A closed-loop feedback rotary valve and slewing system, engineering machine

Abstract

The utility model discloses a closed loop feedback rotary valve and rotary system, engineering machinery relates to hydraulic transmission control technical field, it includes from inside to outside in proper order coaxial arrangement's valve core, valve sleeve and valve body, valve sleeve one side axle end is provided with valve sleeve inner hole, the valve core is located valve sleeve inner hole, valve sleeve one side axle end is connected with external rotary mechanism, valve core one side axle end is connected with drive element, and external rotary mechanism, drive element are located closed loop feedback rotary valve both ends respectively, valve core, valve sleeve can all independently rotate relative to valve body, and valve sleeve and valve core can relatively rotate between. The utility model discloses simple structure and low in cost, and valve sleeve, valve core cooperation forms mechanical feedback, and response is quick and dynamic characteristic is excellent, and the limiting mechanism between valve core, valve sleeve can limit the maximum angular difference of both, thereby effectively prevent over -turning and cause the reversing impact.

Description

Technical Field

[0001] This utility model relates to a closed-loop feedback rotary valve and rotary system, and engineering machinery, belonging to the field of hydraulic transmission control technology. Background Technology

[0002] As a core control component for the slewing operation of engineering machinery, the control accuracy and control method of the rotary valve directly affect the operability and stability of the slewing mechanism.

[0003] Traditional rotary valves use hydraulically or electrically controlled pilot-operated proportional directional valves to output pilot oil, driving the valve spool to slide axially, thus opening and closing the valve spool. This outputs hydraulic oil in different directions, pressures, and flow rates, driving a hydraulic motor to rotate, thereby controlling the direction, torque, and speed of the rotary mechanism. The input signal of the rotary valve is based on analog control technology, which performs on / off and proportional control on the control element (rotary valve), indirectly regulating the speed and torque of the actuator (rotary motor). The output (direction, torque, speed) of the actuator (rotary motor) of the rotary valve does not affect the system input signal. This technical approach requires an additional pilot oil circuit system to control the spool switching of the rotary valve, making the system complex, costly, and lacking feedback, resulting in lower control accuracy and reliability.

[0004] In recent years, with the development of hydraulic technology in construction machinery, higher requirements have been placed on rotational accuracy and stability. Along with the rapid development of digital control technology, it has also been widely applied in the hydraulic technology of construction machinery. Some systems employ rotary valve structures, using small stepper motors, servo motors, hydraulic motors, etc., to drive the rotary valve spool to rotate, achieving hydraulic oil reversal. Simultaneously, digital control technology is used to adjust the motor's duty cycle to achieve the valve spool reversal frequency. Furthermore, sensors are added to the actuator or rotation mechanism to feed back information such as the terminal rotation angle and speed to the drive motor or controller, realizing closed-loop control.

[0005] This technical approach offers a significant improvement in control precision compared to traditional hydraulic control technology. However, due to limitations in the electronic control system and the algorithms and latency of the components themselves, the overall control efficiency still needs further improvement. Meanwhile, the cost of sensors further reduces the overall cost of the construction machinery. Utility Model Content

[0006] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a closed-loop feedback rotary valve and rotary system, engineering machinery, which has a simple structure and low cost. The valve sleeve and valve core cooperate to form mechanical feedback, which has fast response and excellent dynamic characteristics. Furthermore, the limiting mechanism between the valve core and valve sleeve can limit the maximum angle difference between the two, thereby effectively preventing over-rotation and reversing impact.

[0007] To achieve the above objectives, this utility model employs the following technical solution: In a first aspect, this utility model provides a closed-loop feedback rotary valve, comprising a valve core, a valve sleeve, and a valve body arranged coaxially from the inside out. One side of the valve sleeve has an inner hole, and the valve core is disposed within the inner hole. The other side of the valve sleeve is connected to an external rotary mechanism, and one side of the valve core is connected to a drive element. The external rotary mechanism and the drive element are located at opposite ends of the closed-loop feedback rotary valve. The valve core and the valve sleeve can rotate independently relative to the valve body, and the valve sleeve and the valve core can rotate relative to each other.

[0008] Furthermore, the valve body is provided with screw plugs at both ends of the valve sleeve inside. The screw plugs are used to axially limit the valve core and valve sleeve. The outer circle and inner hole of the screw plug are provided with sealing material. The sealing material of the outer circle forms a seal with the inner hole of the valve body, and the sealing material of the inner hole forms a seal with the outer circle of the valve core and valve sleeve shaft ends.

[0009] Furthermore, the valve body is provided with an oil inlet, an oil return port and two working oil ports. The oil inlet is used to connect with the pump source, the oil return port is used to connect with the oil tank, and the two working oil ports are used to connect with the corresponding oil ports of the external rotary mechanism. The valve sleeve is provided with a high-pressure port, a low-pressure port, and two working ports; The valve core is provided with a high-pressure annular oil passage, a high-pressure oil passage, a low-pressure oil passage and a return oil passage. The high-pressure oil passage is connected to the high-pressure annular oil passage, and the low-pressure oil passage is connected to the return oil passage. The inner bore of the valve body and the inner bore of the valve sleeve are each provided with four annular grooves. The oil inlet, oil return, and two working oil ports are respectively connected to the high-pressure port, low-pressure port, and two working ports through the annular grooves on the inner bore of the valve body. The high-pressure port and low-pressure port are respectively connected to the high-pressure annular oil passage and low-pressure oil passage through the annular grooves on the inner bore of the valve sleeve. Both working ports are connected to the high-pressure oil passage through the annular grooves on the inner bore of the valve sleeve.

[0010] Furthermore, the return oil passage is located at the axial end of the valve core away from the drive element and is connected to the outer circle of the axial end. The end face of the screw plug near the valve core is provided with an oil guide groove. The return oil passage can drain the hydraulic oil in the sealed cavity formed by the screw plug and the valve core back to the oil tank through the oil guide groove to ensure that the axial force of the valve core and valve sleeve is zero.

[0011] Furthermore, the valve sleeve is provided with a limiting screw hole, and a limiting screw passes through the limiting screw hole. The valve core is provided with a limiting groove at a position opposite to the limiting screw hole. The limiting groove can limit the limiting screw so that the valve core and the valve sleeve can rotate relative to each other within a certain angle range.

[0012] Furthermore, the outer circle of the valve sleeve is provided with a shoulder, and the valve body is provided with a grooved shoulder, the shoulder being able to be engaged with the grooved shoulder to form a gap seal.

[0013] Furthermore, the valve core is also provided with a cover area, which can cooperate with the working port so that when the valve core is in the neutral position, the valve opening of the closed-loop feedback rotary valve is zero.

[0014] Furthermore, both ends of the valve body are connected to an external rotary mechanism and a drive element respectively via connecting plates; The valve body has an annular groove at the end near the connecting plate, and the connecting plate has a raised positioning ring that matches the annular groove at the end near the valve body. Both the raised positioning ring and the annular groove are coaxially distributed with the valve body.

[0015] Secondly, this utility model also provides a rotary system, which includes a closed-loop feedback rotary valve as described in any of the first aspects.

[0016] Thirdly, this utility model also provides engineering machinery, including the rotary system described in the second aspect.

[0017] Compared with the prior art, the beneficial effects achieved by this utility model are as follows: The closed-loop feedback rotary valve provided by this utility model has fewer parts, a simple structure, and low cost. The valve sleeve and valve core work together to form mechanical feedback, which has a fast response and excellent dynamic characteristics. Furthermore, the limiting mechanism between the valve core and valve sleeve can limit the maximum angle difference between the two, thereby effectively preventing over-rotation and reversing shock. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the hydraulic principle of the closed-loop feedback rotary valve in one embodiment of the present invention; Figure 2 This is a schematic diagram of the closed-loop feedback rotary valve in one embodiment of the present invention; Figure 3 This is a schematic diagram of the valve core of the closed-loop feedback rotary valve in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the covered area of ​​the valve core of the closed-loop feedback rotary valve in one embodiment of the present invention; Figure 5 This is a side view of the valve core of the closed-loop feedback rotary valve in one embodiment of the present invention. Figure 6 for Figure 5 A schematic diagram of the cross-sectional structure along direction A; Figure 7 for Figure 5 A schematic diagram of the cross-sectional structure along direction B; Figure 8 for Figure 5 A schematic diagram of the C-direction cross-section structure; Figure 9 for Figure 5 A schematic diagram of the cross-sectional structure along the D direction; Figure 10 This is a schematic diagram of the valve sleeve of the closed-loop feedback rotary valve in one embodiment of the present invention; Figure 11 This is a schematic diagram of the hydraulic oil flow direction inside the closed-loop feedback rotary valve when the valve core is in an extreme position, according to one embodiment of the present invention. Figure 12 This is a schematic diagram of the hydraulic oil flow direction inside the closed-loop feedback rotary valve when the valve core is in another extreme position, according to one embodiment of this utility model. Figure 13 This is a schematic diagram of the valve body of the closed-loop feedback rotary valve in one embodiment of the present invention; Figure 14 This is a schematic diagram of the screw plug of the closed-loop feedback rotary valve in one embodiment of the present invention; In the diagram: 1-Drive element, 2-Valve core, 3-Valve sleeve, 4-Connecting plate, 5-Plug, 6-Sealing ring, 7-Rotating Glyd ring, 8-Valve body, 9-Limit screw, 10-Groove, 11-Low-pressure oil passage, 12-High-pressure oil passage, 13-High-pressure annular oil passage, 14-Return oil passage, 15-Limit groove, 16-Covered area, 17-Low-pressure hole, 18-High-pressure hole, 19-Working port, 20-Limit screw hole, 21-Shoulder, 22-Annular groove, 23-Oil inlet, 24-Return oil port, 25-Working oil port, 26-Guide groove. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example 1

[0020] like Figure 1 As shown, this utility model embodiment provides a closed-loop feedback rotary valve, including a valve core 2, a valve sleeve 3 and a valve body 8 arranged coaxially from the inside to the outside. The valve sleeve 3 and the valve core 2 can rotate independently relative to the valve body 8, and the valve sleeve 3 and the valve core 2 can also rotate relative to each other.

[0021] Combination Figure 2The valve sleeve 3 is installed inside the valve body 8. One side of the valve sleeve 3 has an inner bore, and the other side is connected to the output shaft of an external rotary mechanism (such as a motor or other actuator). The valve core 2 is located inside the inner bore of the valve sleeve, and one side of the valve core 2 is connected to a drive element (such as a motor). It should be noted that the shaft end of the valve core 2 connected to the drive element and the shaft end of the valve sleeve 3 connected to the external rotary mechanism are positioned 180° apart.

[0022] In some embodiments, both sides of the valve body 8 are provided with screw plugs 5 for axially limiting the valve core 2 and valve sleeve 3, such as... Figure 14 As shown. The plug 5 is threadedly connected to the inner hole of the valve body 8. Sealing material is provided on both the outer circle and the inner hole of the plug 5. The sealing material (sealing ring 6) on the outer circle of the plug 5 forms a seal with the inner hole of the valve body 8 to prevent oil leakage. The sealing material (rotary glyph 7) on the inner hole of the plug 5 forms a seal with the outer circle of the shaft end of the valve sleeve 3 and the valve core 2 to prevent oil leakage.

[0023] like Figure 13 As shown, the valve body 8 is provided with an oil inlet 23 (P port), an oil return port 24 (T port), and two working oil ports 25 (A and B ports). The oil inlet 23 is used to connect to the pump source, the oil return port 24 is used to connect to the oil tank, and the two working oil ports 25 are respectively connected to the two oil ports of the external rotary mechanism. The valve sleeve 3 is provided with a high-pressure port 18, a low-pressure port 17, and two working ports 19, as shown. Figure 10 As shown.

[0024] Combination Figures 3-9 The valve core 2 is provided with a high-pressure annular oil passage 13, a high-pressure oil passage 12, a low-pressure oil passage 11, and a return oil passage 14. The high-pressure oil passage 12 is connected to the high-pressure annular oil passage 13, the low-pressure oil passage 11 is connected to the return oil passage 14, and the return oil passage 14 is connected to the low-pressure port 17. The return oil passage 14 is located on the side of the valve core 2 away from the drive element connection. The return oil passage 14 is also connected to the outer circle of the valve core 2. It can drain the hydraulic oil in the sealed cavity formed by the screw plug 5 and the valve core 2 back to the oil tank through the oil guide groove 26 opened on the end face of the screw plug 5 near the valve sleeve 3 and the valve core 2, thereby ensuring that the axial force of the valve core 2 and the valve sleeve 3 is zero.

[0025] Four annular grooves 22 are provided on the inner bore of the valve body 8 and the inner bore of the valve sleeve 3. The oil inlet 23, the oil return 24 and the two working oil ports 25 are respectively connected to the high pressure port 18, the low pressure port 17 and the two working ports 19 through the annular grooves 22 on the inner bore of the valve body 8. The high pressure port 18 and the low pressure port 17 are respectively connected to the high pressure annular oil passage 13 and the low pressure oil passage 11 through the annular grooves 22 on the inner bore of the valve sleeve 3. The two working ports 19 are connected to the high pressure oil passage 12 through the annular grooves 22 on the inner bore of the valve sleeve 3 to form independent spaces.

[0026] Combination Figure 4 In some embodiments, the valve core 2 is also provided with a cover area 16, which can cooperate with the working port 19 on the valve sleeve 3, so that when the valve core 2 is in the neutral position, the valve opening of the closed-loop feedback rotary valve is zero, forming a neutral position O-type functional rotary valve.

[0027] Both the valve core 2 and the valve sleeve 3 are equipped with limiting mechanisms. When the relative rotation of the two exceeds the limiting angle, the relative rotation will stop. In this embodiment, the limiting mechanism specifically includes a limiting screw hole 20 on the valve sleeve 3 and a limiting groove on the valve core 2 opposite to the position of the limiting screw 9. The limiting screw hole 20 is equipped with a limiting screw 9, and the limiting groove 15 can limit the limiting screw 9.

[0028] Under the limiting mechanism, the valve core 2 has two extreme positions within a circumference, wherein, combined with Figure 11 When valve core 2 is in one of its extreme positions, high-pressure oil from the pump source flows sequentially through the high-pressure port 18 of valve sleeve 3, the high-pressure annular oil passage 13 of valve core 2, the high-pressure oil passage 13 of valve core 2, and the working port 19 of valve sleeve 3. Then, it flows through one working port 25 of valve body 8 to one working port of the external rotary mechanism. Low-pressure oil from the other working port of the external rotary mechanism flows through the other working port 25 of valve body 8, then through the working port 19 of valve sleeve 3, the low-pressure oil passage 11 of valve core 2, the return oil passage 14, the low-pressure port 17 of valve sleeve 3, and the T-port of valve body 8, returning to the oil tank. When valve core 2 is in the other extreme position, the oil flow direction is simply that the two working ports 25 of valve body 8 are sequentially reversed. Figure 12 As shown.

[0029] In some embodiments, in order to reduce the frictional force of the valve body 8 on the valve sleeve 3 when it rotates, a shoulder 21 is provided on the outer circle of the valve sleeve 3, and a grooved shoulder corresponding to the position of the shoulder 21 is provided on the valve body 8. The shoulder 21 and the grooved shoulder cooperate with each other to form a gap seal.

[0030] In this embodiment, the valve body 8 is connected to an external rotary mechanism and a drive element at both ends via connecting plates 4. The connecting plates 4 are provided with a raised positioning ring coaxial with the inner hole of the valve body 8. The valve body 8 also has an annular groove coaxial with its inner hole at a position opposite to the raised positioning ring. The raised positioning ring and the annular groove can cooperate for positioning, ensuring the coaxiality of the inner hole of the raised positioning ring with the inner hole of the valve body 8. The mounting surface of the drive element has a positioning boss at a position opposite to the groove at the shaft end of the valve core 2, thereby ensuring that the shaft of the drive element is coaxial with the inner hole of the raised positioning ring, and thus ensuring the coaxiality of the shaft of the drive element with the valve core 2.

[0031] The working principle of the closed-loop feedback rotary valve is as follows: When the motor first starts to drive the valve core 2 to rotate, under the load resistance of the external rotary mechanism, the valve sleeve 3 remains stationary, and the valve port is open. The pressure oil from port P flows outward to the external rotary mechanism through the internal flow channels of the valve body 8, valve sleeve 3, and valve core 2, via one working oil port 25. The return oil from the external rotary mechanism returns to the oil tank through another working oil port 25 and the internal flow channels of the valve body 8, valve sleeve 3, and valve core 2. When the external rotary mechanism starts to rotate, it will directly or indirectly drive the valve sleeve 3 to rotate through the feedback mechanism, causing the valve port to tend to close. Relative to the neutral position, when the rotation angle of valve core 2 is greater than that of valve sleeve 3, the valve port remains open, outputting pressurized oil, and the external rotary mechanism continues to rotate; when the rotation angle of valve core 2 is equal to that of valve sleeve 3, the valve port closes, and the external rotary mechanism stops rotating; when the acceleration of the rotation angle of valve core 2 is greater than that of valve sleeve 3, the valve opening tends to increase, and the external rotary mechanism accelerates its rotation; when the acceleration of the rotation angle of valve core 2 is less than that of valve sleeve 3, the valve opening tends to decrease, and the external rotary mechanism decelerates its rotation. Therefore, the valve sleeve 3 continuously feeds back the rotation angle, speed, and direction of the actuator to the valve core 2, providing a mechanical closed-loop feedback function.

[0032] The rotation principle of valve core 2 and valve sleeve 3 in the closed-loop feedback rotary valve includes: Initially, the valve sleeve's 3-axis end and the external rotary mechanism remain stationary. The drive element rotates the valve core in both forward and reverse directions to its two maximum rotation angle positions. The drive element then calculates the intermediate position and automatically returns to the neutral position. For example... Figures 3-9 As shown. At this time, the two working ports on the valve sleeve 3 are blocked by the two covered areas on the valve core 2, and the valve ports are closed.

[0033] The drive element, according to the controller's instructions, begins to rotate to a specified angle, such as... Figure 11 and Figure 12 As shown, the two working ports on the valve sleeve 3 no longer coincide with the two covered areas 16 on the valve core 2, and the valve ports are open. The high-pressure oil from the pump source flows as follows: from the P port of the valve body 8 through the internal oil passage into the high-pressure port of the valve sleeve → the high-pressure annular oil passage of the valve core 2 → the high-pressure oil passage → the working port of the valve sleeve → the working oil port A or B of the valve body → the external pipeline system → the load high-pressure port of the external rotary mechanism, which drives the external rotary mechanism to rotate and outputs physical quantities such as torque, speed, and direction of rotation to the rotary mechanism.

[0034] The oil flow direction at the low-pressure port of the external rotary mechanism is as follows: Low-pressure port of the external rotary mechanism → External piping system → Valve body working port B or A → Internal oil passage of the valve body → Valve sleeve working port → Low-pressure oil passage of the valve core → Valve core return oil passage → Low-pressure port of the valve sleeve → Internal low-pressure oil passage of the valve body → Valve body T port → External piping system → Oil tank. After the external rotary mechanism starts rotating, it drives the valve sleeve to rotate in the direction of valve port closure, gradually closing the valve port until it is completely closed. The oil passage is shut off, and the external rotary mechanism loses power and stops rotating. The drive element drives the valve core to rotate relative to the valve sleeve. The opening degree of the valve port is directly proportional to the rotation speed of the external rotary mechanism; the larger the opening, the faster the external rotary mechanism rotates; conversely, the smaller the opening. The rotation of the valve sleeve forms a mechanical closed-loop control of the valve core opening. Example 2

[0035] Based on Example 1, this embodiment also provides a rotary system, which includes a closed-loop feedback rotary valve as described in Example 1. Example 3

[0036] Based on Embodiment 2, this embodiment also provides an engineering machine, which includes the rotary system as described in Embodiment 2.

[0037] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A closed-loop feedback rotary valve, characterized in that, The valve includes a valve core, a valve sleeve, and a valve body arranged coaxially from the inside out. One side of the valve sleeve has an inner hole, and the valve core is located in the inner hole. The other side of the valve sleeve is connected to an external rotary mechanism, and one side of the valve core is connected to a drive element. The external rotary mechanism and the drive element are located at both ends of the closed-loop feedback rotary valve, respectively. The valve core and valve sleeve can rotate independently relative to the valve body, and the valve sleeve and valve core can rotate relative to each other.

2. The closed-loop feedback rotary valve according to claim 1, characterized in that, The valve body is equipped with screw plugs at both ends of the valve sleeve. The screw plugs are used to axially limit the valve core and valve sleeve. The outer circle and inner hole of the screw plug are equipped with sealing material. The sealing material of the outer circle forms a seal with the inner hole of the valve body, and the sealing material of the inner hole forms a seal with the outer circle of the valve core and valve sleeve shaft ends.

3. The closed-loop feedback rotary valve according to claim 2, characterized in that, The valve body is provided with an oil inlet, an oil return port and two working oil ports. The oil inlet is used to connect with the pump source, the oil return port is used to connect with the oil tank, and the two working oil ports are used to connect with the corresponding oil ports of the external rotary mechanism. The valve sleeve is provided with a high-pressure port, a low-pressure port, and two working ports; The valve core is provided with a high-pressure annular oil passage, a high-pressure oil passage, a low-pressure oil passage and a return oil passage. The high-pressure oil passage is connected to the high-pressure annular oil passage, and the low-pressure oil passage is connected to the return oil passage. The inner bore of the valve body and the inner bore of the valve sleeve are each provided with four annular grooves. The oil inlet, oil return, and two working oil ports are respectively connected to the high-pressure port, low-pressure port, and two working ports through the annular grooves on the inner bore of the valve body. The high-pressure port and low-pressure port are respectively connected to the high-pressure annular oil passage and low-pressure oil passage through the annular grooves on the inner bore of the valve sleeve. Both working ports are connected to the high-pressure oil passage through the annular grooves on the inner bore of the valve sleeve.

4. The closed-loop feedback rotary valve according to claim 3, characterized in that, The return oil passage is located at the axial end of the valve core away from the drive element and is connected to the outer circle of the axial end. The end face of the plug near the valve core has an oil guide groove. The return oil passage can drain the hydraulic oil in the sealed cavity formed by the plug and the valve core back to the oil tank through the oil guide groove to ensure that the axial force of the valve core and valve sleeve is zero.

5. The closed-loop feedback rotary valve according to claim 3, characterized in that, The valve sleeve is provided with a limiting screw hole, and a limiting screw passes through the limiting screw hole. The valve core is provided with a limiting groove at a position opposite to the limiting screw hole. The limiting groove can limit the limiting screw so that the valve core and the valve sleeve can rotate relative to each other within a certain angle range.

6. The closed-loop feedback rotary valve according to claim 5, characterized in that, The valve sleeve has a shoulder on its outer circumference, and the valve body has a grooved shoulder. The shoulder can be engaged with the grooved shoulder to form a gap seal.

7. The closed-loop feedback rotary valve according to claim 3, characterized in that, The valve core is also provided with a cover area, which can cooperate with the working port so that when the valve core is in the neutral position, the valve opening of the closed-loop feedback rotary valve is zero.

8. The closed-loop feedback rotary valve according to claim 1, characterized in that, The valve body is connected to an external rotary mechanism and a drive element at both ends via connecting plates, respectively. The valve body has an annular groove at the end near the connecting plate, and the connecting plate has a raised positioning ring that matches the annular groove at the end near the valve body. Both the raised positioning ring and the annular groove are coaxially distributed with the valve body.

9. A rotary system, characterized in that, It includes the closed-loop feedback rotary valve as described in any one of claims 1 to 8.

10. An engineering machinery, characterized in that, Includes the rotary system as described in claim 9.

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