A speed control valve, a straightening system and a straightening method

Abstract

The embodiments of the present application disclose a speed control valve, a straightening system and a straightening method, which relate to the field of straightening in fully mechanized coal mining faces. The speed control valve can accurately control the flow rate of the emulsion liquid, thereby accurately adjusting the position of the hydraulic support and reducing the impact of the emulsion liquid on the straightening system during the straightening process. The speed control valve includes a valve core and a valve seat. Among them, the valve core is provided with an internal passage communicating with the inlet of the speed control valve, and a first speed control port is arranged on the valve core; the valve seat communicates with the outlet of the speed control valve, and a second speed control port is arranged on the valve seat; the valve core and the valve seat can rotate relative to each other, and the second speed control port is on the rotation track of the first speed control port; when the valve core and the valve seat rotate relative to each other, the first speed control port and the second speed control port are gradually aligned to connect the inlet and outlet of the speed control valve. The embodiments of the present application provide a speed control valve for adjusting the position of the hydraulic support.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of straightening of fully mechanized coal mining faces, and in particular to a speed control valve, a straightening system and a straightening method. Background Art

[0002] The straightness of the hydraulic supports in the fully mechanized coal mining face directly affects the working efficiency of the entire fully mechanized coal mining face. At present, the straightening of the hydraulic supports in the coal mine fully mechanized coal mining face is adjusted by a large-flow electro-hydraulic reversing valve or a manual operation valve to adjust the movement of the hydraulic supports. The opening changes of these valves are discontinuous, which will cause impacts on the hydraulic components of the hydraulic supports. According to the General Technical Specification for Intelligent Mine Information Systems, during the continuous advancement of the fully mechanized coal mining face, there is no need for manual adjustment of the straightness of the hydraulic supports. Therefore, there is an urgent need for a speed control valve that can continuously adjust the flow rate of the emulsion liquid, so as to accurately adjust the position of the hydraulic support and reduce the impact of the emulsion liquid on the straightening system during the straightening process. Summary of the Invention

[0003] To solve the above problems, the embodiments of the present application provide a speed control valve, a straightening system and a straightening method, which have the following advantages: they can accurately control the flow rate of the emulsion liquid, so as to accurately adjust the position of the hydraulic support and reduce the impact of the emulsion liquid on the straightening system during the adjustment process.

[0004] To achieve the above object, the technical solution of the embodiments of the present application is implemented as follows:

[0005] In a first aspect, the embodiments of the present application provide a speed control valve, including: a valve core and a valve seat. Among them, the valve core is provided with an internal passage communicating with the inlet of the speed control valve, and a first speed control port is provided on the valve core; the valve seat communicates with the outlet of the speed control valve, and a second speed control port is provided on the valve seat. The valve core and the valve seat can rotate relative to each other, and the second speed control port is on the rotation trajectory of the first speed control port. When the valve core and the valve seat rotate relative to each other, the first speed control port and the second speed control port are gradually aligned, and the inlet and outlet of the speed control valve are communicated.

[0006] The speed regulating valve provided in the embodiment of the present application has a slow and gradual alignment process between the first speed regulating port on the valve core and the second speed regulating port on the valve seat when the valve core and the valve seat rotate relative to each other, so that the flow area of ​​the flow channel formed between the first speed regulating port and the second speed regulating port gradually changes. When the first speed regulating port and the second speed regulating port are misaligned, this also corresponds to the closed state of the speed regulating valve, and the flow of the emulsion through the speed regulating valve is zero at this time; when the valve core and the valve seat rotate relative to each other until the first speed regulating port and the second speed regulating port are completely aligned, this also corresponds to the full open state of the speed regulating valve, and the flow of the emulsion through the speed regulating valve is the largest at this time. By controlling the relative rotation speed of the valve core and the valve seat, the flow of the emulsion through the speed regulating valve can be accurately controlled. Combined with controlling the action time of the speed regulating valve, the total volume of the emulsion through the speed regulating valve can be accurately controlled, and the position of the hydraulic support can be accurately adjusted. Moreover, when the valve core and the valve seat rotate relative to each other, the flow rate of the emulsion gradually increases from zero to the maximum, and the flow rate of the emulsion changes relatively slowly, thereby reducing the impact of the emulsion on the straightening system during the adjustment process.

[0007] In a possible implementation of the present application, the valve core is a cylindrical structure, a hollow structure is provided at one end of the valve core close to the inlet of the speed control valve, a cylindrical cavity is provided at the position of the valve seat corresponding to the valve core, and the valve core is sleeved in the cylindrical cavity.

[0008] In a possible implementation of the present application, the first speed regulating port is a circular hole, and the axis of the first speed regulating port is perpendicular to the axis of the valve core.

[0009] In a possible implementation of the present application, there are multiple first speed regulating ports, and the multiple first speed regulating ports are evenly distributed along the circumference of the valve core.

[0010] In a possible implementation of the present application, when the valve core rotates along the valve seat, only one first speed regulating port is connected to the second speed regulating port at the same time.

[0011] In a possible implementation of the present application, a driving part is provided on the valve body at a position corresponding to the valve core, and the driving part is transmission-connected to the valve core to rotate the valve core.

[0012] In a possible implementation of the present application, a differential pressure reducing device is provided between the inlet of the regulating valve and the valve core, and the differential pressure reducing device is provided with a sealing portion, one end of the sealing portion is connected to the inlet of the speed regulating valve, and the other end is connected to the outlet of the speed regulating valve, so as to balance the differential pressure between the outlet and the inlet of the speed regulating valve.

[0013] In a second aspect, an embodiment of the present application provides a straightening system, including a hydraulic support, an oil supply device, and a speed control valve provided in the first aspect; wherein, the number of hydraulic supports is N, and the N hydraulic supports are arranged and distributed along a first direction, N≥2, N is a positive integer, a base is provided on the hydraulic support, and a pushing hydraulic jack is provided on one side of the base along a second direction; the oil supply device provides emulsion liquid and is connected to the pushing hydraulic jack through the speed control valve.

[0014] Since the straightening system provided by the embodiment of the present application includes the speed control valve provided in the first aspect, the same technical effects can be achieved: the flow rate of the emulsion liquid can be accurately controlled, so as to accurately adjust the position of the hydraulic support and reduce the impact of the emulsion liquid on the straightening system during the adjustment process.

[0015] In a possible implementation manner of the present application, a top beam is provided above the base, a lifting hydraulic jack is provided between the base and the top beam, and laser sensors are provided on both sides of the lifting hydraulic jacks of the first and the Nth hydraulic supports.

[0016] In a possible implementation manner of the present application, the laser sensors are arranged on both sides of the lifting hydraulic jack along the second direction and are at the same distance from the lifting hydraulic jack.

[0017] In a possible implementation manner of the present application, the laser sensors provided on the first and the Nth hydraulic supports are arranged in a staggered manner along a third direction so that the laser sensors do not interfere with each other.

[0018] In a third aspect, an embodiment of the present application provides a straightening method, which is implemented by using the straightening system provided in the second aspect. By adjusting the relative rotation speed and displacement of the valve core and the valve seat of the speed control valve provided in the first aspect, the parameters of the opening speed, closing speed, and / or the opening degree of the speed control valve are adjusted to adjust the flow rate of the emulsion liquid, so as to adjust the position of the hydraulic support.

[0019] In a possible implementation manner of the present application, sensors are provided on both sides of the lifting hydraulic jacks of the first and the Nth hydraulic supports. The sensors are arranged along the second direction and are at the same distance from the lifting hydraulic jack. The sensors are used to determine the relative position of the hydraulic support.

[0020] In a possible implementation manner of the present application, the straightening method provided by the embodiment of the present application includes the following steps:

[0021] Step S01: First-stage straightening: The speed control valve is opened to the fully open state at a first speed, the position of the nth hydraulic support is adjusted. When the sensor measures the position of the nth hydraulic support, the speed control valve is closed to the fully closed state at the first speed, and the nth hydraulic support stops at a first position, 2≤n≤N-1;

[0022] Step S02: Second-stage straightening: Use a sensor to determine the position information of the first position. Based on the position information of the first position, use a controller to generate a second speed. The speed control valve operates at the second speed to adjust the position of the nth hydraulic support.

[0023] Step S03: Repeat steps S01 - S02: Adjust the positions of the second to the (N - 1)th hydraulic supports.

[0024] The straightening method provided by the embodiment of the present application can achieve the same technical effects because it is implemented by using the straightening system provided in the second stage: it can accurately control the flow rate of the emulsion liquid, thereby accurately adjusting the position of the hydraulic support and reducing the impact on the straightening system caused by the emulsion liquid during the adjustment process. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the speed control valve provided by the embodiment of the present application;

[0026] Figure 2 It is a schematic cross-sectional view of the speed control valve provided by the embodiment of the present application;

[0027] Figure 3 It is a schematic layout diagram of the straightening system provided by the embodiment of the present application;

[0028] Figure 4 It is a schematic oil circuit connection diagram of the electro-hydraulic conversion module, speed control valve, and jack for pushing the hydraulic support provided by the embodiment of the present application;

[0029] Figure 5 It is a schematic diagram showing the relationship between the piston movement speed and time of the jack for pushing the hydraulic support during the first-stage adjustment of the straightening method provided by the embodiment of the present application;

[0030] Figure 6 It is a schematic diagram showing the relative position of the hydraulic support and the opening degree of the speed control valve during the first-stage adjustment of the straightening method provided by the embodiment of the present application;

[0031] Figure 7 It is a schematic diagram of the second speed during the second-stage adjustment of the straightening method provided by the embodiment of the present application;

[0032] Figure 8 It is a schematic diagram for dividing the position deviation between the displaced hydraulic support and the reference hydraulic support in the straightening method provided by the embodiment of the present application;

[0033] Figure 9 It is a schematic signal flow diagram of the straightening method provided by the embodiment of the present application;

[0034] Figure 10 It is a schematic flow diagram of the fuzzy controller of the straightening method provided by the embodiment of the present application.

[0035] Reference numerals:

[0036] 1 - speed control valve; 2 - spool; 21 - internal passage; 22 - first speed control port; 3 - valve seat; 31 - second speed control port; 4 - speed control valve inlet; 5 - drive unit; 51 - stepper motor; 52 - coupling; 53 - mounting seat; 6 - constant differential pressure reducing device; 61 - spring; 62 - piston; 63 - guide post; 631 - first guide post; 632 - second guide post; 633 - first damping hole; 634 - buffer hole; 635 - second damping hole; 64 - reduction structure; 7 - hydraulic support; 71 - first hydraulic support; 711 - base; 712 - pushing hydraulic jack; 713 - roof beam; 714 - lifting hydraulic jack; 715 - laser sensor; 7151 - first laser sensor; 7152 - second laser sensor; 7153 - third laser sensor; 7154 - fourth laser sensor; 716 - electro - hydraulic conversion module; 72 - the Nth hydraulic support; 73 - reference hydraulic support; 74 - shifting hydraulic support; 8 - control box; 81 - power supply; 82 - upper computer; 83 - controller; 9 - wireless laser displacement sensor. Detailed implementation manners

[0037] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0038] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0039] In addition, in the embodiments of the present application, orientation terms such as "upper", "lower", "left" and "right" are defined relative to the orientation of the components shown in the drawings. It should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and they may change accordingly with the change of the orientation of the components placed in the drawings.

[0040] In the embodiments of the present application, unless otherwise clearly defined and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be fixedly connected, detachably connected, or integrated; it can be directly connected or indirectly connected through an intermediate medium.

[0041] In the embodiments of the present application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element.

[0042] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0043] The embodiments of the present application provide a straightening system. The straightening system is used to adjust the straightness of the fully-mechanized coal mining face. As the coal wall is mined, the hydraulic support needs to be moved towards the coal wall. The straightening system includes N hydraulic supports, and the N hydraulic supports are arranged along the extension direction of the coal wall (the first direction). The hydraulic support is provided with a base, and a push hydraulic jack is arranged on the base in the extension direction of the coal wall (the second direction). By introducing emulsion liquid into both sides of the piston of the push hydraulic jack, the main shaft of the push hydraulic jack can be extended or retracted to change the position of the hydraulic support. In order to control the push hydraulic jack of the hydraulic support, the straightening system further includes a speed control valve. By adjusting the opening degree of the speed control valve, the flow rate of the emulsion liquid passing through the speed control valve to the push hydraulic jack can be adjusted, and thus the displacement of the movement of the push hydraulic jack can be adjusted.

[0044] In a first aspect, with reference to Figure 1 and Figure 2 , the embodiments of the present application provide a speed control valve 1, which includes a valve core 2 and a valve seat 3. An internal passage 21 is provided on the valve core 2 and is connected to the speed control valve inlet 4, and a first speed control port 22 is provided on the valve core 2; the valve seat 3 is connected to the speed control valve outlet, and a second speed control port 31 is provided on the valve seat 3. The valve core 2 and the valve seat 3 can rotate relative to each other, and the second speed control port 31 is on the rotation trajectory of the first speed control port 22. When the valve core 2 and the valve seat 3 rotate relative to each other, the first speed control port 22 and the second speed control port 31 are gradually aligned, connecting the speed control valve inlet 4 and the speed control valve outlet. Figure 1 and Figure 2 are cross-sectional views of the speed control valve 1. The speed control valve outlet is provided on the valve body aligned with the second speed control port 31 and is not shown in the figure.

[0045] The speed control valve 1 provided by the embodiment of the present application changes the relative position of the valve core 2 and the valve seat 3 through the relative rotation of the valve core 2 and the valve seat 3. A first speed control port 22 is provided on the valve core 2, and an internal passage 21 is provided on the valve core 2. The speed control valve inlet 4 is communicated to the first speed control port 22 through the internal passage 21. Correspondingly, a second speed control port 31 is provided on the valve seat 3. The second speed control port 31 is arranged on the rotation trajectory of the first speed control port 22, and the second speed control port 31 is communicated to the speed control valve outlet. In this way, when the valve core 2 and the valve seat 3 rotate relative to each other, there is a slow and gradual alignment process between the first speed control port 22 and the second speed control port 31. Therefore, the area of the flow passage between the speed control valve inlet 4 and the speed control valve outlet also has a slow change process, so that the flow rate of the emulsion has a slow and gradual change process from zero flow rate when the first speed control port 22 and the second speed control port 31 are misaligned to the maximum flow rate when the first speed control port 22 and the second speed control port 31 are aligned, that is, the opening degree of the speed control valve 1 has a gradually increasing process. Refer to Figure 3 , because the speed control valve 1 provided by the embodiment of the present application can gradually and continuously adjust the flow rate of the emulsion from zero, so that the main shaft of the pushing hydraulic jack 712 can change slowly, thereby accurately adjusting the position of the hydraulic support 7 and reducing the impact of the emulsion during the adjustment process. It should be noted that in the embodiment of the present application, the emulsion is not limited, as long as it can play a hydraulic role on the pushing hydraulic jack 712, for example: lubricating oil, high-pressure fire-resistant oil or anti-wear emulsion, etc.; in this embodiment, the shapes of the first speed control port 22 and the second speed control port 31 are not limited either, and their shapes can be square, oval or circular, as long as the first speed control port 22 and the second speed control port 31 are gradually aligned to make the flow passage formed by the first speed control port 22 and the second speed control port 31 change slowly and continuously; the shapes of the valve core 2 and the valve seat 3 are not limited in the embodiment of the present application either, as long as the valve core 2 can rotate relative to the valve seat 3. For example, the shape of the valve core 2 can be a cone, a cylinder or a sphere, and as long as a corresponding cavity is provided on the valve seat 3 for the valve core 2 to rotate.

[0046] Refer to Figure 1 and Figure 2, Preferably, in a possible implementation manner of the present application, the valve core 2 is of a cylindrical structure, and a hollow structure is provided at one end of the valve core 2 close to the inlet 4 of the speed control valve as an internal passage 21. A cylindrical cavity is provided inside the valve seat 3 at a position corresponding to the valve core 2, and the valve core 2 is sleeved in the cylindrical cavity. Setting the valve core 2 as a cylindrical structure is convenient for processing, easy to implement, and general lathe equipment can meet the processing requirements; correspondingly, the cylindrical cavity of the valve seat 3 is also easy to process, reducing the requirements for processing equipment and making it easy to obtain the valve core 2 and the valve seat 3 of the speed control valve 1 provided by the embodiments of the present application. In addition, it should be noted that the present application does not limit the external shape structure of the valve seat 3, as long as the inside of the valve seat 3 is a cylindrical cavity corresponding to the valve core 2. The valve seat 3 can be set as a cylindrical structure or other structures, such as a cuboid structure, and the embodiments of the present application do not limit this.

[0047] On this basis, the first speed control port 22 is a circular hole, and the axis of the first speed control port 22 is perpendicular to the axis of the valve core 2. Setting the first speed control port 22 as a circular hole is the most common method, which is convenient for processing with a drill bit. Moreover, when using a drill bit to process the first speed control port 22, it is also the easiest to make the axis of the first speed control port 22 perpendicular to the axis of the valve core 2, and the processing of the first speed control port 22 can be achieved by using a bench drill.

[0048] In addition, in a possible implementation manner of the present application, there are multiple first speed control ports 22 on the valve core 2, and the multiple first speed control ports 22 are evenly distributed along the circumferential direction of the valve core 2. Setting the first speed control ports 22 as multiple can make the first speed control ports 22 and the second speed control ports 31 align multiple times within one rotation period of the valve core 2, enabling the speed control valve 1 to have multiple closed and open states, thereby improving the efficiency of the speed control valve 1. And evenly distributing the multiple first speed control ports 22 along the circumferential direction of the valve core 2 can make the alignment state between the first speed control ports 22 and the second speed control ports 31 form a repetitive cycle relationship with the rotation time of the valve core 2, which is more conducive to the control of the speed control valve 1.

[0049] In another possible implementation manner of the present application, the second speed control port 31 is also a circular hole. When the valve core 2 rotates along the valve seat 3, only one first speed control port 22 and the second speed control port 31 are connected at the same time. Setting the second speed control port 31 as a circular shape is also the easiest to implement and is also convenient for aligning with the first speed control port 22. Setting the axis of the second speed control port 31 perpendicular to the axis of the cylindrical cavity of the valve seat 3, in this way, it is also easy to implement the processing of the second speed control port 31. And when the first speed control port 22 and the second speed control port 31 are aligned, the flow channel formed between the first speed control port 22 and the second speed control port 31 extends in a straight line, resulting in a smaller flow resistance and reducing the pressure loss of the emulsion.

[0050] Further, referring to Figure 1 、Figure 2 and Figure 3 A driving unit 5 is provided at a position corresponding to the valve core 2 on the speed control valve 1, and the driving unit 5 is connected to the valve core 2 in a transmission manner. The driving unit 5 can be a motor actuator or a pneumatic actuator. The pneumatic actuator needs to be equipped with a matching air compressor and a corresponding air storage system, which is relatively expensive. However, in the event of a power failure 81, the speed control valve 1 can also be controlled by the compressed air in the air storage tank. The electric actuator is relatively simple and easy to control. In particular, when a stepper motor 51 is selected, different parameters can be set by the controller 83 to control the stepper motor 51, thereby controlling the speed control valve 1. For example, a program can be pre-set to make the stepper motor 51 rotate at a certain speed, so that the valve core 2 of the speed control valve 1 can rotate at the same speed, thereby achieving precise control of the speed control valve 1. On this basis, a coupling 52 can be set between the stepper motor 51 and the valve core 2 to transmit the torque of the stepper motor 51 to the valve core 2. An elastic coupling can be set to reduce the impact when the stepper motor 51 is started. Commonly used elastic couplings include serpentine spring couplings, diaphragm couplings, pin-type elastic couplings or plum blossom-type elastic couplings. The embodiment of the present application does not limit the selection of the coupling 52. In order to limit the swing of the valve core 2 during rotation, a bearing can also be set between the valve core 2 and the valve body, which can also reduce the friction between the valve core 2 and the valve body. Figure 1 and Figure 2 A mounting seat 53 is also provided between the stepper motor 51 and the valve body. The mounting seat 53 is fixed to the valve body by connecting bolts, and the stepper motor 51 is fixed to the mounting seat 53 by connecting bolts. In this way, a coupling 52 can be provided in the mounting seat 53, avoiding the processing of the valve body and keeping the structure of the valve body simple, so that the sealing structure between the valve core 2 and the valve body can be well provided, so that the emulsion in the speed regulating valve 1 will not leak out.

[0051] When the speed regulating valve 1 is fully closed, there is a large pressure difference between the speed regulating valve outlet and the speed regulating valve inlet 4. At this time, the torque required to rotate the valve core 2 is large. In order to balance the pressure difference between the speed regulating valve outlet and the speed regulating valve inlet 4, a differential pressure reducing device 6 is provided between the speed regulating valve outlet and the speed regulating valve inlet 4. There are also multiple options for the setting of the differential pressure reducing device 6. For example, refer to Figure 1 and Figure 2 A spring 61 is arranged in the valve body, one end of the spring 61 is connected to the valve body, a piston 62 is arranged at the other end of the spring 61, one end of the piston 62 close to the spring 61 is connected to the speed regulating valve outlet, and one end of the piston 62 away from the spring 61 is connected to the speed regulating valve inlet 4, and the speed regulating valve outlet and the speed regulating valve inlet 4 are isolated by the piston 62. In this way, the pressure between the speed regulating valve outlet and the speed regulating valve inlet 4 can be conducted through the piston 62, thereby reducing the differential pressure between the speed regulating valve outlet and the speed regulating valve inlet.

[0052] Reference Figure 1 and Figure 2 Figure 2 Figure 1 and Figure 2 Figure 2

[0053] On this basis, a reduced structure 64 is provided at a position where the guide post 63 is close to the spool 2, so as to keep the channel for the emulsion to flow to the spool 2 unobstructed. At the same time, the guide post 63 is also divided into a first guide post 631 and a second guide post 632, where the first guide post 631 is close to the spring 61. A through first damping hole 633 is provided on the edge of the second guide post 632, and the lower part of the second guide post 632 is filled with emulsion. When the guide post 63 slides downward, the flow rate of the emulsion passing through the first damping hole 633 is small, which can slow down the movement speed of the guide post 63 and play a damping role, and can also serve as a flow channel for the emulsion to flow on both the upper and lower sides of the guide post 63. At the same time, a buffer hole 634 is also provided in the middle of the second guide post 632, which can play a certain buffering role. It should be noted that a through second damping hole 635 is also provided on the edge of the first guide post 631, which can also play a damping role and can also serve as a flow channel for the emulsion to flow on both the upper and lower sides of the guide post 532.

[0054] It should be noted that when the pressure at the outlet of the speed control valve is high, the piston 62 slides toward the side of the inlet 4 of the speed control valve, and at the same time, the first guide post 631 also slides toward the side of the inlet 4 of the speed control valve and blocks the inlet of the internal channel 21 of the speed control valve 1, causing the emulsion before the inlet of the internal channel 21 to be pressurized, increasing the pressure of the emulsion before the inlet of the internal channel 21, thereby reducing the differential pressure between the outlet of the speed control valve and the inlet of 21; when the pressure at the outlet of the speed control valve is low, the piston 62 slides toward the spring side of the speed control valve, increasing the opening to 21 to reduce the pressure, thereby reducing the differential pressure between the outlet of the speed control valve and 21.

[0055] Second, reference Figure 3, an embodiment of the present application provides a straightening system, including: a speed control valve 1, a hydraulic support 7, and an oil supply device provided in the first aspect; the number of hydraulic supports 7 is N, where N ≥ 2 and N is a positive integer, and the N hydraulic supports 7 are arranged in a row along the first direction. Here, the first direction refers to the extension direction of the coal wall. For the convenience of description, the nearest hydraulic support 7 is called the first hydraulic support 71, and the farthest hydraulic support 7 is called the Nth hydraulic support 72. It should be noted that for the convenience of display, in Figure 3 , other parts of the Nth hydraulic support 72 are not shown, and other parts of the Nth hydraulic support 72 can be referred to the first hydraulic support 71. The hydraulic supports 7 between the first hydraulic support 71 and the Nth hydraulic support 72 are called intermediate hydraulic supports. A base 711 is provided on the hydraulic support 7, and a pushing hydraulic jack 712 is provided along the second direction on the base 711. Here, the second direction refers to the extension direction from the base 711 to the coal wall; the oil supply device provides emulsion for the straightening system, and oil pipes are arranged to connect the oil supply device, the speed control valve 1, and the pushing hydraulic jack 712 together. The oil pipes can be high-pressure rubber hoses or stainless steel pipes. In an environment with large vibrations, high-pressure rubber hoses can isolate vibrations and withstand impacts; when choosing stainless steel pipes, expansion joints are generally provided to isolate the vibrations between the oil supply device and the pipeline. The embodiment of the present application does not limit the selection of oil pipes.

[0056] In addition, a roof beam 713 is provided above the base 711, a lifting hydraulic jack 714 is provided between the base 711 and the roof beam 713, and laser sensors 715 are provided on both sides of the lifting hydraulic jacks 714 of the first hydraulic support 71 and the Nth hydraulic support 72, namely the first laser sensor 7151, the second laser sensor 7152, the third laser sensor 7153, and the fourth laser sensor 7154 respectively. In this way, the relative positions of the intermediate hydraulic supports can be determined by the laser sensors 715 on both sides of the lifting hydraulic jacks 714 of the first hydraulic support 71 and the Nth hydraulic support 72. The laser sensors 715 can be wireless laser sensors or wired laser sensors. The wireless laser sensors are simply arranged, and the wired laser sensors have stable and reliable signal transmission. They can be selected according to the actual situation. The embodiment of the present application does not limit this. It should be noted that in Figure 3 , only the main shaft of the lifting hydraulic jack 714 of the Nth hydraulic support 72 is shown, and other parts are not shown for the sake of neat display. The setting of the Nth hydraulic support 72 is the same as that of the first hydraulic support 71 and can be referred to.

[0057] On this basis, with reference to Figure 3, the laser sensors 715 are arranged on both sides of the main shaft of the lifting hydraulic jack 714 along the second direction, and the distances between the laser sensors 715 on both sides and the lifting hydraulic jack 714 are the same. This setting can more accurately determine the position of the middle hydraulic support when the middle hydraulic support is displaced.

[0058] Furthermore, the laser sensors 715 arranged on the lifting hydraulic jacks 714 of the first hydraulic support 71 and the Nth hydraulic support 72 are arranged in a staggered manner along the third direction. Specifically, referring to Figure 3 , the first laser sensor 7151 and the third laser sensor 7153 have different heights in the third direction, and the second laser sensor 7152 and the fourth laser sensor 7154 have different heights in the third direction. This setting can make the laser sensors 715 not interfere with each other and give full play to their respective functions. In this way, the relative position of the middle hydraulic support can be accurately determined by using multiple laser sensors 715, and then the precise control of the displacement of the middle hydraulic support can be realized.

[0059] It should be noted that oil circuits are provided at both ends of the piston 6121 of the push hydraulic jack of the hydraulic support 7. In this way, by introducing emulsion liquid at both ends of the piston 6121 of the push hydraulic jack, the extension or retraction of the main shaft of the push hydraulic jack 712 can be controlled. For example, introducing emulsion liquid to the side of the push hydraulic jack 712 close to the main shaft will cause the main shaft to retract; introducing emulsion liquid to the side of the push hydraulic jack 712 away from the main shaft will cause the main shaft to extend. Therefore, the straightening system generally also has an electro-hydraulic conversion module 716. The electro-hydraulic conversion module 716 can change which side of the oil circuit is connected to the piston 6121 of the push hydraulic jack, so as to control the extension or retraction of the main shaft of the push hydraulic jack 712. Referring to Figure 4 , which is a schematic diagram of the oil circuit connection of the electro-hydraulic conversion module 716, the speed control valve 1 and the push hydraulic jack 712.

[0060] In order to facilitate the layout of the circuit of the straightening system, referring to Figure 3 , a control box 8 is also provided on the base 711 of the hydraulic support 7. The control box 8 includes: a power supply 81, a host computer 82 and a controller 83. According to the actual situation on site, the control box 8 can also be arranged in other positions, and the embodiments of the present application do not limit this. The power supply 81 provides power to the speed control valve 1, the electro-hydraulic conversion module 716 and other electric components. At the same time, the speed control valve 1 and the electro-hydraulic conversion module 716 are electrically connected to the controller 83 and can act according to the command signal of the controller 83. The laser sensor 715 is also electrically connected to the controller 83, and transmits the position signal of the middle hydraulic support to the controller 83 and the host computer 82. The host computer 82 stores a pre-set program and can generate command signals for the speed control valve 1 and the electro-hydraulic conversion module 716 according to the position signal of the middle hydraulic support, so as to realize the control of the displacement of the hydraulic support.

[0061] In a third aspect, an embodiment of the present application further provides a straightening method, which is implemented by using the straightening system provided in the second aspect. By adjusting the relative rotational speed and displacement of the spool and valve seat of the speed control valve provided in the first aspect, the parameters of the opening speed, closing speed, and / or the opening degree of the speed control valve are adjusted to adjust the flow rate of the emulsion liquid, thereby adjusting the position of the hydraulic support.

[0062] The fundamental way to adjust the position of the intermediate hydraulic support is to adjust the volume of the emulsion liquid introduced into the pushing hydraulic jack 712. Without considering the volume change of the emulsion liquid, the position change amount of the intermediate hydraulic support is proportional to the volume of the emulsion liquid introduced into the pushing hydraulic jack 712. Therefore, by adjusting the volume of the emulsion liquid flowing through the speed control valve 1, the position of the intermediate hydraulic support can be adjusted. Therefore, in the embodiment of the present application, by adjusting the opening speed, closing speed, and / or the opening degree of the speed control valve 1 to adjust the flow rate of the emulsion liquid, the position of the intermediate hydraulic support can be adjusted.

[0063] On this basis, in order to accurately adjust the position of the intermediate hydraulic support, sensors are provided on both sides of the lifting hydraulic jack 714 of the first hydraulic support 71 and the Nth hydraulic support 72, and the arranged sensors are arranged along the second direction, and the distance between the sensors and the lifting hydraulic jack 714 is the same. The sensors are used to determine the relative position of the intermediate hydraulic support, and reference can also be made to the setting of the laser sensor 715 in the second aspect. At the same time, referring to Figure 3 , a wireless laser displacement sensor 9 can also be provided on each hydraulic support 7 to determine the displacement amount of the hydraulic support 7.

[0064] Specifically, the straightening method provided in the embodiment of the present application includes the following steps:

[0065] Step S01: First-stage straightening: The speed control valve 1 is opened to the fully open state at the first speed to adjust the position of the nth hydraulic support. When the sensor obtains the position of the nth hydraulic support, the speed control valve 1 is closed to the fully closed state at the first speed, and the nth hydraulic support stops at the first position, where 2 ≤ n ≤ N - 1;

[0066] Step S02: Second-stage straightening: Use the sensor to determine the position information of the first position, and use the controller 83 to generate a second speed according to the position information of the first position, and the speed control valve 1 operates at the second speed to adjust the position of the nth hydraulic support;

[0067] Step S03: Repeat steps S01 to S02: Adjust the positions of the second to the N - 1th hydraulic supports.

[0068] It should be noted that in step S01, the nth hydraulic support does not refer to a specific hydraulic support. It is determined according to the adjustment process of multiple hydraulic supports in the straightening system. For example, when adjusting the second hydraulic support, the nth hydraulic support refers to the second hydraulic support; when adjusting the third hydraulic support, the nth hydraulic support refers to the third hydraulic support. For the convenience of description, the straight line between the first hydraulic support 71 and the Nth hydraulic support is called the reference line. The hydraulic supports between the first hydraulic support 71 and the Nth hydraulic support all move towards this reference line. For the convenience of description, the hydraulic support being adjusted is called the displaced hydraulic support 74.

[0069] During the first-stage straightening, at this time, the displaced hydraulic support 74 is far from the reference line. At this time, the speed control valve 1 operates with the first parameter to adjust the displaced hydraulic support 74. Refer to Figure 5 , which is a schematic diagram of the first parameter. The figure shows the corresponding relationship between the moving speed of the pushing hydraulic top piston and time. The curves at the beginning and end stages in the figure represent the opening and closing processes of the speed control, and the straight line in the middle stage represents that the speed control valve 1 is in the fully open state. The first-stage straightening is a process of adjusting the large flow of emulsion. The first parameter can be set according to adjustment experience. For example, refer to Figure 5 , the opening and closing speeds of the speed control valve 1 can be set, and the time for the speed control valve 1 to remain fully open can also be limited, so that the displaced hydraulic support 74 stops as close as possible to the reference line. Refer to Figure 6 , which is a schematic diagram of the relative position of the hydraulic support and the opening degree of the speed control valve 1 during the first-stage straightening process. The shaded part in the figure represents the overlapping area of the first speed control port 22 and the second speed control port 31, that is, the shaded part represents the opening degree of the valve.

[0070] It should be noted that after the first-stage straightening is completed, the hydraulic support has approached the reference line. However, due to the effect of errors or the pressure accumulation in the oil pipe, the position where the displaced hydraulic support 74 stops cannot be determined. Therefore, no matter how the first parameter is set, it cannot be guaranteed that the displaced hydraulic support 74 can be adjusted to the position of the reference line. At this time, step S02 is used to perform the second-stage straightening of the hydraulic support.

[0071] In step S02, the controller 83 generates the second speed of the speed control valve 1 according to the first position of the nth hydraulic support, and the speed control valve 1 operates at the second speed to adjust the position of the nth hydraulic support. In other words, in step S02, the controller 83 can generate the second speed corresponding to the distance between the displaced hydraulic support 74 and the reference line, and the speed control valve 1 operates at the second speed to adjust the displaced hydraulic support 74 to the target position. Refer to Figure 7, which is a schematic diagram of the speed control valve 1 adjusting the hydraulic support at the second speed. In the figure, the curve corresponding to t1 represents one possibility of the second speed, and the curve corresponding to t2 represents another possibility of the second speed.

[0072] It should be noted that the controller 83 mentioned here includes a fuzzy controller. The fuzzy controller can generate control parameters for the speed control valve 1 according to the relative distance between the shifting hydraulic support 74 and the reference line. Fuzzy control is a logical process that imitates reasoning and decision-making and can perform simple human-like reasoning. For example, in the embodiment of the present application, when the distance between the shifting hydraulic support 74 and the reference line is far, the fuzzy controller issues an instruction to shift the hydraulic support with a larger opening and a longer time to the speed control valve 1; when the distance between the hydraulic support and the reference line is close, the fuzzy controller issues an instruction to shift the hydraulic support with a smaller opening and a shorter time.

[0073] It is divided into five levels according to the deviation of the position of the shifting hydraulic support 74 and the reference hydraulic support 73. Here, the reference support refers to the first hydraulic support or the Nth hydraulic support 72. For the convenience of description, the position deviation between the shifting hydraulic support 74 and the reference hydraulic support 73 is called Δx, and Δx is divided into five levels. The rotation angle ω of the valve core 2 of the corresponding speed control valve 1 is also divided into five levels, which are: negative large (NB), negative small (NS), zero (0), positive small (PS), and positive large (PB). Refer to Figure 8 This is a schematic diagram of the five levels of Δx. The fuzzy control rules for Δx and ω are as follows:

[0074] If Δx is negative large, then ω is negative large; if Δx = NB, then ω = NB;

[0075] If Δx is negative small, then ω is negative small; if Δx = NS, then ω = NS;

[0076] If Δx is zero, then ω is zero; if Δx = 0, then ω = 0;

[0077] If Δx is positive small, then ω is positive small; if Δx = PS, then ω = PS;

[0078] If Δx is positive large, then ω is positive large; if Δx = PB, then ω = PB.

[0079] For the sake of distinction, the NB, NS, 0, PS, and PB corresponding to Δx are marked as NBe, NSe, 0e, PSe, and PBe; the NB, NS, 0, PS, and PB corresponding to ω are marked as NBu, NSu, 0u, PSu, and PBu. Then the fuzzy relationship R:

[0080] R = ( NBe×NBu )∪( NSe×NSu )∪( 0e×0u )∪( PSe×PSu )∪( PBe×PBu )

[0081] According to the fuzzy matrix, find the maximum value of R, U = Δx×R, where U is the voltage signal, and the controller 83 determines ω corresponding to Δx according to the magnitude of U. Refer to Figure 9 , which is the signal flow schematic diagram of the speed control valve 1. Refer to Figure 10 , which is the flow schematic diagram of the fuzzy controller.

[0082] The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages or disadvantages of the embodiments. The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A speed regulating valve, It is characterized in that include: A valve core is provided with an internal passage connected to the inlet of the speed regulating valve, and a first speed regulating port is provided on the valve core; A valve seat, connected to the outlet of the speed regulating valve, and provided with a second speed regulating port; The valve core and the valve seat can rotate relative to each other, and the second speed regulating port is on the rotation track of the first speed regulating port; when the valve core and the valve seat rotate relative to each other, the first speed regulating port and the second speed regulating port are gradually aligned to connect the inlet and the outlet of the speed regulating valve; A differential pressure reducing device is provided between the inlet of the speed regulating valve and the valve core, and the differential pressure reducing device comprises a spring, a piston, a guide column and a reducing structure. The spring is provided in the valve body, one end of the spring is connected to the valve body, and the other end of the spring is provided with the piston. The end of the piston close to the spring is connected to the outlet of the speed regulating valve, and the end of the piston away from the spring is connected to the inlet of the speed regulating valve, and the outlet of the speed regulating valve and the inlet of the speed regulating valve are isolated by the piston. The guide column is provided on the extension of the side of the piston away from the spring, and a guide groove is provided on the valve body at a position corresponding to the guide column; The reduction structure is provided at a position of the guide column close to the valve core, and the reduction structure divides the guide column into a first guide column and a second guide column. The first guide column is close to the spring, and a second damping hole is provided at the edge of the first guide column.

2. The speed regulating valve according to claim 1, It is characterized in that The valve core is a cylindrical structure, and a hollow structure is arranged at one end of the valve core close to the inlet of the speed regulating valve. A cylindrical cavity is arranged at a position of the valve seat corresponding to the valve core, and the valve core is sleeved in the cylindrical cavity.

3. The speed regulating valve according to claim 2, It is characterized in that The first speed regulating port is a circular hole, and the axis of the first speed regulating port is perpendicular to the axis of the valve core.

4. The speed regulating valve according to claim 3, It is characterized in that There are a plurality of first speed regulating ports, and the plurality of first speed regulating ports are evenly distributed along the circumference of the valve core.

5. The speed regulating valve according to claim 4, It is characterized in that When the valve core rotates along the valve seat, only one of the first speed regulating port is connected to the second speed regulating port at the same time.

6. The speed regulating valve according to claim 5, It is characterized in that A driving part is arranged on the speed regulating valve at a position corresponding to the valve core, and the driving part is transmission-connected to the valve core to rotate the valve core.

7. A straightening system, It is characterized in that include: The speed regulating valve according to any one of claims 1 to 6; A hydraulic support, the number of which is N, wherein the N hydraulic supports are arranged and distributed along a first direction, N≥2, and N is a positive integer; a base is provided on the hydraulic support, a push hydraulic top is provided on one side of the base along a second direction, and the hydraulic support is used to move toward the direction of the coal wall; An oil supply device, which provides emulsion and is connected to the push hydraulic jack through the speed regulating valve; The first direction refers to the extension direction of the coal wall, and the second direction refers to the extension direction from the base to the coal wall.

8. The straightening system according to claim 7, characterized in that, a top beam is arranged above the base, a lifting hydraulic jack is arranged between the base and the top beam, and laser sensors are arranged on both sides of the lifting hydraulic jack of the first and the Nth hydraulic supports.

9. The straightening system according to claim 8, characterized in that, the laser sensors are arranged on both sides of the lifting hydraulic jack along the second direction and are at the same distance from the lifting hydraulic jack.

10. The straightening system according to claim 9, characterized in that, the laser sensors arranged on the first and the Nth hydraulic supports are arranged with a dislocation in the height direction so that the laser sensors do not interfere with each other.

11. A straightening method implemented by using the straightening system according to any one of claims 7 to 10, characterized in that, by adjusting the relative rotation speed and displacement of the valve core and the valve seat of the speed regulating valve, the parameters of the opening speed, closing speed and / or the opening degree of the speed regulating valve are adjusted to adjust the flow rate of the emulsion liquid, so as to adjust the position of the hydraulic support.

12. The straightening method according to claim 11, characterized in that, sensors are arranged on both sides of the lifting hydraulic jack of the first and the Nth hydraulic supports, the sensors are arranged along the second direction, the sensors are at the same distance from the lifting hydraulic jack, and the sensors are used to determine the relative position of the hydraulic support; the method includes the following steps: Step S01: Straightening in the first stage: The speed regulating valve is opened to the fully open state at the first speed, the position of the nth hydraulic support is adjusted, when the sensor measures the position of the nth hydraulic support, the speed regulating valve is closed to the fully closed state at the first speed, and the nth hydraulic support stops at the first position, 2≤n≤N-1; Step S02: Straightening in the second stage: Using the sensor to determine the position information of the first position, using the controller to generate a second speed according to the position information of the first position, and the speed regulating valve acts at the second speed to adjust the position of the nth hydraulic support; Step S03: Repeat steps S01 to S02: Adjust the positions of the second to the N-1th hydraulic supports.

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