A method for micro-angle stepping control of hydraulic motors

Abstract

Abstract The present invention relates to a hydraulic motor micro-angle stepping control system and belongs to the field of hydraulic transmission. The system is equipped with a two-position four-way reversing valve, a check valve, a pulse cylinder, and a two-position two-way hydraulic reversing valve in sequence between the hydraulic pump and the hydraulic motor. Step control of the rotation angle is achieved by driving the hydraulic motor through a tiny angle ('micro-angle') each time when it turns through the coordinated control of the pulse cylinder, the manual reversing valve, and the hydraulic reversing valve; The hydraulic reversing valve realises the automatic linkage control of the hydraulic pump to the pulse cylinder and the pulse cylinder to the hydraulic motor, which improves the control and regulation efficiency; and lays a technical foundation for the automated and precise control of the accurately guided drilling and rotary mechanism. Abstract Jul 2023 2023208152 27 Fig 1 20 23 20 81 52 2 7 Ju l 2 02 3 5 W 6 9 4 3 A B 2 WP T 8 7 W 1 Fig 1 5 A B 2 WP T 8 7 W

Description

Technical fields The invention belongs to the field of hydraulic transmission and specifically relates to a system of hydraulic motor for micro-angle stepping control. Background technology Most of the rotary devices such as power heads of existing coal mine drilling rigs are driven by hydraulic motors. The hydraulic system used under the existing technology lacks a precise control function, which leads to the problem that the angle of rotation of the motor is not controllable, and thus it is difficult to meet the demand for accurate guided drilling and automated control of coal mine drilling rigs. In the existing disclosed technology, the angle measurement or control of rotating parts such as the power head of the drilling rig and the rotating joints is performed by using a rotary encoder or a combination of proximity switches, which must be electrically controlled, These types of designs and solutions are more complex and have very limited application in underground coal mines. For example, subject to Chinese prior application CN20210125678.8, CN201610475239.3, CN201410097402.8. Contents of the invention In view of the above, it is an object of the present invention to provide a system of microangle stepping control for hydraulic motors to solve the problem that the existing coal mine drilling rigs lack precise control functions, and the motor rotation angle is not controllable. To achieve the above purpose, the present invention provides the following technical solution: A method for micro-angle stepping control of a hydraulic motor, comprising mainly the steps of setting two-position four-way reversing valve 2, check valve 3, pulse cylinder 4 and two-position two-way hydraulic reversing valve 5 in turn between hydraulic pump 1 and hydraulic motor 6; wherein hydraulic pump 1 is connected to the inlet port of two-position four-way reversing valve 2, the return port of two-position four-way reversing valve 2 is connected to oil tank 8, the B port of two-position four-way reversing valve 2 is connected to the right chamber of pulse cylinder 4 through check valve 3, the A port of two-position four-way reversing valve 2 is connected to the left chamber of pulse cylinder 4,.the right chamber of pulse cylinder 4 is connected to hydraulic motor 6 through two-position twoway hydraulic reversing valve 5; the control oil port of two-position two-way hydraulic 2023208152 27 Jul 2023 reversing valve 5 is connected to the A port of two-position four-way hydraulic reversing valve 2 through oil pipe 9; Oil filling and accumulation process: The spools of the two-position four-way reversing valve 2 and the two-position two-way hydraulic reversing valve 5 are in the right position; The pressure oil output from the hydraulic pump 1 is injected into the right chamber of the pulse cylinder 4 after passing through the two-position four-way reversing valve 2 and the check valve 3 in turn, and the oil entering the right chamber pushes the piston of the pulse cylinder 4 from right to left; the oil in the left chamber of the pulse cylinder 4 is squeezed out and returned to the oil tank 8 via the two-position four-way reversing valve 2; The two-position two-way hydraulic reversing valve 5 in the right position makes the oil circuit between the pulse cylinder 4 and the hydraulic motor 6 disconnected, the oil in the right chamber of the pulse cylinder 4 will not enter the hydraulic motor 6, so it is always in the state of oil filling and energy storage; Pulse rotation process: After the spool in the two-position four-way reversing valve (2) switched to the left postion, the pressure oil output from hydraulic pump 1 enters the control port of the two-position two-way hydraulic reversing valve 5 through the two-position four-way reversing valve 2 and oil pipe 9 in turn, so that the two-position two-way hydraulic reversing valve 5 switches to the left position; The pressure oil from the hydraulic pump 1 is injected into the left chamber of the pulse cylinder 4 through the two-position four-way reversing valve 2 and fills the left chamber of the pulse cylinder 4; the oil entering the left chamber pushes the piston of the pulse cylinder 4 from left to right; The oil in the right chamber of the pulse cylinder 4 is squeezed out by the piston, and the two-position two-way hydraulic reversing valve 5, which is switched to the left position, makes the oil circuit between the pulse cylinder 4 and the hydraulic motor 6 turn on, and the oil in the right chamber of the pulse cylinder 4 enters the hydraulic motor 6 through the two-position two-way hydraulic reversing valve 5 to push the hydraulic motor 6 to rotate a small angle; Restoration process: The spool of the two-position four-way reversing valve 2 is switched to the right position again, and the hydraulic pump 1 inputs pressure oil to the right chamber of the pulse cylinder 4, so that the left chamber of the pulse cylinder 4 returns to the oil pressure relief; while the spool of the two-position two-way hydraulic reversing valve 5 is automatically returned to the right position under the action of the spring, and the whole control system returns to the initial state of "Oil filling and accumulation process ";and The" oil filling and accumulation process", the "pulse rotation process" and the "restoration process" are repeated several times, so that the hydraulic motor 6 is rotated to the desired angle by accumulation. 2023208152 27 Jul 2023 Further, a relief valve 7 is provided between the hydraulic pump 1 and the inlet of the two-position two-way reversing valve 2, so that excess pressure oil is returned to the tank 8 via the relief valve. Further, the two-position four-way reversing valve 2 is a manual reversing valve, the spool of which is automatically switched to the right position by releasing the operating handle on it, under the action of a spring. The beneficial effect of the invention is that: The control system realises step control of the rotation angle by driving the hydraulic motor through a tiny angle at a time through the synergistic control of the pulse cylinder, the manual reversing valve and the hydraulic reversing valve; the hydraulic reversing valve also realises automatic linkage control of the two oil circuits from the hydraulic pump to the pulse cylinder and from the pulse cylinder to the hydraulic motor, which improves the control efficiency; the system achieves an automated and precise control of the accurately guided drilling and slewing mechanism The technical basis is laid for the automatic control of the accurately guided drilling and rotary mechanism. Other advantages, objects and features of the present invention will to some extent be set forth in the embodiments. Technical features will, to some extent, be apparent to those skilled in the art by examination of the following study or can be taught from the practice of the present invention. The objects and other advantages of the present invention may be achieved and obtained by the following embodiments. Illustrations To make the object, technical solutions, and advantages of the present invention clearer, the invention will be described preferably in detail below in conjunction with the accompanying drawings, in which: Figure 1 shows a schematic diagram of the system of the present invention. The accompanying drawings are marked with: Hydraulic pump 1, two-position four-way reversing valve 2, check valve 3, pulse cylinder 4, two-position two-way hydraulic reversing valve 5, hydraulic motor 6, relief valve 7, oil tank 8, oil pipe 9. Implementation examples The following embodiments of the invention are illustrated by specific concrete examples, and other advantages and effects of the invention can be readily appreciated by those skilled in the art as disclosed herein. The invention may also be implemented or applied in different specific ways, and the details in this specification may be modified or changed in 2023208152 27 Jul 2023 various ways without departing from the spirit of the invention, based on different views and applications. It is to be noted that the illustrations provided in the following embodiments illustrate the basic idea of the invention only schematically and that the following embodiments and the features in the embodiments may be combined with each other, if there is no conflict. In particular, the accompanying drawings are for exemplary illustration only and represent only schematic, not physical drawings, and are not to be construed as limiting the invention; certain parts of the accompanying drawings are omitted, enlarged, or reduced in order to better illustrate embodiments of the invention and do not represent the dimensions of the actual product; it is understandable to those skilled in the art that certain well-known structures and their descriptions may be omitted from the accompanying drawings. The same or similar symbols in the accompanying drawings of embodiments of the invention correspond to the same or similar parts; in the description of the invention, it is to be understood that where the terms "top", "bottom", "left", "right", "front", "rear", etc., indicate orientation or positional relationships based on those shown in the accompanying drawings, only for the purpose of facilitating describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore the terms used in the accompanying drawings to describe the positional relationships are used for exemplary illustration only and are not to be construed as limiting the invention, and the specific meaning of the above terms may be understood in the light of the particular circumstances to a person of ordinary skill in the art. Referring to Figure 1, a hydraulic motor micro-angle stepping control system equipped with a two-position four-way reversing valve 2, a check valve 3, a pulse cylinder 4, and a two-position two-way hydraulic reversing valve 5 between the hydraulic pump 1 and the hydraulic motor 6 in sequence; wherein the hydraulic pump 1 is the power element of the system and supplies pressure fluid for the components in the system; the hydraulic motor 6 is the actuating element for the rotary output. The two-position four-way reversing valve 2 is designed to switch the direction of the oil inlet of the pulse cylinder 4; the check valve 3 is designed to control the one-way flow of oil between the right chamber of the pulse cylinder 4 and the two-position four-way reversing valve 2; the pulse cylinder 4 is a component to accumulate and output oil and for the propose of pushing the hydraulic motor 6 to rotate a small angle, and the volume of the pulse cylinder 4 matches the small angle of the single rotation of the hydraulic motor 6; the two-position two-way hydraulic reversing valve 5 is used to switch the oil circuit between the pulse cylinder 4 and the hydraulic motor 6. Specifically, the hydraulic pump 1 is connected to the inlet port P of the two-position fourway reversing valve 2, the return port T of the two-position four-way reversing valve 2 is connected to the oil tank 8, the B port of the two-position four-way reversing valve 2 is connected to the right chamber of the pulse cylinder 4 through the check valve 3, the A port 2023208152 27 Jul 2023 of the two-position four-way reversing valve 2 is connected to the left chamber of the pulse cylinder 4, the right chamber of the pulse cylinder 4 is connected to the hydraulic motor 6 through the two-position two-way hydraulic reversing valve 5. The control oil port of the two-position two-way hydraulic reversing valve 5 is connected to the A port of the two-position four-way reversing valve 2 through oil pipe 9. The control method of the system consists mainly of the following steps: S1, oil charging, and accumulation process: Initially, the spools of the two-position four-way reversing valve 2 and two-position two-way hydraulic reversing valve 5 are in the right position; the pressure oil output from the hydraulic pump 1 passes through two-position four-way reversing valve 2 and check valve 3 in turn, is injected into the right chamber of pulse cylinder 4 and fills the right chamber of pulse cylinder 4, the oil entering the right chamber push the piston of pulse cylinder 4 from right to left. The oil in the left chamber of pulse cylinder 4 is squeezed out by the piston and returned to the oil tank 8 through the two-position four-way reversing valve 2; at the same time, the two-position two-way hydraulic reversing valve 5 in the right position makes the oil circuit between pulse cylinder 4 and hydraulic motor 6 disconnected, the oil in the right chamber of pulse cylinder 4 will then not enter the hydraulic motor 6, so pulse cylinder 4 has been in the state of oil filling and energy storage. S2, pulse rotation process: After the spool in the two-position four-way reversing valve (2) switched to the left position, the pressure oil output from hydraulic pump 1 enters the control port of the two-position two-way hydraulic reversing valve 5 through the two-position four-way reversing valve 2 and oil pipe 9 in turn, so that the two-position two-way hydraulic reversing valve 5 switches to the left position under the action of oil. The pressure oil from hydraulic pump 1 is injected into the left chamber of pulse cylinder 4 through the two-position four-way reversing valve 2 and fills the left chamber of pulse cylinder 4; the oil entering the left chamber pushes the piston of pulse cylinder 4 from left to right and the oil in the right chamber of pulse cylinder 4 is pushed out by the piston. The oil in the right chamber of the pulse cylinder 4 is pushed out by the piston. The two-position two-way hydraulic reversing valve 5, which is switched to the left position, makes the oil circuit between the pulse cylinder 4 and the hydraulic motor 6 turn on, and the oil in the right chamber of the pulse cylinder 4 enters the hydraulic motor 6 through the two-position two-way hydraulic reversing valve 5, which then pushes the hydraulic motor 6 to rotate by a small angle, i.e. to realize the small angle of rotation. S3, restoration process: The spool in the two-position four-way reversing valve 2 is switched to the right position again during this process, the hydraulic pump 1 inputs pressure oil into the right chamber of the pulse cylinder 4, which drives the left chamber of the pulse cylinder 4 returns to the oil; at the same time, the spool of the two-position two-way hydraulic reversing valve 5 is 2023208152 27 Jul 2023 automatically returned to the right position under the action of the spring, then the whole control system returns to the initial state of "oil charging and accumulation process". By repeating the " oil charging and accumulation process ", the "pulse rotation process" and the "restoration process" several times, the hydraulic motor 6 is rotated to the desired angle by accumulation. In this solution, a relief valve 7 is designed to regulate the driving force of the hydraulic motor 6; if the system pressure reaches the set value of the relief valve, the excess oil can be returned to the tank 8 via the relief valve 7, thus ensuring the safety of the system pressure. The relief valve 7 is set between the hydraulic pump 1 and the oil inlet port of the two-position four-way reversing valve 2. The two-position two-way reversing valve 2 is a manual reversing valve, the spool of which can be controlled to switch automatically to the right position under the action of the spring by releasing the operating handle on it. The control method and system are equipped with the synergistic control of the pulse cylinder, the manual reversing valve, and the hydraulic reversing valve, which can drive the hydraulic motorthrough a small angle within a period of time, thus realising the stepping control of the rotation angle; the hydraulic reversing valve realises the automatic linkage control of the two oil circuits from the hydraulic pump to the pulse cylinder and from the pulse cylinder to the hydraulic motor, which improves the control and adjustment efficiency; it lays the technical foundation for the automatic and precise control of the accurately guided drilling and rotary mechanism. Finally, it is noted that the above embodiments are intended to illustrate the technical solution of the invention and not to limit it. Although the invention has been described in detail with reference to the preferred embodiment, it should be understood by those of ordinary skill in the art that modifications or equivalent substitutions may be made to the technical solution of the invention without departing from the purpose and scope of the present technical solution, which shall be covered by the scope of the claims of the invention.

Claims

1, A method for micro-angle stepping control of a hydraulic motor, characterized in that it mainly comprises the following steps:setting two four-position four-way reversing valve (2), check valves (3), pulse cylinder (4), and two-position two-way hydraulic reversing valve (5) in turn between the hydraulic pump (1) and the hydraulic motor (6); wherein the hydraulic pump (1) is connected to the inlet port of the two-position four-way reversing valve (2), the return port of the two-position fourway reversing valve (2) is connected to the oil tank (8), the B port of the two-position fourway reversing valve (2) is connected to the right chamber of the pulse cylinder (4) through the check valve (3). the A port of the two-position four-way reversing valve (2) is connected to the left chamber of the pulse cylinder (4), and the right chamber of the pulse cylinder (4) is connected to the hydraulic motor (6) through the two-position two-way hydraulic reversing valve (5); the control oil port of the two-position two-way hydraulic reversing valve (5) is connected to the A port of the two-position four-way reversing valve (2) through the oil pipe (9);Oil filling and accumulation process:The spools in the two-way four-way reversing valve (2) and the two-position two-way hydraulic reversing valve (5) are in the right position.The pressure oil output from the hydraulic pump (1) passes through the two-position fourway reversing valve (2) and the check valve (3) in turn and is injected into the right chamber of the pulse cylinder (4) and fills the right chamber of the pulse cylinder (4), the oil entering the right chamber pushes the piston of the pulse cylinder (4) from right to left;the oil in the left chamber of the pulse cylinder (4) is squeezed out and returned to the oil tank (8) via the two-position four-way reversing valve (2);The two-position two-way hydraulic reversing valve (5) in the right position makes the oil circuit between the pulse cylinder (4) and the hydraulic motor (6) disconnected, and the oil in the right chamber of the pulse cylinder (4) will not enter the hydraulic motor (6), so it is always in the state of oil filling and energy storage;Pulse rotation process:After the spool in the two-position four-way reversing valve (2) switched to the left postion, the pressure oil output from the hydraulic pump (1) passes through the two-position fourway reversing valve (2) and the oil pipe (9) enters the control port of the two-position twoway hydraulic reversing valve (5), so that the two-position two-way hydraulic reversing valve (5) switches to the left position;The pressure oil from the hydraulic pump (1) is injected into the left chamber of the pulse cylinder (4) via the two-postion four-way directional valve (2) and fills the left chamber of the pulse cylinder (4); the oil entering the left chamber pushes the piston of the pulse cylinder (4) from left to right;The oil in the right chamber of the pulse cylinder (4) is squeezed out by the piston and the2023208152 27 Jul 2023two-position two-way hydraulic reversing valve (5) is switched to the left position so that the oil circuit between the pulse cylinder (4) and the hydraulic motor (6) is switched on and the oil in the right chamber of the pulse cylinder (4) enters the hydraulic motor (6) through the two-position two-way hydraulic reversing valve (5) to push the hydraulic motor (6) to rotate at a slight angle;Restoration process:The spool in the two-position four-way reversing valve (2) is switched to the right position again, and the hydraulic pump (1) inputs pressure oil into the right chamber of the pulse cylinder (4), so that the left chamber of the pulse cylinder (4) returns to the oil pressure relief; while the spool of the two-position two-way hydraulic reversing valve (5) automatically returns to the right position under the action of the spring, and the whole control system returns to the initial state of" Oil filling and accumulation process Repeating the "oil filling and accumulation process", "pulse rotation process" and "restoration process", the hydraulic motor (6) is rotated to the required angle by repeated accumulation.

2. The method of low-speed stepping rotary control of a hydraulic motor according to claim 1, characterised in that: by providing a relief valve (7) between the hydraulic pump (1) and the oil inlet of the two-position four-way reversing valve (2) so that excess pressure oil is returned to the tank (8) via the relief valve.

3. The method for controlling the low-speed stepping rotation of a hydraulic motor according to claim 1, characterised in that: the two-position four-way reversing valve (2) is a manual reversing valve, the spool of which is automatically switched to the right position by releasing the operating handle on it, under the action of a spring.

Images