Servomotor redundancy control device

Abstract

The utility model discloses a servomotor redundancy control device, and belongs to the field of oil cylinder control. Comprising an electrical control system and a mechanical control system, one end of the electrical control system is connected with a first clutch, one end of the mechanical control system is connected with a second clutch, and the other end of the electrical control system is connected with a second switching valve after being connected with the other end of the mechanical control system in parallel; the third switching valve is connected with the first clutch and the second clutch, the first clutch and the second clutch are connected with the digital hydraulic cylinder, and the electrical control system, the mechanical control system, the second control valve and the third control valve are electrically connected with the PLC. According to the utility model, two completely different control sources are used for controlling the servomotor, and the clutch is used as a separation device of the two control sources to ensure the mutual independence of the two control sources, so that the two sets of control sources are mutually standby.

Description

Technical Field

[0001] This utility model belongs to the field of hydraulic cylinder control, specifically relating to a relay redundancy control device. Background Technology

[0002] Currently, most commonly used relay controllers employ a single control source, such as servo proportional valves or digital hydraulic cylinder control.

[0003] The servo valve electro-hydraulic control method involves adjusting the pilot valve port of the servo proportional valve, allowing pressurized oil to enter the servo actuator through the pilot valve. When the actuator reaches the designated position, the servo valve is adjusted to the neutral position, closing the pilot valve port and stopping the cylinder's movement.

[0004] The digital hydraulic cylinder electro-hydraulic control method integrates all electro-hydraulic control elements into a single digital cylinder, transforming complex speed and position control tasks into easily manageable digital pulse control, thereby simplifying the entire control system. A single digital pulse corresponds to one unit displacement of the cylinder, and the pulse frequency corresponds to the cylinder's movement speed, greatly simplifying the control process.

[0005] As mentioned above, most relay devices currently use a single control source, with servo proportional valves or digital hydraulic cylinders employing electro-hydraulic control. When the single control source malfunctions, the relay device will be unable to operate.

[0006] In existing relay control systems, Chinese patent CN201751565U, a utility model patent, discloses a redundant mechanical hydraulic control device using digital and proportional valves in the slow-speed control section of the guide vane relay. This device includes a switching solenoid valve, a small-wave solenoid valve, a filter, a proportional valve, a first stacked check valve, a second stacked check valve, and a stacked throttle valve connected sequentially. The input port of the switching solenoid valve is connected to one output port of the emergency stop solenoid valve. The two output ports of the switching solenoid valve are respectively connected to the input ports of the small-wave solenoid valve and the proportional valve, as well as a pressure relay. The two output ports of the small-wave solenoid valve are connected to the switching chamber of the guide vane relay via the two chambers of the second stacked check valve and the stacked throttle valve. A filter is installed between the switching solenoid valve and the proportional valve. The two output ports of the proportional valve are connected to the switching chamber of the guide vane relay via the two chambers of the first stacked check valve.

[0007] The above technologies have the following problems:

[0008] First, when a single control source fails, it is impossible to achieve redundant control between two control systems in a single control structure.

[0009] Second, the aforementioned control sources have corresponding control difficulties in redundant control, which leads to reduced control reliability.

[0010] Third, the above-mentioned control device has low integration and large space occupation. Summary of the Invention

[0011] The purpose of this invention is to overcome the aforementioned problems and propose a relay redundancy control device to solve the problem that in the existing multi-cylinder control, it is impossible to achieve mutual redundancy control between the two control systems in one control structure.

[0012] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0013] A relay redundant control device, characterized in that it includes an electrical control system and a mechanical control system, one end of the electrical control system is connected to a first clutch, one end of the mechanical control system is connected to a second clutch, the other end of the electrical control system is connected in parallel with the other end of the mechanical control system and then connected to a second switching valve, the second switching valve is connected to a third switching valve, the third switching valve is connected to the first clutch and the second clutch, and the first clutch and the second clutch are connected to a digital hydraulic cylinder; the electrical control system, the mechanical control system, the second control valve and the third control valve are electrically connected to a PLC controller.

[0014] The mechanical control system includes a right-angle transmission mechanism, a sprocket with a chain, a hydraulic motor, a throttle valve, and a first switching valve. The right-angle transmission mechanism is connected to a second clutch, and multiple sprockets are connected in parallel. The sprockets are connected in parallel and then connected to the hydraulic motor. The hydraulic motor and the throttle valve are connected in parallel and then connected to the first switching valve. The first switching valve is connected to a second switching valve, and the first switching valve is electrically connected to a PLC controller.

[0015] When the electrical control system is the main control system and the mechanical control system is the backup, the PLC controller identifies the fault in the electrical control system, controls the third switching valve to switch to the right valve position, the third switching valve controls the first clutch to disengage and the second clutch to engage; the PLC controller controls the first switching valve to switch to the left valve position.

[0016] When the electrical control system is the main control system and the mechanical control system is the backup, if the electrical control system loses power, the second switching valve will automatically switch to the left valve position. The second switching valve will control the first clutch to disengage and the second clutch to engage. The PLC controller will then control the first switching valve to switch to the left valve position.

[0017] When the mechanical control system fails and becomes the main control system, with the electrical control system as a backup, the PLC controller identifies the mechanical control system failure, controls the third switching valve to switch to the left valve position, and the third switching valve controls the second clutch to disengage and the first clutch to engage.

[0018] The servo motor in the electrical control system is electrically connected to the PLC controller.

[0019] The digital hydraulic cylinder is also equipped with a position encoder, and the number of circumferential rotations of the position encoder corresponds to the linear movement distance of the relay.

[0020] The first clutch and the second clutch are arranged symmetrically.

[0021] The right-angle transmission mechanism is coaxially arranged with the second clutch.

[0022] The right-angle transmission mechanism is coaxially arranged with the hydraulic motor and the sprocket.

[0023] The right-angle transmission mechanism is symmetrically arranged with the servo motor.

[0024] The advantages of using this utility model are:

[0025] I. Compared with the prior art, this utility model uses two completely different control sources to control the relay. A clutch is used as a separation device between the two control sources to ensure their independence and allow the two sets of control to serve as backups for each other. At the same time, the motor sprocket serves as redundancy, and the chains of multiple cylinders are mechanically connected in parallel through the chain sprocket to achieve better synchronization of movement.

[0026] Second, compared with the prior art, the clutch, servo motor and digital hydraulic control device of this utility model are arranged symmetrically, with the servo motor and motor sprocket arranged on both sides of the digital hydraulic control device. This helps to reduce the overall height and improve the integration of the digital hydraulic cylinder.

[0027] Third, compared with the prior art, for the multi-cylinder control mechanism, this proposal can use a motor sprocket mechanism as the power source, and multiple hydraulic cylinder mechanisms are connected by a chain to achieve synchronous control of multiple cylinders, which greatly reduces the difficulty of synchronous control.

[0028] Fourth, this utility model adopts a right-angle transmission mechanism, which can convert low-speed rotational motion in the vertical direction into high-speed rotational motion in the horizontal direction, reduce the rotational speed of the input gear, and improve the stability of the transmission.

[0029] V. This utility model uses a throttle valve to adjust the flow rate, limit the maximum speed of the hydraulic motor, and ensure the stability of the sprocket control. Attached Figure Description

[0030] Figure 1 This is a hydraulic schematic diagram of the control device of this utility model.

[0031] The following are labeled in the diagram: 1. Relay device, 2. Digital hydraulic cylinder, 3. Position encoder, 4. First clutch, 5. Servo motor, 6. Second clutch, 7. Right-angle transmission mechanism, 8. Sprocket, 9. Chain, 10. Hydraulic motor, 11. Throttle valve, 12. First switching valve, 13. Second switching valve, 14. Third switching valve, 15. PLC controller. Detailed Implementation

[0032] Example 1

[0033] A relay redundant control device includes an electrical control system and a mechanical control system. One end of the electrical control system is connected to a first clutch 4, and one end of the mechanical control system is connected to a second clutch 6. The other end of the electrical control system is connected in parallel with the other end of the mechanical control system and then connected to a second switching valve 13. The second switching valve 13 is connected to a third switching valve 14, which is connected to the first clutch 4 and the second clutch 6. The first clutch 4 and the second clutch 6 are connected to a digital hydraulic cylinder 2. The electrical control system, the mechanical control system, the second control valve, and the third control valve are electrically connected to a PLC controller 15.

[0034] The mechanical control system includes a right-angle transmission mechanism 7, a sprocket 8 with a chain 9, a hydraulic motor 10, a throttle valve 11, and a first switching valve 12. The right-angle transmission mechanism 7 is connected to a second clutch 6, and the right-angle transmission mechanism 7 is connected to multiple sprockets 8 connected in parallel. The sprockets 8 are connected in parallel and then connected to the hydraulic motor 10. The hydraulic motor 10 and the throttle valve 11 are connected in parallel and then connected to the first switching valve 12. The first switching valve 12 is connected to a second switching valve 13, and the first switching valve 12 is electrically connected to a PLC controller 15.

[0035] When the electrical control system is the main control system and the mechanical control system is the backup, the PLC controller 15 identifies the fault in the electrical control system, controls the third switching valve 14 to switch to the right valve position, controls the first clutch 4 to disengage and the second clutch 6 to engage, and controls the first switching valve 12 to switch to the left valve position.

[0036] When the electrical control system is the main control system and the mechanical control system is the backup, the electrical control system loses power, the second switching valve 13 automatically switches to the left valve position, the second switching valve 13 controls the first clutch 4 to disengage and the second clutch 6 to engage, and the PLC controller 15 controls the first switching valve 12 to switch to the left valve position.

[0037] When the mechanical control system fails and the electrical control system is used as a backup, the PLC controller 15 identifies the mechanical control system failure. The PLC controller 15 controls the third switching valve 14 to switch to the left valve position. The third switching valve 14 controls the second clutch 6 to disengage and the first clutch 4 to engage.

[0038] The servo motor 5 in the electrical control system is electrically connected to the PLC controller 15.

[0039] The digital hydraulic cylinder 2 is also equipped with a position encoder 3, and the number of circumferential rotations of the position encoder 3 corresponds to the linear movement distance of the relay 1.

[0040] The first clutch 4 and the second clutch 6 are arranged symmetrically.

[0041] The right-angle transmission mechanism 7 is coaxially arranged with the second clutch 6.

[0042] The right-angle transmission mechanism 7 is coaxially arranged with the hydraulic motor 10 and the sprocket 8.

[0043] The right-angle transmission mechanism 7 is symmetrically arranged with the servo motor 5.

[0044] like Figure 1 As shown, this utility model mainly consists of a relay 1, a digital hydraulic cylinder 2, a position encoder 3, a first clutch 4, a servo motor 5, a second clutch 6, a right-angle transmission mechanism 7, a sprocket 8 and a chain 9, a hydraulic motor 10, a throttle valve 11, a first switching valve 12, a second switching valve 13, a third switching valve 14, and a PLC controller 15. The position encoder 3, clutch, and servo motor 5 are all arranged on the digital hydraulic cylinder 2, resulting in a more compact arrangement that facilitates device integration and space saving.

[0045] A digital hydraulic cylinder 2 is mounted on and mechanically engaged with the relay 1. A position encoder 3 is mounted on the digital hydraulic cylinder 2, and its output shaft is mechanically engaged with the cylinder 2. Through the conversion by the digital hydraulic cylinder 2, the linear motion distance of the relay 1 is converted into the circular rotational motion of the encoder for output. The motion distance corresponds one-to-one with the number of rotations. A first clutch 4 is mounted on the digital hydraulic cylinder 2, with its input shaft coaxially connected to the cylinder 2 and its output shaft coaxially connected to the servo motor 5. The clutch separates the two control sources and is hydraulically driven. When the first clutch 4 is engaged, power can be transmitted, and the servo motor 5 can act as a power source. Its rotation drives the relay 1 through the first clutch 4 and the digital hydraulic cylinder 2. When the first clutch 4 is disengaged, the power is cut off, and the relay 1 will be unable to move.

[0046] The second clutch 6 and the right-angle transmission mechanism 7 are arranged on the side of the digital hydraulic cylinder 2, symmetrically with the servo motor 5. The right-angle transmission mechanism 7 is coaxially mounted with the clutch and is a right-angle reducer using bevel gear transmission. The input-output shaft speed ratio is 1:3, and the input and output shafts are perpendicular to each other. This can convert low-speed rotational motion in the vertical direction into high-speed rotational motion in the horizontal direction, reducing the rotational speed of the input gear and improving the stability of the transmission.

[0047] The hydraulic motor 10 is coaxially connected to the sprocket 8 and the right-angle transmission mechanism 7. The sprocket 8 is connected to the chain 9. The first switching valve 12 is a servo proportional valve, and the throttle valve 11 can adjust the flow rate and limit the maximum speed of the hydraulic motor 10. The hydraulic motor 10 mechanism serves as a redundant power source. When the second clutch 6 is engaged, oil can be supplied to the hydraulic motor 10 through the first switching valve 12, driving the hydraulic motor 10 to rotate. The power is transmitted to the digital hydraulic cylinder 2 through the chain 9, the right-angle reduction mechanism, and the second clutch 6, driving the relay 1 to move. When the mechanical control system acts as the main control system, the PLC controller 15 identifies the operation status of the mechanical control system by recognizing the operation status of the first switching valve 12.

[0048] The second switching valve 13 is a single-coil self-resetting solenoid directional valve, requiring continuous energization. The third switching valve 14 is a double-coil self-holding solenoid directional valve, serving as a switching valve controlled by the servo motor 5 and the hydraulic motor 10 under normal operating conditions. When the third switching valve 14 is in the left valve position, the servo motor 5 acts as the power source; when it is in the right valve position, the hydraulic motor 10 acts as the power source, with both serving as backups. When the entire electrical control system loses power to the main control system, the second switching valve 13 loses power and automatically switches to the left valve position. The third switching valve 14 no longer affects the overall working state. The second clutch 6 engages, the first switching valve 12 loses power and automatically switches to the left valve position. The hydraulic motor 10 rotates, driving the relay 1 to open or close, achieving the function of automatic reset of the relay 1 in the event of power failure.

[0049] When the electrical control system is the main control system and the mechanical control system is the backup, the PLC controller 15 identifies the fault in the electrical control system. The PLC controller 15 controls the third switching valve 14 to switch to the right valve position, the first clutch 4 is disengaged, the second clutch 6 is engaged, and the PLC controller 15 controls the first switching valve 12 to switch to the left valve position. At this time, the oil supply to the hydraulic motor 10 can be controlled by controlling the first switching valve 12, which drives the hydraulic motor 10 to rotate in the forward or reverse direction, thereby controlling the switching movement of the relay 1.

[0050] When the actuator is controlled by multiple hydraulic cylinders, multiple hydraulic cylinders can be mechanically connected in parallel through chain 9 and sprocket 8. When the motor chain mechanism moves, chain 9 drives the control mechanism of other relays to move synchronously, so as to achieve the synchronization of movement.

[0051] This proposal adds a motor chain type 9 mechanical control system as a backup control source to the electro-hydraulic control of the digital hydraulic cylinder 2, achieving redundant control of the relay 1. Simultaneously, a clutch is added between the servo motor 5, the hydraulic motor 10, and the digital hydraulic cylinder 2. The clutch is hydraulically driven and controlled by a switching valve. During normal operation, the electro-hydraulic control of the servo motor 5 and the control of the hydraulic motor 10 can be switched alternately. When the electrical control system of the servo motor 5 fails as the main control system, the relay 1 can continue to move through the motor sprocket 8 mechanism. When the electrical control system completely loses power as the main control system, the switching valve switches, and the hydraulic motor 10 automatically closes the relay 1 completely, achieving automatic reset. When the mechanical control system fails as the main control system, the electrical control system automatically switches to continue controlling the opening or closing movement of the relay 1.

[0052] The PLC controller used in this invention is a Siemens S7-1500.

[0053] Example 2

[0054] The specific operating logic of the relay redundancy control device is as follows:

[0055] When the electrical control system is operating normally as the main control system, the second switching valve 13 is energized in the right valve position, the third switching valve 14 is in the left valve position, the first clutch 4 is engaged, the second clutch 6 is disengaged, the motor sprocket 8 mechanism is separated from the control part of the digital hydraulic cylinder 2, and the motor status does not affect the movement of the relay 1. At this time, the servo motor 5 is used as the power source to control the digital hydraulic cylinder 2 to control the movement of the cylinder of the relay 1. The PLC controller 15 monitors the operating status of the electrical control system through the signal of the servo motor 5.

[0056] When the PLC controller 15 identifies a fault in the electrical control system, the PLC controller 15 controls the third switching valve 14 to switch to the right valve position, the first clutch 4 is disengaged, and the second clutch 6 is engaged. At this time, the PLC controller 15 controls the oil supply from the first switching valve 12 to the hydraulic motor 10, driving the hydraulic motor 10 to rotate in the forward or reverse direction, thereby controlling the switching movement of the relay 1.

[0057] When the electrical control system loses power to the main control system, the second switching valve 13 automatically switches to the left valve position, the PLC controller 15 controls the first switching valve 12 to switch to the left valve position, the first clutch 4 disengages, the second clutch 6 engages, the hydraulic motor 10 is energized and rotates, driving the relay 1 to fully close and move, thus achieving the function of automatic reset of the relay 1 when power is lost.

[0058] When the mechanical control system is operating normally as the main control system, the second switching valve 13 is in the right valve position, the third switching valve 14 is switched to the right valve position, the first switching valve 12 is switched to the left valve position, the second switching valve 13 is switched to the left valve position, the first clutch 4 is in the disengaged state, and the second clutch 6 is in the engaged state. At this time, the hydraulic motor 10 can be driven to rotate forward or in reverse by controlling the oil supply from the first switching valve 12, thereby controlling the switching movement of the relay 1. The PLC controller 15 monitors the operating status of the mechanical control system through the signal from the first switching valve 12.

[0059] When the PLC controller 15 identifies a fault in the main control system of the mechanical control system, the PLC controller 15 controls the third switching valve 14 to switch to the left valve position, the second clutch 6 is disengaged, the first clutch 4 is engaged, and the PLC controller 15 controls the servo motor 5 to drive the relay 1 to move in the open or closed direction, so as to achieve the function of automatic reset of the relay 1 when a fault occurs.

[0060] The PLC controller used is a Siemens S7-1500.

[0061] Example 3

[0062] The manual control operation of the relay redundant control device is as follows:

[0063] When the electrical control system is the main control system, if a control signal is applied to the electrical control system manually and there is no operational feedback, it is determined that the electrical control system is faulty. The third switching valve 14 is manually placed in the right valve position, the first clutch 4 is disengaged, and the second clutch 6 is engaged. At this time, the oil supply from the first switching valve 12 to the hydraulic motor 10 is manually controlled, which drives the hydraulic motor 10 to rotate in the forward or reverse direction, thereby controlling the switching movement of the relay 1.

[0064] When the electrical control system loses power to the main control system, the second switching valve 13 is manually switched to the left valve position, the first clutch 4 is disengaged, the second clutch 6 is engaged, the first switching valve 12 is switched to the left valve position, the hydraulic motor 10 is turned by oil, and the relay 1 is driven to fully close, so as to achieve the function of automatic reset of the relay 1 when power is lost.

[0065] When the mechanical control system is the main control system, and a control signal is applied to the mechanical control system manually, if the mechanical control system does not provide any operational feedback, it is determined that the mechanical control system is faulty. The third switching valve 14 is manually switched to the left valve position, the second clutch 6 is disengaged, the first clutch 4 is engaged, and the servo motor 5 drives the relay 1 to move open or close, so as to achieve the function of automatic reset of the relay 1 when a fault occurs.

Claims

1. A relay redundancy control device, characterized in that: It includes an electrical control system and a mechanical control system. One end of the electrical control system is connected to the first clutch (4), and one end of the mechanical control system is connected to the second clutch (6). The other end of the electrical control system is connected in parallel with the other end of the mechanical control system and then connected to the second switching valve (13). The second switching valve (13) is connected to the third switching valve (14). The third switching valve (14) is connected to the first clutch (4) and the second clutch (6). The first clutch (4) and the second clutch (6) are connected to the digital hydraulic cylinder (2). The electrical control system, the mechanical control system, the second control valve and the third control valve are electrically connected to the PLC controller (15).

2. The relay redundancy control device according to claim 1, characterized in that: The mechanical control system includes a right-angle transmission mechanism (7), a sprocket (8) with a chain (9), a hydraulic motor (10), a throttle valve (11), and a first switching valve (12); the right-angle transmission mechanism (7) is connected to the second clutch (6), the right-angle transmission mechanism (7) is connected to multiple sprockets (8) in parallel, the sprockets (8) in parallel are connected to the hydraulic motor (10), the hydraulic motor (10) and the throttle valve (11) in parallel are connected to the first switching valve (12), the first switching valve (12) is connected to the second switching valve (13), and the first switching valve (12) is electrically connected to the PLC controller (15).

3. A relay redundancy control device according to claim 1 or 2, characterized in that: When the electrical control system is the main control system and the mechanical control system is the backup, the PLC controller (15) identifies the fault in the electrical control system, and the PLC controller (15) controls the third switching valve (14) to switch to the right valve position. The third switching valve (14) controls the first clutch (4) to disengage and the second clutch (6) to engage. The PLC controller (15) controls the first switching valve (12) to switch to the left valve position. When the electrical control system is the main control system and the mechanical control system is the backup, the electrical control system loses power, the second switching valve (13) automatically switches to the left valve position, the second switching valve (13) controls the first clutch (4) to disengage, and the second clutch (6) to engage; the PLC controller (15) controls the first switching valve (12) to switch to the left valve position.

4. The relay redundancy control device according to claim 3, characterized in that: When the mechanical control system fails and the electrical control system is used as a backup, the PLC controller (15) identifies the mechanical control system failure, controls the third switching valve (14) to switch to the left valve position, controls the second clutch (6) to disengage, and the first clutch (4) to engage.

5. A relay redundancy control device according to claim 3, characterized in that: The servo motor (5) in the electrical control system is electrically connected to the PLC controller (15).

6. A relay redundancy control device according to claim 5, characterized in that: The digital hydraulic cylinder (2) is also equipped with a position encoder (3), and the number of circumferential rotations of the position encoder (3) corresponds to the linear motion distance of the relay (1).

7. A relay redundancy control device according to claim 5, characterized in that: The first clutch (4) and the second clutch (6) are symmetrically arranged.

8. A relay redundancy control device according to claim 2, characterized in that: The right-angle transmission mechanism (7) is coaxially arranged with the second clutch (6).

9. A relay redundancy control device according to claim 8, characterized in that: The right-angle transmission mechanism (7) is coaxially arranged with the hydraulic motor (10) and the sprocket (8).

10. A relay redundancy control device according to claim 9, characterized in that: The right-angle transmission mechanism (7) is symmetrically arranged with the servo motor (5) in the electrical control system.

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