotor valve core, and greatly improving the response speed and response frequency of the rotor valve core.

[0029] In a specific possible implementation manner, there is a clearance fit between the outer circumferential surface of the rotor valve core and the valve sleeve.

[0030] By adopting the above technical solution and utilizing the clearance between the outer peripheral surface of the rotor valve core and the valve sleeve, it is possible to prevent close contact between the rotor valve core and the valve sleeve, thereby reducing the wear between the rotor valve core and the valve sleeve during rotation, thereby increasing the service life and reliability of the servo valve and facilitating improving the frequency response of the servo valve.

[0031] In summary, the present application includes at least one of the following beneficial technical effects:

[0032] By using the valve core part and the rotor part respectively arranged at both ends of the rotor valve core, the valve core part and the rotor part can form an integrated synchronous movement, thereby avoiding the need to set a connecting structure connecting the servo drive mechanism and the valve core in the servo valve, thereby improving the control accuracy and response speed of the servo valve.

[0033] By using a magnetic encoder arranged at the end of the rotor part, the angular displacement of the rotor valve core can be detected in real time while a rotor seat is arranged between the rotor part and the stator to form isolation between them. Therefore, the rotation angle of the rotor valve core can be accurately controlled in a closed loop through a servo control circuit, thereby improving the flow control accuracy of the servo valve.

[0034] By utilizing the cooperation between the valve sleeve valve port arranged on the valve sleeve and the valve core oil groove arranged on the outer peripheral surface of the valve core part, the on-off and flow area between different valve core oil grooves and the corresponding valve sleeve oil ports can be conveniently controlled by controlling the rotation direction and rotation angle of the rotor valve core, thereby realizing the control of liquid flow direction, flow rate and pressure; and by arranging the valve core oil groove on the outer peripheral surface of the valve core part along the axial direction of the valve core part, a plurality of mutually independent valve core oil grooves can be arranged on the valve core part, and the flow cross-sectional area of ​​the valve core oil groove can be increased to a greater extent, thereby improving the flow rate of the direct-drive rotary servo valve of the present application and reducing the pressure drop when the liquid passes through.

[0035] Using ZrO2 ceramic material to 3D print the rotor valve core and valve sleeve can not only form more cavities inside the rotor valve core, reduce the mass of the rotor valve core, and improve the response speed of the rotor valve core, but also improve the hardness and wear resistance of the rotor valve core and valve sleeve, thereby improving the anti-pollution ability and service life of the direct-drive rotary servo valve of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of an embodiment of the present application.

[0037] Figure 2 This is a cross-sectional schematic diagram of an embodiment of the present application.

[0038] Figure 3 This is a schematic diagram of a valve body in one embodiment of the present application.

[0039] Figure 4 for Figure 3 Sectional view in the middle AA direction.

[0040] Figure 5 for Figure 3 Cross-sectional view along the middle BB.

[0041] Figure 6 This is a schematic diagram of a valve sleeve in one embodiment of the present application.

[0042] Figure 7 for Figure 6 Cross-sectional views in CC, DD, EE, FF and GG directions.

[0043] Figure 8 This is a schematic diagram of a rotor valve core in one embodiment of the present application.

[0044] Fig. 9 This is a schematic diagram of the rotor valve core at another angle in an embodiment of the present application.

[0045] Fig.10 for Fig. 9 Cross-sectional views in the HH, II and JJ directions.

[0046] Fig.11 for Fig. 9 Sectional view in KK orientation.

[0047] Fig.12 This is a schematic diagram of a rotor valve core in a first state in one embodiment of the present application.

[0048] Fig.13 for Fig.12 Cross-sectional views in the L1-L1, M1-M1, N1-N1, O1-O1 and P1-P1 directions.

[0049] Fig.14 This is a functional principle diagram of a servo valve when the rotor valve core is in a first state in one embodiment of the present application.

[0050] Fig.15 This is a schematic diagram of the rotor valve core in a second state in one embodiment of the present application.

[0051] Fig.16 for Fig.15 Cross-sectional views in the L2-L2, M2-M2, N2-N2, O2-O2 and P2-P2 directions.

[0052] Fig.17 This is a functional principle diagram of the servo valve when the rotor valve core is in the second state in one embodiment of the present application.

[0053] Fig.18 This is a schematic diagram of the rotor valve core in a third state in one embodiment of the present application.

[0054] Fig.19 for Fig.18 Cross-sectional views in the L3-L3, M3-M3, N3-N3, O3-O3 and P3-P3 directions.

[0055] Fig. 20 This is a functional principle diagram of the servo valve when the rotor valve core is in the third state in one embodiment of the present application.

[0056] Description of reference numerals: 1. valve body; 101. P port; 102. T port; 103. A port; 104. B port; 11. first bearing mounting hole; 12. second bearing mounting hole; 13. valve body main hole; 131. T1 cavity; 132. A cavity; 133. P cavity; 134. B cavity; 135. T2 cavity; 136. valve body cylindrical pin hole; 2. valve sleeve; 21. valve sleeve T1 port; 211. first valve sleeve T1 port; 2 12. Second valve sleeve T1 port; 22. Valve sleeve A port; 221. First valve sleeve A port; 222. Second valve sleeve A port; 23. Valve sleeve P port; 231. First valve sleeve P port; 232. Second valve sleeve P port; 24. Valve sleeve B port; 241. First valve sleeve B port; 242. Second valve sleeve B port; 25. Valve sleeve T2 port; 251. First valve sleeve T2 port; 252. Second valve sleeve T2 port; 26. Valve sleeve cylindrical pin hole; 3 , rotor valve core; 301, first valve core A groove; 302, second valve core A groove; 303, first valve core P groove; 304, second valve core P groove; 305, first valve core B groove; 306, second valve core B groove; 31, valve core part; 311, first bearing mounting seat; 312, first oil return shaft hole; 313, first oil return groove; 314, first oil return connecting hole; 315, second oil return groove; 316, second oil return connecting hole ; 32. Rotor part; 321. Third bearing mounting part; 322. Hollow cavity; 323. Permanent magnet mounting column; 324. Second oil return shaft hole; 325. Rotor part oil return hole; 33. Connecting part; 331. Second bearing mounting seat; 34. Annular permanent magnet; 4. Servo drive mechanism; 41. Motor housing; 42. Stator; 43. Magnetic encoder; 44. Housing end cover; 5. Rotor seat; 51. Third bearing mounting hole. DETAILED DESCRIPTION

[0057] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0058] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In this specification, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be understood as indicating or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second" and "third" may explicitly or implicitly include one or more of the said features.

[0060] An embodiment of the direct-drive rotary servo valve of the present application is as follows: Figure 1 and Figure 2 The valve body 1, valve sleeve 2, rotor valve core 3 and servo drive mechanism 4 are shown. The valve body 1 not only constitutes the external shape of the direct-drive rotary servo valve of the present application, but also constitutes the installation carrier of other structural parts of the direct-drive rotary servo valve of the present application. The valve body 1 adopts generative AI design and is made by 3D printing. It can form a flow channel with equal wall thickness and a structure without process holes, which can significantly reduce raw materials, thus having the advantages of light weight, small size and high power density. Of course, the valve body 1 can also be formed by other existing processing methods. For example Figures 3 to 5 The valve body 1 is provided with a plurality of hydraulic oil ports connected to an external hydraulic system, through which the flow direction and flow rate of the hydraulic oil input from the external hydraulic system are controlled. A plurality of valve cavities are provided inside the valve body 1, and the plurality of valve cavities are respectively connected to the plurality of hydraulic oil ports.

[0061] like Figure 6 and Figure 7 As shown, the valve sleeve 2 is a sleeve fixed inside the valve body 1, which is usually made of wear-resistant metal materials, and can also be made of other wear-resistant materials such as wear-resistant ceramics or wear-resistant polymer materials. A plurality of valve sleeve valve ports are arranged on the wall of the valve sleeve 2, and each valve sleeve valve port communicates with the valve cavity outside the valve sleeve 2 and the tube cavity inside the valve sleeve 2.

[0062] like Figure 8-Figure 11 As shown, the rotor valve core 3 is an integrally formed structural part made of a suitable material such as metal, ceramic or polymer material. One end of the rotor valve core 3 is processed into a valve core part 31 for controlling the flow direction and flow rate of hydraulic oil, and the other end is processed into a rotor part 32 for driving the rotor valve core 3 to rotate. The valve core part 31 is installed in the tube cavity inside the valve sleeve 2 and can rotate in the tube cavity of the valve sleeve 2. A plurality of valve core oil grooves recessed into the inside of the valve core part 31 are provided on the outer peripheral surface of the valve core part 31. When the rotor valve core 3 rotates at different angles in the valve sleeve 2, the valve core oil grooves can form different degrees of connection or isolation between different valve sleeve valve ports, thereby controlling the flow rate and flow direction of the hydraulic oil flowing into the valve cavity in the valve body 1 through the hydraulic oil port. The rotor part 32 is usually located outside the valve body 1 , and is provided with a power component that matches the servo drive mechanism 4 , so that the rotor part 32 can form a rotational motion relative to the servo drive mechanism 4 , driving the valve core part 31 at the other end to rotate in the valve sleeve 2 .

[0063] The servo drive mechanism 4 is fixed on the valve body 1 and arranged at a position corresponding to the rotor part 32. It is usually sleeved around the rotor part 32 and combined with the rotor part 32 to form a servo drive device similar to a servo motor. Usually, a rotor structure composed of a coil or a permanent magnet is arranged on the rotor part 32, and a stator structure composed of a coil is arranged on the part of the servo drive mechanism 4 located around the rotor structure. When current is passed through the coil of the stator structure, the rotor structure can be driven, and the rotor structure drives the rotor valve core 3 to rotate relative to the servo drive mechanism 4, thereby directly driving the rotor valve core 3. A servo control circuit is arranged in the servo drive mechanism 4, and the servo control circuit can be used to perform closed-loop control on the rotation of the rotor structure, thereby accurately controlling the rotation position of the rotor valve core 3.

[0064] Compared with the conventional direct-drive servo valve formed by arranging a servo motor in the valve body, the rotor valve core 3 in the direct-drive rotary servo valve of the present application has both the function of a valve core and the function of a rotor, and the control of the rotation state of the rotor part 32 by the servo control circuit directly controls the rotation state of the valve core part 31, so the control of the rotation position of the valve core part 31 is more precise. In the conventional direct-drive servo valve, the servo control system of the servo motor only controls the rotation position of the motor rotor, and then the transmission structure transmits the rotation of the motor rotor to the valve core, driving the valve core to rotate. Therefore, the control of the rotation position of the valve core by the servo control system in the conventional direct-drive servo valve is an indirect control transmitted through the transmission structure, and the transmission of the transmission structure will inevitably bring about transmission errors, which will inevitably affect the control accuracy of the servo valve.

[0065] In some embodiments of the direct-drive rotary servo valve of the present application, as Figure 1 and Figure 2As shown, the servo drive mechanism 4 includes a motor housing 41, a stator 42 and a magnetic encoder 43. The motor housing 41 is a cover shell arranged at the peripheral part of the servo drive mechanism 4. The motor housing 41 is fixed to one end of the valve body 1, and is used to position and protect other structures of the servo drive mechanism 4. The stator 42 is fixed in the motor housing 41. When the motor housing 41 is installed on the valve body 1, the rotor part 32 is located in the stator 42. Usually, a permanent magnet is arranged on the rotor part 32, and the stator 42 is a stator coil with an iron core. A housing end cover 44 is arranged at the end of the motor housing 41, and a PCBA (printed circuit board assembly) is arranged in the housing end cover 44. The PCBA carries a servo control circuit, and the PCBA is electrically connected to the stator line. The servo control circuit can control the current in the electronic coil in the stator 42, forming a driving force for the rotor structure on the rotor part 32, and driving the rotor valve core 3 to rotate. A plug connected to an external power supply and control system is provided on the housing end cover 44, and the plug is connected to the PCBA, so that the operation of the servo valve can be controlled by the external control system. The magnetic encoder 43 is fixedly arranged at the end of the rotor part 32 and is electrically connected to the PCBA. The magnetic encoder 43 can accurately detect the rotation angle of the rotor valve core 3, and transmit the detected angle signal to the PCBA, and realize the accurate closed-loop control of the rotation position of the rotor valve core 3 through the servo control circuit, and thereby control the opening size of the connecting channel between the valve core oil groove and the valve sleeve valve port, so as to realize the accurate control of the flow rate.

[0066] In a preferred embodiment of the direct-drive rotary servo valve of the present application, as Figure 2 As shown, the direct-drive rotary servo valve of the present application further includes a rotor seat 5. The rotor seat 5 is generally in the shape of a cylinder with one end open and the other end closed, and its open end is fixed on the valve body 1, and is fixed between the motor housing 41 and the valve body 1. The rotor seat 5 covers the rotor part 32 in the rotor seat 5 through the gap between the rotor part 32 and the stator 42, thereby forming an isolation between the rotor part 32 and the stator 42. The arrangement of the rotor seat 5 in the motor housing 41 separates a space connected to the interior of the valve body 1, isolates the valve structure space and the electric control structure space inside the servo valve, and prevents the hydraulic oil in the valve structure space from leaking into the electric control structure space, thereby causing pollution and interference to the control and drive circuits in the servo drive mechanism 4.

[0067] As a specific embodiment of the direct-drive rotary servo valve of the present application, Figure 8 and Fig. 9 As shown, a connecting portion 33 is also provided on the rotor valve core 3. The connecting portion 33 is provided between the valve core portion 31 and the rotor portion 32. A first bearing mounting seat 311 is provided at the end of the valve core portion 31, a second bearing mounting seat 331 is provided on the connecting portion 33, and a third bearing mounting portion 321 is provided at the end of the rotor portion 32.

[0068] like Figure 4 As shown, a first bearing mounting hole 11 corresponding to the first bearing mounting seat 311 and a second bearing mounting hole 12 corresponding to the second bearing mounting seat 331 are respectively provided at both ends of the valve body 1; Figure 2 As shown, a third bearing mounting hole 51 is provided on the inner side of the end of the rotor seat 5. A bearing is respectively installed between the first bearing mounting seat 311 and the first bearing mounting hole 11, between the second bearing mounting seat 331 and the second bearing mounting hole 12, and between the third bearing mounting portion 321 and the third bearing mounting hole 51. The three bearings are used to form support at both ends and the middle of the rotor valve core 3, so that the rotor valve core 3 can stably rotate inside the valve body 1, which is conducive to improving the position accuracy and rotation response speed of the rotor valve core 3.

[0069] In some embodiments of the direct-drive rotary servo valve of the present application, as Figure 2 and Fig.11 As shown, a hollow cavity 322 is provided inside the rotor part 32. The rotor valve core 3 can be integrally printed and formed by 3D printing, and the hollow cavity 322 can be printed and formed during the 3D printing process.

[0070] The outer peripheral surface of the rotor part 32 is processed to form a cylindrical permanent magnet mounting column 323, and a radially magnetized annular permanent magnet 34 is sleeved and installed on the permanent magnet mounting column 323. The annular permanent magnet 34 is usually made of ferromagnetic material and is radially magnetized as required to form a rotor permanent magnet magnetic ring structure. Compared with the tile-shaped structure permanent magnet used in the servo motor in the existing direct-drive servo valve, the magnetic ring is integrally sleeved on the permanent magnet mounting column 323, eliminating the risk of the permanent magnet falling off. Moreover, the annular permanent magnet 34 magnetized on the same annular ferromagnetic material has a smaller magnetic pole spacing, which improves the tooth torque between the rotor part 32 and the stator 42, which is beneficial to improve the rotation accuracy of the rotor valve core 3, thereby improving the control accuracy of the servo valve.

[0071] In order to improve the driving efficiency of the servo drive mechanism 4 on the annular permanent magnet 34, the permanent magnet mounting column 323 usually has a larger outer diameter. The setting of the hollow cavity 322 can effectively reduce the mass of the rotor valve core 3. Combined with the driving mode of the servo drive mechanism 4 directly driving the rotor part 32, the response speed of the rotor valve core 3 is faster, so the direct drive rotary servo valve of the present application has a higher frequency response, which can reach 300HZ, far exceeding the servo valve of the traditional structure.

[0072] In some embodiments of the direct-drive rotary servo valve of the present application, as Figures 3 to 5As shown, the hydraulic oil ports provided on the valve body 1 include the P port 101, the T port 102, the A port 103 and the B port 104, and the valve body main hole 13 penetrating the two ends of the valve body 1 is provided inside the valve body 1. Multiple valve cavities are formed by extending from the side walls of the valve body main hole 13 to the periphery, and the multiple valve cavities are arranged at intervals on the side walls of the valve body main hole 13, including the T1 cavity 131, the A cavity 132, the P cavity 133, the B cavity 134 and the T2 cavity 135 arranged in sequence. The T1 cavity 131 and the T2 cavity 135 are interconnected through the flow channel set inside the side wall of the valve body 1, and are connected to the T port 102 through the flow channel inside the side wall of the valve body 1; the bottom of the A cavity 132 is connected to the A port 103 through the flow channel set inside the side wall of the valve body 1; the bottom of the P cavity 133 is connected to the P port 101 through the flow channel set inside the side wall of the valve body 1; the bottom of the B cavity 134 is connected to the B port 104 through the flow channel set inside the side wall of the valve body 1. The cavity and flow channel in the valve body 1 are formed by 3D printing, and then processed by the grinding process, so that the flow channel is smoother and the turning is smoother, which can effectively reduce the pressure loss during the flow of the liquid and improve the flow capacity of the liquid. Compared with the traditional servo valve of the same specification, the wall thickness structure with high power density formed by generative AI design can increase the rated flow of the servo valve by 1-2 times.

[0073] In a preferred embodiment of the direct-drive rotary servo valve of the present application, as Figures 6 to 11 As shown, the valve sleeve valve ports provided on the valve sleeve 2 include the valve sleeve T1 port 21, the valve sleeve A port 22, the valve sleeve P port 23, the valve sleeve B port 24 and the valve sleeve T2 port 25. The valve sleeve 2 is fixed in the valve body main hole 13 of the valve body 1, so that the valve sleeve T1 port 21 is located in the T1 cavity 131, the valve sleeve A port 22 is located in the A cavity 132, the valve sleeve P port 23 is located in the P cavity 133, the valve sleeve B port 24 is located in the B cavity 134, and the valve sleeve T2 port 25 is located in the T2 cavity 135.

[0074] The valve core oil groove provided on the rotor valve core 3 includes a valve core A groove, a valve core P groove and a valve core B groove provided at different positions on the valve core portion 31. When the rotor valve core 3 is installed in the valve sleeve 2, the valve core A groove on the outer peripheral surface of the valve core portion 31 corresponding to the valve sleeve T1 port 21 extends in the axial direction to a position corresponding to the valve sleeve A port 22; the valve core P groove on the outer peripheral surface of the valve core portion 31 corresponding to the valve sleeve A port 22 extends in the axial direction to a position corresponding to the valve sleeve B port 24; the valve core B groove on the outer peripheral surface of the valve core portion 31 corresponding to the valve sleeve B port 24 extends to a position corresponding to the valve sleeve T2 port 25.

[0075] By respectively setting the valve sleeve T1 port 21, valve sleeve A port 22, valve sleeve P port 23, valve sleeve B port 24 and valve sleeve T2 port 25 at different circumferential positions on the valve sleeve 2, and the valve core A groove, valve core P groove and valve core B groove at different circumferential positions on the outer circumferential surface of the rotor valve core 3, when the relative position of the rotor valve core 3 in the valve sleeve 2 is in a set state, as shown in FIG. Fig.12 and Fig.13 As shown, the valve sleeve T1 port 21 and the valve sleeve A port 22 are not connected to the valve core A groove at the same time, that is, at least one of the valve sleeve T1 port 21 and the valve sleeve A port 22 is closed by the outer peripheral surface of the rotor valve core 3, so that the valve sleeve T1 port 21 and the valve sleeve A port 22 are in a partitioned state; and any two of the valve sleeve P port 23, the valve sleeve A port 22 and the valve sleeve B port 24 are not connected to the valve core P groove at the same time, that is, the valve sleeve P port 23, the valve sleeve A port 22 and the valve sleeve B port 24 are not connected to the valve core P groove at the same time, that is, the valve sleeve P port 23, the valve sleeve A port 22 and the valve sleeve B port 24 are not connected to the valve core P groove at the same time. At least two of the sleeve B ports 24 are closed by the outer circumference of the rotor valve core 3, so that any two of the valve sleeve P port 23, the valve sleeve A port 22 and the valve sleeve B port 24 are in a cut-off state; at the same time, the valve sleeve B port 24 and the valve sleeve T2 port 25 are not connected to the valve core B groove at the same time, that is, at least one of the valve sleeve B port 24 and the valve sleeve T2 port 25 is closed by the outer circumference of the rotor valve core 3, so that the valve sleeve B port 24 and the valve sleeve T2 port 25 are in a cut-off state. At this time, the state of the rotor valve core 3 in the valve sleeve 2 is called the first state, and the servo valve is in a state such as Fig.14 The P port 101 , the T port 102 , the A port 103 and the B port 104 are shown in a neutral state where they are separated from each other.

[0076] When the rotor valve core 3 rotates to another state in the valve sleeve 2, such as Fig.15 and Fig.16 As shown, the valve sleeve T1 port 21 and the valve sleeve A port 22 can be connected to the valve core A groove at the same time, that is, the valve sleeve T1 port 21 and the valve sleeve A port 22 are connected to each other through the valve core A groove; and the valve sleeve P port 23 and the valve sleeve B port 24 are connected to the valve core P groove at the same time, while the valve sleeve A port 22 is not connected to the valve core P groove, that is, the valve sleeve P port 23 and the valve sleeve B port 24 are connected to each other through the valve core P groove, and the valve sleeve A port 22 is closed by the outer peripheral surface of the rotor valve core 3; at the same time, the valve sleeve B port 24 and the valve sleeve T2 port 25 are not connected to the valve core B groove at the same time, that is, at least one of the valve sleeve B port 24 and the valve sleeve T2 port 25 is closed by the outer peripheral surface of the rotor valve core 3, so that the valve sleeve B port 24 and the valve sleeve T2 port 25 are in a cut-off state. At this time, the state of the rotor valve core 3 in the valve sleeve 2 is called the second state, and the servo valve is in a state as shown in FIG. Fig.17 The functional state shown is that the P port 101 is connected to the B port 104 , and the A port 103 is connected to the T port 102 .

[0077] When the rotor valve core 3 rotates to another state in the valve sleeve 2, Fig.18 and Fig.19 As shown, it is possible to make the valve sleeve T1 port 21 and the valve sleeve A port 22 not be connected to the valve core A groove at the same time, that is, at least one of the valve sleeve T1 port 21 and the valve sleeve A port 22 is closed by the outer peripheral surface of the rotor valve core 3, so that the valve sleeve T1 port 21 and the valve sleeve A port 22 are in a cut-off state; and, the valve sleeve A port 22 and the valve sleeve P port 23 are connected to the valve core P groove at the same time, while the valve sleeve B port 24 is not connected to the valve core P groove, that is, the valve sleeve A port 22 and the valve sleeve P port 23 are connected to each other through the valve core P groove, while the valve sleeve B port 24 is closed by the outer peripheral surface of the rotor valve core 3; at the same time, the valve sleeve B port 24 and the valve sleeve T2 port 25 are connected to the valve core B groove at the same time, that is, the valve sleeve B port 24 and the valve sleeve T2 port 25 are connected to each other through the valve core B groove. At this time, the state of the rotor valve core 3 in the valve sleeve 2 is called the third state, and the servo valve is in the following state. Fig.12 The functional state shown is that the P port 101 is connected to the A port 103 , and the B port 104 is connected to the T port 102 .

[0078] During the process of the rotor valve core 3 rotating from the first state to the second state or the third state, as the rotation angle of the rotor valve core 3 changes, the communication area between the valve sleeve T1 port 21, the valve sleeve A port 22, the valve sleeve P port 23, the valve sleeve B port 24 and the valve sleeve T2 port 25 and the corresponding valve core A groove, valve core P groove or valve core B groove gradually increases or decreases. In this way, by controlling the rotation angle of the rotor valve core 3, the flow area between the corresponding oil ports of the servo valve can be accurately controlled.

[0079] As a specific implementation of the direct-drive rotary servo valve of the present application, Figure 6 and Figure 7 As shown, the valve sleeve T1 port 21 includes a first valve sleeve T1 port 211 and a second valve sleeve T1 port 212 which are arranged radially opposite to each other in the valve sleeve 2; the valve sleeve A port 22 includes a first valve sleeve A port 221 and a second valve sleeve A port 222 which are arranged radially opposite to each other in the valve sleeve 2; the valve sleeve P port 23 includes a first valve sleeve P port 231 and a second valve sleeve P port 232 which are arranged radially opposite to each other in the valve sleeve 2; the valve sleeve B port 24 includes a first valve sleeve B port 241 and a second valve sleeve B port 242 which are arranged radially opposite to each other in the valve sleeve 2; and the valve sleeve T2 port 25 includes a first valve sleeve T2 port 251 and a second valve sleeve T2 port 252 which are arranged radially opposite to each other in the valve sleeve 2.

[0080] like Figures 8 to 11As shown, the valve core A groove includes a first valve core A groove 301 and a second valve core A groove 302 which are radially opposite to each other in the valve core part 31, the valve core P groove includes a first valve core P groove 303 and a second valve core P groove 304 which are radially opposite to each other in the valve core part 31, and the valve core B groove includes a first valve core B groove 305 and a second valve core B groove 306 which are radially opposite to each other in the valve core part 31.

[0081] like Fig.12 and Fig.13 As shown, when the rotor valve core 3 is in the first state, the first valve sleeve T1 port 211 and the second valve sleeve T1 port 212 are both closed by the outer peripheral surface of the valve core part 31, so that the first valve sleeve T1 port 211 and the second valve sleeve T1 port 212 are in a cut-off state from the first valve core A groove 301 and the second valve core A groove 302; the first valve core P groove 303 and the second valve core P groove 304 and the first valve sleeve A port 221, the second valve sleeve A port 222, the first valve sleeve B port 241 and the second valve sleeve B port 242 are both in a cut-off state. The inner surface of the sleeve 2 is closed, so that the first valve sleeve A port 221, the second valve sleeve A port 222, the first valve sleeve B port 241 and the second valve sleeve B port 242 are all in a cut-off state from the first valve core P groove 303 and the second valve core P groove 304; at the same time, the first valve sleeve T2 port 251 and the second valve sleeve T2 port 252 are both closed by the outer peripheral surface of the valve core part 31, so that the first valve sleeve T2 port 251 and the second valve sleeve T2 port 252 are all in a cut-off state from the first valve core B groove 305 and the second valve core B groove 306.

[0082] like Fig.15 and Fig.16 As shown, when the rotor valve core 3 rotates clockwise to the second state, one end of the first valve core A groove 301 is interconnected with the first valve sleeve T1 port 211, and the other end is connected to the first valve sleeve A port 221; at the same time, one end of the second valve core A groove 302 is interconnected with the second valve sleeve T1 port 212, and the other end is connected to the second valve sleeve A port 222, and two liquid flow channels are formed between the T1 cavity 131 and the A cavity 132, which are respectively formed by the first valve sleeve A port 221, the first valve core A groove 301 and the first valve sleeve T1 port 211 being interconnected, and a liquid flow channel is formed by the second valve sleeve A port 222, the second valve core A groove 302 and the second valve sleeve T1 port 212 being interconnected, the A port 103 is connected to the T port 102, and the flow cross-sectional area between the T1 cavity 131 and the A cavity 132 is larger.

[0083] The first valve core P groove 303 and the second valve core P groove 304 corresponding to the first valve sleeve A port 221 and the second valve sleeve A port 222 are closed by the inner surface of the valve sleeve 2, so that the first valve core P groove 303 and the second valve core P groove 304 are in a cut-off state from the first valve sleeve A port 221 and the second valve sleeve A port 222, and the P port 101 and the A port 103 are cut off from each other; the first valve sleeve P port 231 and the second valve sleeve B port 242 are both connected to the first valve core P groove 303, and the second valve sleeve P port 2 32 and the first valve sleeve B port 241 are both connected to the second valve core P groove 304, and two liquid flow channels are formed between the P chamber 133 and the B chamber 134, which are respectively formed by the first valve sleeve P port 231, the first valve core P groove 303 and the second valve sleeve B port 242 being interconnected, and a liquid flow channel is formed by the second valve sleeve P port 232, the second valve core P groove 304 and the first valve sleeve B port 241 being interconnected. The P port 101 and the B port 104 are interconnected, and the flow cross-sectional area between the P chamber 133 and the B chamber 134 is larger.

[0084] The first valve sleeve T2 port 251 and the second valve sleeve T2 port 252 are both closed by the outer peripheral surface of the valve core part 31, so that the first valve core B groove 305 and the second valve core B groove 306 are in a cut-off state from the first valve sleeve T2 port 251 and the second valve sleeve T2 port 252, and the B port 104 and the T port 102 are cut off from each other.

[0085] like Fig.18 and Fig.19 As shown, when the rotor valve core 3 rotates counterclockwise to the third state, the first valve sleeve T1 port 211 and the second valve sleeve T1 port 212 are both closed by the outer peripheral surface of the valve core portion 31, so that the first valve core A groove 301 and the second valve core A groove 302 are in a cut-off state from the first valve sleeve T1 port 211 and the second valve sleeve T1 port 212, and the A port 103 and the T port 102 are cut off from each other.

[0086] The first valve sleeve A port 221 and the first valve sleeve P port 231 are interconnected with the first valve core P groove 303, and the second valve sleeve A port 222 and the second valve sleeve P port 232 are interconnected with the second valve core P groove 304, and two liquid flow channels formed by the first valve sleeve P port 231, the first valve core P groove 303 and the first valve sleeve A port 221 being interconnected, and two liquid flow channels formed by the second valve sleeve P port 232, the second valve core P groove 304 and the second valve sleeve A port 222 being interconnected are formed between the P cavity 133 and the A cavity 132. The P port 101 and the A port 103 are interconnected, and the flow cross-sectional area between the P cavity 133 and the A cavity 132 is larger; the first valve core P groove 303 and the second valve core P groove 304 and the first valve sleeve B port 241 and the second valve sleeve B port 242 corresponding to the parts are closed by the inner surface of the valve sleeve 2, so that the first valve core P groove 303 and the second valve core P groove 304 and the first valve sleeve B port 241 and the second valve sleeve B port 242 are in a cut-off state, and the P port 101 and the B port 104 are cut off from each other.

[0087] One end of the first valve core B groove 305 is interconnected with the first valve sleeve B port 241, and the other end is connected to the first valve sleeve T2 port 251; at the same time, one end of the second valve core B groove 306 is interconnected with the second valve sleeve B port 242, and the other end is connected to the second valve sleeve T2 port 252, forming two liquid flow channels between the B chamber 134 and the T2 chamber 135, which are respectively formed by the first valve sleeve B port 241, the first valve core B groove 305 and the first valve sleeve T2 port 251 being interconnected, and a liquid flow channel is formed by the second valve sleeve B port 242, the second valve core B groove 306 and the second valve sleeve T2 port 252 being interconnected, the B port 104 is connected to the T port 102, and the flow cross-sectional area between the B chamber 134 and the T2 chamber 135 is larger.

[0088] Similarly, during the process of the rotor valve core 3 rotating from the first state to the second state or the third state, as the rotation angle of the rotor valve core 3 changes, the communication areas between the first valve sleeve T1 port 211, the second valve sleeve T1 port 212, the first valve sleeve A port 221, the second valve sleeve A port 222, the first valve sleeve P port 231, the second valve sleeve P port 232, the first valve sleeve B port 241, the second valve sleeve B port 242, the first valve sleeve T2 port 251, the second valve sleeve T2 port 252 and the corresponding first valve sleeve A groove 301, the second valve sleeve A groove 302, the first valve sleeve P groove 303, the second valve sleeve P groove 304, the first valve sleeve B groove 305 or the second valve sleeve B groove 306 gradually increase or decrease. In this way, by controlling the rotation angle of the rotor valve core 3, the flow area between the corresponding oil ports of the servo valve can be accurately controlled.

[0089] In some embodiments of the direct-drive rotary servo valve of the present application, as Figures 9 to 11As shown, a first oil return shaft hole 312 is provided on the end surface of the valve core portion 31 at one end of the rotor valve core 3 along the central axis of the rotor valve core 3. An axially extending first oil return groove 313 is provided on the outer peripheral surface of the valve core portion 31, and the first oil return groove 313 extends to a position corresponding to the T1 cavity 131 inside the valve body 1, so that during the rotation of the rotor valve core, the first oil return groove 313 can be connected to the T1 cavity 131 through the valve sleeve T1 port 21. Two or more first oil return grooves 313 on the outer peripheral surface of the valve core portion 31 can also be provided, and the two or more first oil return grooves 313 are evenly distributed on the outer peripheral surface of the valve core portion 31. A first oil return connecting hole 314 is arranged between the first oil return groove 313 and the first oil return shaft hole 312, so that a small amount of hydraulic oil leaking to the end of the rotor valve core 3 along the gap between the rotor valve core 3, the valve sleeve 2 and the valve body main hole 13 can flow back to the T1 chamber 131 through the first oil return shaft hole 312, the first oil return connecting hole 314 and the first oil return groove 313.

[0090] A second oil return shaft hole 324 is provided on the end surface of the rotor part 32 along the central axis of the rotor valve core 3. The second oil return shaft hole 324 extends along the axial direction of the rotor valve core 3 to the position inside the valve core part 31 corresponding to the T2 cavity 135 inside the valve body 1. A second oil return groove 315 extending axially is provided on the outer peripheral surface of the valve core part 31 at a position opposite to the T2 cavity 135. One or more second oil return grooves 315 can be provided. When multiple second oil return grooves 315 are provided, the multiple second oil return grooves 315 are evenly distributed on the outer peripheral surface of the valve core part 31. A second oil return connecting hole 316 is provided between the second oil return groove 315 and the second oil return shaft hole 324; one or more rotor part oil return holes 325 are provided on the outer peripheral surface of the rotor part 32 adjacent to one end of the valve core part 31, and the rotor part oil return hole 325 is connected to the second oil return shaft hole 324. A small amount of hydraulic oil leaking toward the rotor part 32 can be returned to the T2 chamber 135 through the oil return channel composed of the rotor part oil return hole 325 , the second oil return shaft hole 324 , the second oil return connecting hole 316 and the second oil return groove 315 .

[0091] In a preferred embodiment of the direct-drive rotary servo valve of the present application, as Figure 4 and Figure 6As shown, valve body cylindrical pin holes 136 are provided on the side walls of the valve body main hole 13 at both ends of the valve body 1, and valve sleeve cylindrical pin holes 26 are provided at corresponding positions on the outer surface of both ends of the valve sleeve 2. The number of valve body cylindrical pin holes 136 of the valve body 1 and valve sleeve cylindrical pin holes 26 at both ends of the valve sleeve 2 can be the same or different, but the number of valve body cylindrical pin holes 136 and valve sleeve cylindrical pin holes 26 at the same end is the same. After the valve sleeve 2 is inserted into the valve body main hole 13, an elastic cylindrical pin is inserted into the pin hole composed of the valve body cylindrical pin hole 136 and the valve sleeve cylindrical pin hole 26 to install and fix the valve sleeve 2 in the valve body main hole 13 to prevent the valve sleeve 2 from rotating and sliding in the valve body main hole 13. The end of the valve body 1 is closed by a valve end cover, and an O-type sealing ring is provided between the valve end cover and the valve body 1 to prevent leakage of hydraulic oil. The valve end cover can be fixed to the valve body 1 by screws.

[0092] In some embodiments of the direct-drive rotary servo valve of the present application, the valve sleeve 2 and the rotor valve core 3 are both made of ZrO2 ceramic material by 3D printing. The hardness of the valve sleeve 2 and the rotor valve core 3 made of ZrO2 ceramic material after firing can reach 85HRC, which is far higher than the hardness of the usual particulate contaminants in the oil. In this way, even if there are particulate contaminants in the oil, it will not cause damage to the rotor valve core 3 or the valve sleeve 2. Therefore, the direct-drive rotary servo valve of the present application has a longer service life, a stronger anti-pollution ability of the servo valve, and a higher reliability.

[0093] In some embodiments of the direct-drive rotary servo valve of the present application, after the rotor valve core 3 is installed in the valve sleeve 2, a clearance fit is formed between the outer peripheral surface of the rotor valve core 3 and the valve sleeve 2. In this way, the rotor valve core 3 and the valve sleeve 2 are not in contact with each other, and when the rotor valve core 3 rotates in the valve sleeve 2, the wear of the rotor valve core 3 and the valve sleeve 2 is smaller, thereby reducing the contact wear between the traditional servo valve core and the valve sleeve, and effectively extending the service life and reliability of the direct-drive rotary servo valve of the present application.

[0094] In the description of the present application, the description with reference to the terms "one embodiment", "specific embodiment", "preferred embodiment", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0095] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A direct drive rotary servo valve, characterized in that: The invention comprises a valve body (1), a valve sleeve (2), a rotor valve core (3) and a servo drive mechanism (4); the valve body (1) is provided with a plurality of hydraulic oil ports, and a plurality of valve chambers respectively connected to the hydraulic oil ports are provided inside the valve body; the valve sleeve (2) is fixed inside the valve body (1), and a plurality of valve sleeve valve ports connected to the valve chambers are provided on the wall; the rotor valve core (3) comprises an integrally formed valve core portion (31) and a rotor portion (32); the valve core portion (31) is rotatably arranged in the valve sleeve (2), and a plurality of valve core oil grooves are provided on the side wall; the servo drive mechanism (4) is arranged corresponding to the rotor portion (32) so as to be able to drive the rotor valve core (3) to rotate.

2. The direct drive rotary servo valve according to claim 1, characterized in that: The servo drive mechanism (4) comprises a motor housing (41), a stator (42), and a magnetic encoder (43); the motor housing (41) is fixed to one end of the valve body (1); the stator (42) is fixed in the motor housing (41); the rotor part (32) is installed in the stator (42); and the magnetic encoder (43) is arranged at an end of the rotor part (32).

3. The direct drive rotary servo valve according to claim 2, characterized in that: It also comprises a rotor seat (5), wherein the rotor seat (5) is fixed between the motor housing (41) and the valve body (1) on the valve body (1), and the rotor portion (32) is enclosed in the rotor seat (5) through a gap between the rotor portion (32) and the stator (42).

4. The direct drive rotary servo valve according to claim 3, characterized in that: The rotor valve core (3) further comprises a connecting portion (33), wherein the connecting portion (33) is arranged between the valve core portion (31) and the rotor portion (32); a first bearing mounting seat (311) is arranged at an end of the valve core portion (31); a second bearing mounting seat (331) is arranged on the connecting portion (33); a third bearing mounting portion (321) is arranged at an end of the rotor portion (32); a first bearing mounting hole (11) and a second bearing mounting hole (12) are respectively arranged at two ends of the valve body (1); a third bearing mounting hole (51) is arranged at an end in the rotor seat (5); and bearings are installed between the first bearing mounting seat (311) and the first bearing mounting hole (11), between the second bearing mounting seat (331) and the second bearing mounting hole (12), and between the third bearing mounting portion (321) and the third bearing mounting hole (51).

5. The direct drive rotary servo valve according to claim 2, characterized in that: A hollow cavity (322) is provided inside the rotor part (32), a permanent magnet mounting column (323) is provided on the rotor part (32), and an annular permanent magnet (34) is provided on the permanent magnet mounting column (323).

6. The direct drive rotary servo valve according to claim 1, characterized in that: The hydraulic oil ports on the valve body (1) include a P port (101), a T port (102), an A port (103) and a B port (104); a valve body main hole (13) is provided inside the valve body (1); the valve chamber includes a T1 chamber (131), an A chamber (132), a P chamber (133), a B chamber (134) and a T2 chamber (135) arranged in sequence on the valve body main hole (13); the T1 chamber (131) and the T2 chamber (135) are in communication with the T port (102); the A chamber (132), the P chamber (133) and the B chamber (134) are in communication with the A port (103), the P port (101) and the B port (104) respectively.

7. The direct drive rotary servo valve according to claim 6, characterized in that: The valve sleeve valve ports include a valve sleeve T1 port (21) corresponding to the T1 chamber (131), a valve sleeve A port (22) corresponding to the A chamber (132), a valve sleeve P port (23) corresponding to the P chamber (133), a valve sleeve B port (24) corresponding to the B chamber (134), and a valve sleeve T2 port (25) corresponding to the T2 chamber (135); the valve core oil groove includes a valve core A groove, a valve core P groove, and a valve core B groove, wherein the valve core A groove is formed by the valve core portion (31) and the valve sleeve T1 port (21) corresponding to each other. The valve core P groove extends from the portion of the valve core portion (31) corresponding to the valve sleeve A port (22) to the portion corresponding to the valve sleeve B port (24), and the valve core B groove extends from the portion of the valve core portion (31) corresponding to the valve sleeve B port (24) to the portion corresponding to the valve sleeve T2 port (25). The valve sleeve T1 port (21), the valve sleeve A port (22), the valve sleeve P port (23), the valve sleeve B port (24) and the valve sleeve T2 port (25) are ), and the valve core A groove, the valve core P groove and the valve core B groove are arranged so that, in different rotation states of the rotor valve core (3), the valve sleeve T1 port (21) and the valve sleeve A port (22), the valve sleeve P port (23) and the valve sleeve A port (22) and the valve sleeve B port (24), and the valve sleeve B port (24) and the valve sleeve T2 port (25) are all in a first state of being isolated from each other, or the valve sleeve T1 port (21) and the valve sleeve A port (22) are connected through the valve core A groove, and the valve sleeve P port (23) and the valve sleeve B port (24) are connected. ) is isolated from the valve sleeve A port (22) and communicated with the valve sleeve B port (24) through the valve core P groove, and the valve sleeve B port (24) is isolated from the valve sleeve T2 port (25); or the valve sleeve T1 port (21) is isolated from the valve sleeve A port (22), the valve sleeve P port (23) is communicated with the valve sleeve A port (22) through the valve core P groove and isolated from the valve sleeve B port (24), and the valve sleeve B port (24) is communicated with the valve sleeve T2 port (25) through the valve core B groove.

8. The direct drive rotary servo valve according to claim 7, characterized in that: The valve sleeve T1 port (21) comprises a first valve sleeve T1 port (211) and a second valve sleeve T1 port (212) which are arranged radially opposite to each other on the valve sleeve (2); the valve sleeve A port (22) comprises a first valve sleeve A port (221) and a second valve sleeve A port (222) which are arranged radially opposite to each other on the valve sleeve (2); the valve sleeve P port (23) comprises a first valve sleeve P port (231) and a second valve sleeve P port (232) which are arranged radially opposite to each other on the valve sleeve (2); the valve sleeve B port (24) comprises a first valve sleeve B port (241) and a second valve sleeve B port (242) which are arranged radially opposite to each other on the valve sleeve (2); the valve sleeve T2 port (25) comprises a first valve sleeve B port (241) and a second valve sleeve B port (242) which are arranged radially opposite to each other on the valve sleeve (2); With respect to the first valve sleeve T2 port (251) and the second valve sleeve T2 port (252), the valve core A groove includes a first valve core A groove (301) and a second valve core A groove (302) which are arranged radially opposite to each other in the valve core portion (31), the valve core P groove includes a first valve core P groove (303) and a second valve core P groove (304) which are arranged radially opposite to each other in the valve core portion (31), and the valve core B groove includes a first valve core B groove (305) and a second valve core B groove (306) which are arranged radially opposite to each other in the valve core portion (31); when the rotor valve core (3) is in the first state, the first valve core A groove (301) and the second valve core A groove (302) are aligned with the first valve sleeve T1 port (21 The rotor valve core (3) is in the second state, the first valve core A groove (301) is connected to the first valve sleeve T1 port (211) and the second valve sleeve A port (212), the first valve core P groove (303) and the second valve core P groove (304) are connected to the first valve sleeve A port (221), the second valve sleeve A port (222), the first valve sleeve B port (241) and the second valve sleeve B port (242), and the first valve core B groove (305) and the second valve core B groove (306) are connected to the first valve sleeve T2 port (251) and the second valve sleeve T2 port (252); when the rotor valve core (3) is in the second state, the first valve core A groove (301) is connected to the first valve sleeve T1 port (211) and the first valve sleeve A port (221), respectively, and the second valve core A groove (302) is connected to the first valve sleeve T2 port (251). The first valve core P groove (303) is respectively connected to the first valve core P groove (231) and the second valve core B groove (242), the second valve core P groove (304) is respectively connected to the second valve core P groove (232) and the first valve core B groove (241), and the first valve core P groove (303) and the second valve core P groove (304) are both isolated from the first valve core A groove (221) and the second valve core A groove (222), and the first valve core B groove (305) and the second valve core B groove (306) are both isolated from the first valve core T2 groove (251) and the second valve core T2 groove (252);When the rotor valve core (3) is in the third state, the first valve core A groove (301) and the second valve core A groove (302) are both isolated from the first valve sleeve T1 port (211) and the second valve sleeve T1 port (212), the first valve core P groove (303) is respectively connected to the first valve sleeve A port (221) and the first valve sleeve P port (231), and the second valve core P groove (304) is respectively connected to the second valve sleeve A port (222) and the second valve sleeve P port (232), the first valve core P groove (303) and the second valve core P groove (304) are both isolated from the first valve sleeve B port (241) and the second valve sleeve B port (242), the first valve core B groove (305) is respectively connected to the first valve sleeve B port (241) and the first valve sleeve T2 port (251), and the second valve core B groove (306) is respectively connected to the second valve sleeve B port (242) and the second valve sleeve T2 port (252). ; 9. The direct drive rotary servo valve according to claim 6, characterized in that: A first oil return shaft hole (312) is provided on the end surface of the valve core part (31), a first oil return groove (313) is provided on the outer peripheral surface of the valve core part (31) corresponding to the T1 cavity (131), and a first oil return connecting hole (314) is provided between the first oil return groove (313) and the first oil return shaft hole (312); a second oil return shaft hole (324) is provided on the end surface of the rotor part (32), a second oil return groove (315) is provided on the outer peripheral surface of the valve core part (31) corresponding to the T2 cavity (135), and a second oil return connecting hole (316) is provided between the second oil return groove (315) and the second oil return shaft hole (324); and a rotor part oil return hole (325) connected to the second oil return shaft hole (324) is provided on the outer peripheral surface of the rotor part (32) adjacent to the valve core part (31).

10. The direct drive rotary servo valve according to claim 6, characterized in that: The side walls at both ends of the valve body main hole (13) are provided with valve body cylindrical pin holes (136), and corresponding positions on the outer sides of both ends of the valve sleeve (2) are provided with valve sleeve cylindrical pin holes (26). The valve sleeve (2) is installed in the valve body main hole (13) by means of an elastic cylindrical pin that cooperates with the valve body cylindrical pin hole (136) and the valve sleeve cylindrical pin hole (26).

11. The direct-drive rotary servo valve according to any one of claims 1 to 10, characterized in that: The valve sleeve (2) and the rotor valve core (3) are both made of ZrO2 ceramic material by 3D printing.

12. The direct-drive rotary servo valve according to any one of claims 1 to 10, characterized in that: The outer peripheral surface of the rotor valve core (3) and the valve sleeve (2) are clearance-matched.

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