Hydraulic motor back pressure angle automatic control method

Abstract

The present invention relates to a hydraulic motor back pressure angle automatic control method, belonging to the field of hydraulic transmission. A two-position four-way electromagnetic reversing valve, a front check valve, a dual-diameter pulse oil cylinder, a back pressure relief valve and other parts are arranged between the hydraulic pump and the hydraulic motor. The dual-diameter pulse oil cylinder is continuously replenished with oil through a pressure reducing valve combined with a back pressure relief valve and a check valve. The electromagnetic reversing valve controls the piston reversing movement of the dual-diameter pulse oil cylinder. The hydraulic motor is driven by micro-flow oil supply through the change in the volume of the oil cylinder cavity, thereby realizing accurate and automatic control of the hydraulic motor rotation angle, so that the hydraulic motor can be rotated step by step at a small angle, laying a technical foundation for accurate guided drilling and automatic and precise control of the rotary mechanism.

Description

Technical Field

[0001] The invention belongs to the field of hydraulic transmission, and in particular relates to a hydraulic motor back pressure type angle automatic control method. Background Art

[0002] The power head and other rotating devices of existing coal mine drills are mostly driven by hydraulic motors. The hydraulic system used has no precise control function, and the angle of motor rotation is uncontrollable, which makes it difficult to meet the needs of accurate guided drilling and automated control of coal mine drills.

[0003] In the existing public technologies, the angle measurement or control of rotating parts such as drilling rig power heads and rotating joints all use rotary encoders or combined proximity switches. This technology must be controlled electronically, and the system involved is relatively complex, and its application scope in coal mines is very limited. For example, 202010125678.8, 201610475239.3, and 201410097402.8. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a hydraulic motor back pressure angle automatic control method to solve the problem that the existing coal mine drilling rig lacks precise control function and the motor rotation angle is uncontrollable.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A hydraulic motor back pressure type angle automatic control method mainly comprises the following steps: a two-position four-way electromagnetic reversing valve 2, a front check valve 3 and a dual-diameter pulse oil cylinder 4 are arranged between a hydraulic pump 1 and a hydraulic motor 6; wherein the hydraulic pump 1 is connected to the oil inlet of the two-position four-way electromagnetic reversing valve 2, the oil return port of the two-position four-way electromagnetic reversing valve 2 is connected to the oil tank 10, the A port of the two-position four-way electromagnetic reversing valve 2 is connected to the large diameter cavity of the dual-diameter pulse oil cylinder 4, and the B port of the two-position four-way electromagnetic reversing valve 2 is connected to the small diameter cavity of the dual-diameter pulse oil cylinder 4; an oil circuit II is connected between the hydraulic pump 1 and the middle cavity oil inlet of the dual-diameter pulse oil cylinder 4, and a pressure reducing valve 8 and a front check valve 3 are arranged in sequence on the oil circuit II along the pressure oil conveying direction; the middle cavity oil outlet of the dual-diameter pulse oil cylinder 4 is connected to the hydraulic motor 6, and the hydraulic motor 6 is connected to the oil tank 10 through a back pressure relief valve 9.

[0007] S1. System settings:

[0008] The pressure of the pressure reducing valve 8 is set to p2, and the pressure of the back pressure relief valve 9 is set to p3, where p2 <p3。

[0009] S2, oil filling and energy storage process:

[0010] Initially, the electromagnet Y1 of the two-position four-way electromagnetic reversing valve 2 is de-energized, and the valve core of the two-position four-way electromagnetic reversing valve 2 is in the right position at this time; the pressure oil output by the hydraulic pump 1 is divided into two paths, one of which passes through the two-position four-way electromagnetic reversing valve 2 and enters the small-diameter cavity of the double-diameter pulse oil cylinder 4 to push the piston of the double-diameter pulse oil cylinder 4 from one end of the small-diameter cavity to the other end of the large-diameter cavity, and the volume of the middle cavity becomes larger at this time; the other path of pressure oil continues to enter the middle cavity of the double-diameter pulse oil cylinder 4 through the pressure reducing valve 8 and the front one-way valve 3 arranged in sequence to replenish the oil in the middle cavity; at the same time, the oil in the large-diameter cavity of the double-diameter pulse oil cylinder 4 is squeezed out by the action of the piston, and returns to the oil tank 10 through the two-position four-way electromagnetic reversing valve 2; in this process, since the pressure p2 of the pressure reducing valve 8 is always less than the pressure p3 of the back-pressure relief valve 9, the pressure oil flowing from the middle cavity to the hydraulic motor 6 will be cut off at the inlet of the hydraulic motor 6, so it will not drive the hydraulic motor 6 to rotate.

[0011] S3, pulse rotation process:

[0012] The electromagnet Y1 of the two-position four-way solenoid reversing valve 2 is energized, and the valve core of the two-position four-way solenoid reversing valve 2 is switched from the right position to the left position; of the two pressure oils output by the hydraulic pump 1, one passes through the two-position four-way solenoid reversing valve 2 and enters the large-diameter cavity of the dual-diameter pulse cylinder 4 to push the piston of the dual-diameter pulse cylinder 4 from one end of the large-diameter cavity to the other end of the small-diameter cavity, and the volume of the middle cavity becomes smaller at this time; the other pressure oil passes through the pressure reducing valve 8 and reaches the front one-way valve 3. At this time, the internal pressure of the middle cavity is greater than the oil replenishment pressure, and the oil is cut off at the front one-way valve 3; the pressure oil in the middle cavity of the dual-diameter pulse cylinder 4 is transported to the hydraulic motor 6. When the driving pressure is greater than the sum of the set pressure p3 of the back pressure relief valve 9 and the load pressure of the hydraulic motor 6, the hydraulic motor 6 can be pushed to rotate a small angle.

[0013] Repeat the two steps of "oil filling and energy storage process" and "pulse rotation process" and accumulate rotation multiple times to the required angle.

[0014] Furthermore, a safety relief valve 7 is connected to the oil circuit II between the hydraulic pump 1 and the pressure reducing valve 8 , and the safety relief valve 7 is connected to the oil tank 10 .

[0015] Further, the pressure of the safety relief valve 7 is set to p1, where p3 <p1。

[0016] Furthermore, the oil outlet of the middle cavity of the dual-diameter pulse cylinder 4 is connected to the hydraulic motor 6 through the rear one-way valve 5 .

[0017] The beneficial effects of the present invention are:

[0018] This solution uses a pressure reducing valve in combination with a back pressure relief valve and a one-way valve to continuously replenish oil to the dual-diameter pulse cylinder, and uses an electromagnetic reversing valve to control the piston reversing movement of the dual-diameter pulse cylinder. The volume change of the cylinder cavity is used to drive the hydraulic motor with a micro-flow oil supply, thereby achieving precise and automatic control of the hydraulic motor's rotation angle, allowing the hydraulic motor to rotate a tiny angle in a step-by-step manner, laying a technical foundation for accurate guided drilling and automated and precise control of the rotation mechanism.

[0019] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0021] Figure 1 It is a schematic diagram of the principle of the present invention.

[0022] Reference numerals:

[0023] Hydraulic pump 1, two-position four-way solenoid reversing valve 2, front check valve 3, dual-diameter pulse cylinder 4, rear check valve 5, hydraulic motor 6, safety relief valve 7, pressure reducing valve 8, back pressure relief valve 9, oil tank 10; oil inlet P, oil return port T, electromagnet Y1; large diameter cavity 401, middle cavity 402, small diameter cavity 403. DETAILED DESCRIPTION

[0024] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0025] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0026] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0027] See also Figure 1 , is a hydraulic motor back-pressure angle automatic control system, which is composed of a hydraulic pump 1, a two-position four-way electromagnetic reversing valve 2, a front one-way valve 3, a dual-diameter pulse cylinder 4 and a hydraulic motor 6. Among them, the hydraulic pump 1 is the power element of the system, providing pressurized oil for each component in the system. The two-position four-way electromagnetic reversing valve 2 is used to switch the oil inlet direction of the dual-diameter pulse cylinder 4. The front one-way valve 3 is used to control the oil circuit between the middle cavity 402 of the dual-diameter pulse cylinder 4 and the pressure reducing valve 8 so that it can only flow in one direction from the pressure reducing valve to the cylinder. The dual-diameter pulse cylinder 4 is a component that accumulates and outputs oil, and is used to drive the hydraulic motor 6 to rotate a small angle. The structural features of the dual-diameter pulse oil cylinder 4 are as follows: the diameters of the cylinders at the left and right ends are different, and the oil cylinder piston is also divided into two parts. The two parts are connected as a whole and move synchronously. One part is located in the large-diameter cylinder and can move left and right in the large-diameter cylinder; the other part is located in the small-diameter cylinder and can move left and right in the small-diameter cylinder; the area surrounded by the left-end cylinder and the corresponding large-diameter piston part located in the cylinder at this end is the large-diameter cavity 401, the area surrounded by the right-end cylinder and the corresponding small-diameter piston part located in the cylinder at this end is the small-diameter cavity 403, and the area surrounded by the two parts of the piston (i.e., the large-diameter piston part and the small-diameter piston part) and the cylinder is the middle cavity 402. When the piston moves, the volume of the middle cavity changes due to the movement of the piston, thereby realizing the switching of the oil filling and oil discharge states, and the change in the volume matches the small angle of a single rotation of the hydraulic motor. The hydraulic motor 6 is a rotary output actuator. The pressure reducing valve 8 is used to control the oil inlet pressure of the middle cavity 402 of the dual-diameter pulse oil cylinder 4. The back pressure relief valve 9 is used to control the outlet back pressure of the hydraulic motor 6 .

[0028] Specifically, the hydraulic pump 1 is connected to the oil inlet P port of the two-position four-way solenoid reversing valve 2, the oil return port T port of the two-position four-way solenoid reversing valve 2 is connected to the oil tank 10, the A port of the two-position four-way solenoid reversing valve 2 is connected to the large-diameter cavity 401 of the double-diameter pulse cylinder 4, and the B port of the two-position four-way solenoid reversing valve 2 is connected to the small-diameter cavity 403 of the double-diameter pulse cylinder 4; there is an oil circuit II between the hydraulic pump 1 and the oil inlet of the middle cavity 402 of the double-diameter pulse cylinder 4, and a pressure reducing valve 8 and a front check valve 3 are sequentially arranged on the oil circuit II along the pressure oil delivery direction; the middle cavity oil outlet of the double-diameter pulse cylinder 4 is connected to the hydraulic motor 6, and the hydraulic motor 6 is connected to the oil tank 10 through a back pressure relief valve 9.

[0029] The control method of the system mainly includes the following steps:

[0030] S1. System settings:

[0031] The pressure of the pressure reducing valve 8 is set to p2, and the pressure of the back pressure relief valve 9 is set to p3, where p2 <p3。

[0032] S2, oil filling and energy storage process:

[0033] Initially, the electromagnet Y1 of the two-position four-way electromagnetic reversing valve 2 is de-energized, and at this time, the valve core of the two-position four-way electromagnetic reversing valve 2 is in the right position.

[0034] The pressure oil output by the hydraulic pump 1 is divided into two paths: one of them is oil path I, that is, after passing through the two-position four-way electromagnetic reversing valve 2, it enters the small diameter cavity 403 of the dual-diameter pulse oil cylinder 4 to push the piston of the dual-diameter pulse oil cylinder 4 from the small diameter cavity 403 to the large diameter cavity 401, at this time, the volume of the middle cavity 402 becomes larger. The other path is oil path II, that is, the pressure oil continues to enter the middle cavity 402 of the dual-diameter pulse oil cylinder 4 through the pressure reducing valve 8 and the front check valve 3 arranged in sequence to replenish the oil in the middle cavity 402. At the same time, the oil in the large diameter cavity 401 of the dual-diameter pulse oil cylinder 4 is squeezed out by the piston (moving to the left), and returns to the oil tank 10 through the A port and T port of the two-position four-way electromagnetic reversing valve 2.

[0035] During this process, even if the middle chamber 402 is filled with oil, since the pressure p2 of the pressure reducing valve 8 set by the system is always lower than the pressure p3 of the back pressure relief valve 9, the pressure oil flowing from the middle chamber 402 to the hydraulic motor 6 will be cut off at the inlet of the hydraulic motor 6, so the hydraulic motor 6 will not be driven to rotate.

[0036] S3, pulse rotation process:

[0037] The electromagnet Y1 of the two-position four-way electromagnetic reversing valve 2 is energized, and the valve core of the two-position four-way electromagnetic reversing valve 2 is switched from the right position to the left position.

[0038] Among the two paths of pressurized oil output by the hydraulic pump 1, the oil in path Ⅰ enters the large-diameter chamber 401 of the double-diameter pulsed oil cylinder 4 after passing through the P port and A port of the two-position four-way electromagnetic directional control valve 2, so as to push the piston of the double-diameter pulsed oil cylinder 4 to move from one end of the large-diameter chamber 401 to one end of the small-diameter chamber 403. At this time, the volume of the middle chamber 402 becomes smaller. The pressurized oil in path Ⅱ reaches the pre-positioned one-way valve 3 after passing through the pressure reducing valve 8. At this time, the internal pressure of the middle chamber 402 will be greater than the oil replenishing pressure, so the oil in this path is cut off at the pre-positioned one-way valve 3 (that is, during this process, the pre-positioned one-way valve 3 prevents the high-pressure oil from flowing reversely).

[0039] Due to the decrease in the volume of the middle chamber 402, the pressurized oil in the middle chamber 402 of the double-diameter pulsed oil cylinder 4 will be delivered to the hydraulic motor 6. When the driving pressure is greater than the sum of the set pressure p3 of the back pressure relief valve 9 and the load pressure of the hydraulic motor 6, the hydraulic motor 6 can be pushed to rotate a small angle, thereby realizing a step-by-step small-angle rotation of the rotation angle.

[0040] Repeat the two steps of the "oil filling and energy storage process" and the "pulsed rotation process", and accumulate the rotation multiple times to the required angle.

[0041] In this solution, a safety relief valve 7 is connected to the oil path Ⅱ between the hydraulic pump 1 and the pressure reducing valve 8, and the safety relief valve 7 is connected to the fuel tank 10. The safety relief valve 7 here is used to adjust the driving force of the hydraulic motor 6 to ensure the safety of the system pressure. Set the pressure of the safety relief valve 7 as p1, where p3 < p1, that is, for the entire system setting, it should satisfy p2 < p3 < p1.

[0042] As a further optimization of the above solution, the oil outlet of the middle chamber 402 of the double-diameter pulsed oil cylinder 4 is connected to the hydraulic motor 6 through a post-positioned one-way valve 5. The post-positioned one-way valve 5 here is used to control that the oil path between the middle chamber 402 of the double-diameter pulsed oil cylinder 4 and the hydraulic motor 6 can only flow unidirectionally from the oil cylinder to the motor, so as to prevent the oil in the oil path from the double-diameter pulsed oil cylinder 4 to the hydraulic motor 6 from being sucked back into the oil cylinder under negative pressure when the volume of the middle chamber becomes larger.

[0043] This solution uses a pressure reducing valve in combination with a back pressure relief valve and a one-way valve to continuously replenish oil to the double-diameter pulsed oil cylinder, uses an electromagnetic directional control valve to control the piston reversing movement of the double-diameter pulsed oil cylinder, and drives the hydraulic motor with a micro-flow of oil supply through the change of the volume of the middle chamber of the oil cylinder, thereby realizing the precise and automatic control of the rotation angle of the hydraulic motor, enabling the hydraulic motor to rotate a small angle step by step, laying a technical foundation for accurate guiding drilling and the automatic precise control of the slewing mechanism.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A hydraulic motor back pressure angle automatic control method, Features The main steps include: A two-position four-way electromagnetic reversing valve (2), a front check valve (3) and a double-diameter pulse cylinder (4) are arranged between the hydraulic pump (1) and the hydraulic motor (6); In the dual-diameter pulse oil cylinder (4), the diameters of the cylinder barrels at the left and right ends are different, and the oil cylinder pistons are also divided into two parts, large and small. The oil cylinder pistons at the left and right ends are connected as a whole and move synchronously. The left end piston is a large-diameter piston, which is located in the large-diameter cylinder barrel and can move left and right in the large-diameter cylinder barrel; the right end piston is a small-diameter piston, which is located in the small-diameter cylinder barrel and can move left and right in the small-diameter cylinder barrel; the area surrounded by the left end cylinder barrel and the corresponding large-diameter piston part located in the cylinder barrel at this end is the large-diameter cavity (401), the area surrounded by the right end cylinder barrel and the corresponding small-diameter piston part located in the cylinder barrel at this end is the small-diameter cavity (403), and the area surrounded by the large-diameter piston, the small-diameter piston and the cylinder barrel together is the middle cavity (402); The hydraulic pump (1) is connected to the oil inlet of the two-position four-way electromagnetic reversing valve (2), the oil return port of the two-position four-way electromagnetic reversing valve (2) is connected to the oil tank (10), the port A of the two-position four-way electromagnetic reversing valve (2) is connected to the large-diameter cavity of the double-diameter pulse oil cylinder (4), and the port B of the two-position four-way electromagnetic reversing valve (2) is connected to the small-diameter cavity of the double-diameter pulse oil cylinder (4); an oil circuit II is connected between the hydraulic pump (1) and the middle cavity oil inlet of the double-diameter pulse oil cylinder (4), and a pressure reducing valve (8) and a front check valve (3) are arranged in sequence on the oil circuit II along the pressure oil delivery direction; the middle cavity oil outlet of the double-diameter pulse oil cylinder (4) is connected to the hydraulic motor (6), and the hydraulic motor (6) is connected to the oil tank (10) through a back pressure relief valve (9); S1. System settings: The pressure of the pressure reducing valve (8) is set to p2, and the pressure of the back pressure relief valve (9) is set to p3, where p2 <p3; S2, oil filling and energy storage process: Initially, the electromagnet (Y1) of the two-position four-way electromagnetic reversing valve (2) is de-energized, and the valve core of the two-position four-way electromagnetic reversing valve (2) is in the right position. The pressure oil output by the hydraulic pump (1) is divided into two paths. One path passes through the two-position four-way electromagnetic reversing valve (2) and enters the small-diameter cavity of the double-diameter pulse oil cylinder (4) to push the piston of the double-diameter pulse oil cylinder (4) from one end of the small-diameter cavity to the other end of the large-diameter cavity. At this time, the volume of the middle cavity increases. The other path of pressure oil passes through the pressure reducing valve (8) and the pre-pressure valve (9) arranged in sequence. The one-way valve (3) continuously enters the middle cavity of the dual-diameter pulse oil cylinder (4) to replenish the oil in the middle cavity; at the same time, the oil in the large-diameter cavity of the dual-diameter pulse oil cylinder (4) is squeezed out by the action of the piston and returns to the oil tank (10) through the two-position four-way electromagnetic reversing valve (2); in this process, since the pressure p2 of the pressure reducing valve (8) is always less than the pressure p3 of the back pressure relief valve (9), the pressure oil flowing from the middle cavity to the hydraulic motor (6) will be cut off at the inlet of the hydraulic motor (6), so the hydraulic motor 6 will not be driven to rotate; S3, pulse rotation process: The electromagnet (Y1) of the two-position four-way electromagnetic reversing valve (2) is energized, and the valve core of the two-position four-way electromagnetic reversing valve (2) is switched from the right position to the left position. Of the two pressure oils output by the hydraulic pump (1), one passes through the two-position four-way electromagnetic reversing valve (2) and enters the large diameter cavity of the dual-diameter pulse oil cylinder (4) to push the piston of the dual-diameter pulse oil cylinder (4) to move from one end of the large diameter cavity to one end of the small diameter cavity. At this time, the volume of the middle cavity decreases. The other pressure oil passes through the pressure reducing valve (8) and reaches the front check valve (3). At this time, the internal pressure of the middle cavity is greater than the oil replenishment pressure, and the oil in this path is cut off at the front check valve (3). The pressure oil in the middle cavity of the dual-diameter pulse oil cylinder (4) is transported to the hydraulic motor (6). When the driving pressure is greater than the sum of the set pressure p3 of the back pressure relief valve (9) and the load pressure of the hydraulic motor (6), the hydraulic motor (6) can be driven to rotate a small angle. Repeat the two steps of "oil filling and energy storage process" and "pulse rotation process", and accumulate rotation multiple times to the required angle.

2. The hydraulic motor back pressure angle automatic control method according to claim 1, Features: A safety relief valve (7) is connected to the oil circuit II between the hydraulic pump (1) and the pressure reducing valve (8), and the safety relief valve (7) is connected to the oil tank (10).

3. The hydraulic motor back pressure angle automatic control method according to claim 2, Features: The pressure of the safety relief valve (7) is set to p1, where p3 <p1。 4. The hydraulic motor back pressure angle automatic control method according to claim 1, Features: The middle cavity oil outlet of the double-diameter pulse oil cylinder (4) is connected to the hydraulic motor (6) through a rear one-way valve (5).

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