CN104632770A - Supporting structure and method of large horizontal type heavy-load servo hydraulic cylinder - Google Patents
Supporting structure and method of large horizontal type heavy-load servo hydraulic cylinder Download PDFInfo
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Abstract
本发明提供一种大型卧式重载伺服液压缸的支承结构及支撑方法，所述伺服液压缸包括缸体（2）、活塞杆（1）和活塞（3），缸体（2）的前端底部与工作台铰接，包括支撑液压缸（8），铰接在缸体（2）后端底部，支撑液压缸（8）底部连接压力传感器（4），随时监测和反馈支撑液压缸（8）的无杆腔压力。本发明的设计改变了液压缸的受力结构，可实现卧式重载伺服缸的全工况可靠支承，减小或消除导向套与活塞杆、活塞与缸筒之间的接触力，大大减轻或避免因缸体自重导致的诸多危害，改善了密封部位的受力情况，提升了重载卧式伺服缸的性能并大大延长了伺服缸的寿命，拓宽了应用工况。
The invention provides a support structure and a support method for a large horizontal heavy-duty servo hydraulic cylinder, the servo hydraulic cylinder includes a cylinder body (2), a piston rod (1) and a piston (3), and the front end of the cylinder body (2) The bottom is hinged with the workbench, including the support hydraulic cylinder (8), which is hinged at the bottom of the rear end of the cylinder body (2), and the bottom of the support hydraulic cylinder (8) is connected to the pressure sensor (4), which monitors and feeds back the pressure of the support hydraulic cylinder (8) at any time No rod cavity pressure. The design of the present invention changes the force-bearing structure of the hydraulic cylinder, which can realize the reliable support of the horizontal heavy-duty servo cylinder in all working conditions, reduce or eliminate the contact force between the guide sleeve and the piston rod, the piston and the cylinder, and greatly reduce the Or avoid many hazards caused by the self-weight of the cylinder, improve the force of the sealing part, improve the performance of the heavy-duty horizontal servo cylinder and greatly extend the life of the servo cylinder, and broaden the application conditions.
Description
技术领域 technical field
本发明属于伺服液压缸领域，具体涉及大型卧式重载高性能的伺服液压缸的安装支承，它适用于重载、卧式、铰接安装液压缸等大型冶金设备等行业的多种场合。 The invention belongs to the field of servo hydraulic cylinders, and in particular relates to the installation and support of large horizontal heavy-duty high-performance servo hydraulic cylinders. It is suitable for various occasions in industries such as heavy-duty, horizontal, hinged hydraulic cylinders and other large-scale metallurgical equipment.
背景技术 Background technique
在工程实践中很多液压缸采用卧式安装的形式, 由于缸自身重量和外负载特性的影响，会导致活塞与缸筒之间存在较大的接触力。卧式伺服液压缸常用在水平或倾斜工作的情况，由于一些复杂工况，还需要液压缸在工作时有小幅摆动，因此常常采用铰接的安装形式。在冶金行业等一些工况下，需采用大型重载液压缸，缸筒自身重量往往达到几吨甚至更重，使得活塞与缸筒之间接触力很大，由于较大的摩擦力严重影响伺服缸的输出特性，对设备的性能和可靠运行带来较大的隐患。卧式伺服缸的输出力需要很大，液压缸的体积也很大，即油缸的自重就很大，加之工作时需要液压缸有一定幅度的摆动，即活塞杆的输出端是按一定曲线输出力的，单独用一铰接结构势必会产生拉缸、密封磨损严重、漏油等现象，对伺服缸造成严重破坏，伺服液压缸的各项性能严重降低，致使伺服液压缸的寿命大大缩短。 In engineering practice, many hydraulic cylinders are installed horizontally. Due to the influence of the cylinder's own weight and external load characteristics, there will be a large contact force between the piston and the cylinder. Horizontal servo hydraulic cylinders are often used for horizontal or inclined work. Due to some complex working conditions, the hydraulic cylinder needs to swing slightly during work, so it is often used in the form of hinged installation. In some working conditions such as the metallurgical industry, it is necessary to use large-scale heavy-duty hydraulic cylinders. The weight of the cylinder itself often reaches several tons or even heavier, which makes the contact force between the piston and the cylinder very large. The output characteristics of the cylinder bring great hidden dangers to the performance and reliable operation of the equipment. The output force of the horizontal servo cylinder needs to be very large, and the volume of the hydraulic cylinder is also large, that is, the self-weight of the oil cylinder is very large. In addition, the hydraulic cylinder needs to swing to a certain extent during work, that is, the output end of the piston rod is output according to a certain curve. Using a hinged structure alone will inevitably lead to cylinder scuffing, severe seal wear, oil leakage, etc., causing serious damage to the servo cylinder, seriously reducing the performance of the servo hydraulic cylinder, and greatly shortening the life of the servo hydraulic cylinder.
传统采用铰接结构安装的重载卧式伺服液压缸，缸筒受力如图2所示。F1为液压缸前端盖导向套处活塞杆对液压缸的作用力，F2为缸筒铰接点对液压缸的支撑力，G为液压缸本身的自重，F3为活塞对缸筒的作用力；L1、L、L3分别为对应O点（即缸筒的铰接点）的力矩。由此可得如下方程： For the traditional heavy-duty horizontal servo hydraulic cylinder installed with a hinged structure, the force on the cylinder is shown in Figure 2. F1 is the force of the piston rod on the hydraulic cylinder at the guide sleeve of the front cover of the hydraulic cylinder, F2 is the support force of the cylinder hinge point to the hydraulic cylinder, G is the self-weight of the hydraulic cylinder itself, F3 is the force of the piston on the cylinder; L1 , L, L3 are respectively the moments corresponding to the O point (that is, the hinge point of the cylinder). From this the following equation can be obtained:
力平衡方程式：F1+G=F2+F3 Force balance equation: F1+G=F2+F3
力矩平衡方程式：F1*L1+F3*L3=G*L Moment balance equation: F1*L1+F3*L3=G*L
由力平衡方程式可知，液压缸的自重G，一部分通过铰接点提供的支撑力F2平衡，没有被平衡掉的剩余力就会通过液压缸底部的活塞作用于缸筒上侧，即产生力F3，以及作用在液压缸前端导向套与活塞杆连接处，即产生力F1。 It can be seen from the force balance equation that the self-weight G of the hydraulic cylinder is partially balanced by the support force F2 provided by the hinge point, and the remaining force that is not balanced will act on the upper side of the cylinder through the piston at the bottom of the hydraulic cylinder, that is, generate force F3, And it acts on the connection between the guide sleeve at the front end of the hydraulic cylinder and the piston rod to generate force F1.
再根据力矩平衡方程式可知：G为常量，缸筒、活塞与活塞杆的重量是恒量不变。随着活塞杆做工，活塞杆前移，由于液压缸的重量主要集中在缸体上，因活塞前移所引起G的力矩L的变化是可以忽略不计的，所以可将G*L项视为常量。那么，在活塞杆做工时，力矩L3会减小,而L、L1是保持不变的；从而由此方程便可知，由于L3减小，为了使等式成立，那么就会引起F3增加，或者F2增加，或者F3、F2都增加，也就是增加了活塞杆与缸体之间的作用力：二者增大，或其一增大即增大了导向套与活塞杆、活塞与缸筒的摩擦力，这样就会大大损耗液压缸的输出力，导致液压缸的密封装置损坏，若导致力F2、F3很大，那么还会产生导向套磨损、密封装置漏油、拉缸等现象，严重时可使液压缸报废。 According to the torque balance equation, it can be seen that G is a constant, and the weights of the cylinder, piston and piston rod are constant. As the piston rod works, the piston rod moves forward. Since the weight of the hydraulic cylinder is mainly concentrated on the cylinder body, the change of the moment L of G caused by the forward movement of the piston is negligible, so the G*L term can be regarded as constant. Then, when the piston rod is working, the torque L3 will decrease, while L and L1 remain unchanged; thus from this equation, it can be seen that due to the decrease of L3, in order to make the equation true, it will cause F3 to increase, or F2 increases, or both F3 and F2 increase, that is, the force between the piston rod and the cylinder is increased: the increase of both, or one increase increases the force between the guide sleeve and the piston rod, the piston and the cylinder Friction, which will greatly reduce the output force of the hydraulic cylinder, resulting in damage to the sealing device of the hydraulic cylinder. If the force F2 and F3 are too large, the guide sleeve will be worn, the sealing device will leak oil, and the cylinder will be pulled, which is serious. When the hydraulic cylinder can be scrapped.
发明内容 Contents of the invention
为了解决上述问题，本发明提供一种大型卧式重载伺服液压缸的支承结构，所述伺服液压缸包括缸体、活塞杆和活塞，缸体的前端底部与工作台铰接，包括支撑液压缸，铰接在卧式伺服缸后端底部，支撑液压缸底部连接压力传感器，随时监测和反馈支撑液压缸的压力。 In order to solve the above problems, the present invention provides a support structure for a large horizontal heavy-duty servo hydraulic cylinder. The servo hydraulic cylinder includes a cylinder body, a piston rod and a piston. , hinged at the bottom of the rear end of the horizontal servo cylinder, and the bottom of the supporting hydraulic cylinder is connected to a pressure sensor to monitor and feed back the pressure of the supporting hydraulic cylinder at any time.
其中，支撑液压缸底部接压力油，由独立的油源经比例减压阀调节后供油。 Among them, the bottom of the supporting hydraulic cylinder is connected with pressure oil, which is supplied by an independent oil source after being regulated by a proportional pressure reducing valve.
其中，油源包括油箱和液压泵，比例减压阀设置在液压泵输出端。 Wherein, the oil source includes an oil tank and a hydraulic pump, and the proportional pressure reducing valve is arranged at the output end of the hydraulic pump.
本发明还公开了一种大型卧式重载伺服液压缸的支承方法，所述伺服液压缸包括缸体、活塞杆和活塞，其中， The invention also discloses a supporting method for a large horizontal heavy-duty servo hydraulic cylinder, the servo hydraulic cylinder includes a cylinder body, a piston rod and a piston, wherein,
将缸体的前端底部与工作台铰接； Hinge the bottom of the front end of the cylinder with the workbench;
将缸体的后端底部与支撑液压缸铰接； Hinge the bottom of the rear end of the cylinder with the supporting hydraulic cylinder;
在支撑液压缸的底部连接压力传感器，随时监测和反馈支撑液压缸的压力。 A pressure sensor is connected to the bottom of the supporting hydraulic cylinder to monitor and feed back the pressure of the supporting hydraulic cylinder at any time.
其中，压力传感器随时监测和反馈支撑液压缸的无杆腔压力，比例减压阀根据检测获得的数据对系统液压油参数进行设定。 Among them, the pressure sensor monitors and feeds back the pressure of the rodless chamber of the supporting hydraulic cylinder at any time, and the proportional pressure reducing valve sets the hydraulic oil parameters of the system according to the data obtained from the detection.
其中，当伺服液压缸承受负载时，支撑液压缸根据负载的大小和方向调整活塞杆的伸缩长度，即调整对卧式伺服缸的支撑力的大小及方向。 Wherein, when the servo hydraulic cylinder bears a load, the supporting hydraulic cylinder adjusts the telescopic length of the piston rod according to the magnitude and direction of the load, that is, adjusts the magnitude and direction of the supporting force for the horizontal servo cylinder.
其中，当伺服液压缸承受的负载保持水平方向不变时，支撑液压缸根据检测反馈的数据，使活塞杆伸出一定长度，输出相应大小的支撑力来平衡液压缸的自重。 Among them, when the load borne by the servo hydraulic cylinder remains unchanged in the horizontal direction, the support hydraulic cylinder makes the piston rod extend a certain length according to the data of the detection feedback, and outputs a corresponding support force to balance the self-weight of the hydraulic cylinder.
其中，当卧式伺服液压缸工作需要转动，活塞杆作用于负载，需要输出曲线力时，支撑液压缸根据反馈数据相应调整自身活塞杆伸缩长度,即调整输出支撑力的大小。 Among them, when the horizontal servo hydraulic cylinder needs to rotate, the piston rod acts on the load and needs to output a curved force, the support hydraulic cylinder adjusts the telescopic length of its piston rod according to the feedback data, that is, adjusts the size of the output support force.
本发明的设计改变了液压缸的受力结构，并且会随着工况自动调整，大大减轻或避免因卧式伺服液压缸的自重导致的活塞杆与缸体接触而引起的诸多不利结果，改善了密封部位的受力情况，提升了重载卧式伺服缸的性能并大大延长了伺服缸的寿命，拓宽了伺服缸的应用工况。 The design of the present invention changes the force-bearing structure of the hydraulic cylinder, and it will automatically adjust according to the working conditions, greatly reducing or avoiding many unfavorable results caused by the contact between the piston rod and the cylinder body caused by the self-weight of the horizontal servo hydraulic cylinder, improving The force of the sealing part is improved, the performance of the heavy-duty horizontal servo cylinder is improved, the life of the servo cylinder is greatly extended, and the application conditions of the servo cylinder are broadened.
附图说明 Description of drawings
图1：本发明大型卧式重载伺服液压缸的支承结构示意图； Figure 1: Schematic diagram of the support structure of the large horizontal heavy-duty servo hydraulic cylinder of the present invention;
图2：传统采用铰接结构安装的卧式重载伺服液压缸缸筒受力图； Figure 2: The force diagram of the horizontal heavy-duty servo hydraulic cylinder installed in the traditional hinged structure;
图3：本发明大型卧式重载伺服液压缸的支承结构缸筒受力图。 Fig. 3: The force diagram of the cylinder barrel of the supporting structure of the large horizontal heavy-duty servo hydraulic cylinder of the present invention.
附图标记说明： Explanation of reference signs:
1-活塞杆； 2-缸体； 1-piston rod; 2-cylinder body;
3-活塞； 4-压力传感器； 3-piston; 4-pressure sensor;
5-比例减压阀； 6-油箱； 5-Proportional pressure reducing valve; 6-Oil tank;
7-液压泵； 8-支撑液压缸； 7-hydraulic pump; 8-support hydraulic cylinder;
A、B、C为转动副，连接方式为铰接。 A, B, and C are revolving pairs, and the connection mode is hinged.
具体实施方式 Detailed ways
下面结合附图对本发明进行具体描述。 The present invention will be specifically described below in conjunction with the accompanying drawings.
如图1所示，本发明卧式伺服液压缸包括缸体2、活塞杆1、活塞3、还包括支撑液压缸8，支撑液压缸8底部连接有压力传感器4。 As shown in FIG. 1 , the horizontal servo hydraulic cylinder of the present invention includes a cylinder body 2 , a piston rod 1 , a piston 3 , and a supporting hydraulic cylinder 8 . A pressure sensor 4 is connected to the bottom of the supporting hydraulic cylinder 8 .
如图1所示，卧式伺服液压缸在缸体2前端底部与工作台实现铰接后，缸体2后端底部铰接一支撑液压缸8。该支撑液压缸8底部接压力油，由独立的油源经比例减压阀5调节后供油。对卧式伺服液压缸的活塞3位移等参数监测。支撑液压缸8底部连接压力传感器4，随时监测和反馈液压缸无杆腔压力，比例减压阀5根据检测获得的数据对系统液压油参数进行设定，由此可实现卧式重载伺服缸的全工况可靠支承，减小或消除导向套与活塞杆、活塞与缸筒之间的接触力。 As shown in FIG. 1 , after the horizontal servo hydraulic cylinder is hinged to the workbench at the bottom of the front end of the cylinder body 2 , a supporting hydraulic cylinder 8 is hinged at the bottom of the rear end of the cylinder body 2 . The bottom of the support hydraulic cylinder 8 is connected with pressure oil, which is supplied by an independent oil source after being regulated by a proportional pressure reducing valve 5 . Monitor parameters such as the displacement of the piston 3 of the horizontal servo hydraulic cylinder. The pressure sensor 4 is connected to the bottom of the supporting hydraulic cylinder 8 to monitor and feed back the pressure of the rodless chamber of the hydraulic cylinder at any time. The proportional pressure reducing valve 5 sets the hydraulic oil parameters of the system according to the data obtained from the detection, thereby realizing a horizontal heavy-duty servo cylinder Reliable support in all working conditions, reducing or eliminating the contact force between the guide sleeve and the piston rod, the piston and the cylinder.
当卧式伺服液压缸承受负载时，支撑液压缸8会根据负载的大小和方向调整自身活塞杆的伸缩长度，即输出相应大小的支撑力。当卧式伺服液压缸承受的负载保持水平方向不变时，支撑液压缸8会根据检测反馈的数据，使自身活塞杆伸出一定长度，输出相应大小的支撑力来平衡卧式伺服液压缸的自重，并且会随着卧式伺服液压缸的活塞杆1前伸、活塞3前移，支撑液压缸8会根据压力监测数据相应调整支撑力，使A、B两转动副之间的连线始终与轴线平齐。当卧式伺服液压缸工作需要转动，活塞杆1作用于负载，需要输出曲线力时，支撑液压缸8会根据反馈数据相应调整自身活塞杆伸缩长度及输出力的大小。 When the horizontal servo hydraulic cylinder bears a load, the support hydraulic cylinder 8 will adjust the telescopic length of its own piston rod according to the magnitude and direction of the load, that is, output a corresponding support force. When the load borne by the horizontal servo hydraulic cylinder remains unchanged in the horizontal direction, the support hydraulic cylinder 8 will extend its own piston rod to a certain length according to the data of the detection feedback, and output a corresponding support force to balance the horizontal servo hydraulic cylinder. Self-weight, and with the piston rod 1 of the horizontal servo hydraulic cylinder extending forward and the piston 3 moving forward, the supporting hydraulic cylinder 8 will adjust the supporting force accordingly according to the pressure monitoring data, so that the connection between the two rotating pairs A and B is always flush with the axis. When the horizontal servo hydraulic cylinder needs to rotate, the piston rod 1 acts on the load and needs to output a curved force, the support hydraulic cylinder 8 will adjust the telescopic length of its own piston rod and the size of the output force accordingly according to the feedback data.
本发明的卧式伺服液压缸缸筒受力如图3所示。 The cylinder barrel of the horizontal servo hydraulic cylinder of the present invention is stressed as shown in FIG. 3 .
力平衡方程式：F1+G=F2+F3+F4 Force balance equation: F1+G=F2+F3+F4
力矩平衡方程式：F1*L1+F3*L3+F4*L4=G*L Moment balance equation: F1*L1+F3*L3+F4*L4=G*L
由图1和图3中可知，F4为支撑液压缸8作用于液压缸的支撑力，对应的L4为支撑力矩，其他符号含义同图2。在整个工作过程中，L4的长度是不变的。 It can be known from Fig. 1 and Fig. 3 that F4 is the support force of the support hydraulic cylinder 8 acting on the hydraulic cylinder, and the corresponding L4 is the support moment, and the meanings of other symbols are the same as those in Fig. 2 . During the whole working process, the length of L4 is constant.
由力平衡方程式可知，卧式伺服液压缸的自重G，一部分通过铰接点提供的支撑力F2以及支撑液压缸8提供给卧式伺服液压缸的支撑力F4平衡，未被这两个力平衡的剩余的力就会通过液压缸底部的活塞作用于缸筒底部上侧即产生力F3，以及作用在液压缸前端导向套与活塞杆连接处产生力F1。从上述力平衡方程式可知，若支撑液压缸8提供的支撑力F4足够大，那么F4与伺服液压缸前端铰接点提供的力F2共同作用就可平衡液压缸的自重，由此活塞与缸筒的作用力F3，液压缸前端导向套与活塞杆的作用力F1均减小，以至于此二力消失。 It can be seen from the force balance equation that the self-weight G of the horizontal servo hydraulic cylinder is balanced by the support force F2 provided by the hinge point and the support force F4 provided by the support hydraulic cylinder 8 to the horizontal servo hydraulic cylinder. The remaining force will act on the upper side of the bottom of the cylinder through the piston at the bottom of the hydraulic cylinder to generate force F3, and act on the connection between the guide sleeve at the front end of the hydraulic cylinder and the piston rod to generate force F1. From the force balance equation above, it can be seen that if the support force F4 provided by the support hydraulic cylinder 8 is large enough, then the joint action of F4 and the force F2 provided by the front hinge point of the servo hydraulic cylinder can balance the self-weight of the hydraulic cylinder. The active force F3, the active force F1 of the guide sleeve at the front end of the hydraulic cylinder and the piston rod are all reduced, so that these two forces disappear.
再根据力矩平衡方程式可知：由于可将G*L项视为常量，那么，在活塞杆做工时，力矩L3减小,L4、L、L1不变；当支撑液压缸8为卧式伺服液压缸提供足够大的一个支撑力F4时，由于L3的减小，由力矩方程可知,F4*L4就可以平衡G*L项，若F4足够大，那么F1和F3就会随着F4的增大而足够小，以至于此二力消失。 Then according to the torque balance equation, it can be known that since the G*L item can be regarded as a constant, then, when the piston rod is working, the torque L3 decreases, and L4, L, and L1 remain unchanged; when the supporting hydraulic cylinder 8 is a horizontal servo hydraulic cylinder When a large enough support force F4 is provided, due to the decrease of L3, it can be seen from the moment equation that F4*L4 can balance the G*L term. If F4 is large enough, then F1 and F3 will increase with the increase of F4 is small enough that these two forces disappear.
综上可知，本发明的设计,既满足力方程式也符合力矩方程式。外加的支撑液压缸8为卧式伺服液压缸提供的支承力随着自身活塞行程的变化通过比例减压阀调整支承力的大小，使得卧式伺服液压缸的活塞杆与缸盖导向套、活塞与缸筒之间的作用力大大减小，以至于消失，由此大大减轻了密封结构的受力，避免了漏油现象，克服了摩擦力的影响，提高了伺服缸频响特性，能够大大延长伺服液压缸的寿命，拓宽了液压缸的应用领域及使用工况。 In summary, the design of the present invention satisfies both the force equation and the torque equation. The additional support hydraulic cylinder 8 provides the support force for the horizontal servo hydraulic cylinder with the change of its own piston stroke through the proportional pressure reducing valve to adjust the size of the support force, so that the piston rod of the horizontal servo hydraulic cylinder and the cylinder head guide sleeve, piston The force between the cylinder and the cylinder is greatly reduced to the point of disappearing, thereby greatly reducing the force on the sealing structure, avoiding oil leakage, overcoming the influence of friction, and improving the frequency response characteristics of the servo cylinder, which can greatly The service life of the servo hydraulic cylinder is extended, and the application fields and working conditions of the hydraulic cylinder are broadened.
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