Low-speed step-by-step rotation control method for hydraulic motor

Abstract

The present invention relates to a method for controlling the low-speed step-by-step rotation of a hydraulic motor, and belongs to the field of hydraulic transmission. A two-position four-way electromagnetic reversing valve, a one-way valve, a pulse oil cylinder, and a two-position two-way electromagnetic reversing valve are sequentially arranged between a hydraulic pump and a hydraulic motor; through the coordination and automatic control of the pulse oil cylinder and two electromagnetic reversing valves, the hydraulic motor is driven by a micro-flow oil supply, so that the hydraulic motor can be rotated at a small angle in a step-by-step manner; the electromagnetic reversing valve is easy to automatically control, ensuring a high step-by-step rotation efficiency; and a technical foundation is laid for the accurate guidance of drilling and the 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 method for controlling low-speed step-by-step rotation of a hydraulic motor. 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 method for controlling the low-speed step-by-step rotation of a hydraulic motor, so as 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 method for controlling low-speed step-by-step rotation of a hydraulic motor mainly comprises the following steps:

[0007] A two-position four-way solenoid reversing valve 2, a one-way valve 3, a pulse cylinder 4 and a two-position two-way solenoid reversing valve 5 are sequentially arranged between the hydraulic pump 1 and the hydraulic motor 6; wherein the hydraulic pump 1 is connected to the oil inlet of the two-position four-way solenoid reversing valve 2, the oil return port of the two-position four-way solenoid reversing valve 2 is connected to the oil tank 8, the B port of the two-position four-way solenoid reversing valve 2 is connected to the right chamber of the pulse cylinder 4 through the one-way valve 3, the A port of the two-position four-way solenoid 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 solenoid reversing valve 5.

[0008] Oil filling and energy storage process:

[0009] The electromagnet Y1 of the two-position four-way electromagnetic reversing valve 2 is energized to push its valve core to switch to the left position; the electromagnet Y2 of the two-position two-way electromagnetic reversing valve 5 is de-energized to push its valve core to switch to the right position, which is an off state;

[0010] The pressure oil output by the hydraulic pump 1 passes through the left position of the two-position four-way electromagnetic reversing valve 2 and the one-way valve 3 in sequence, and then is injected into the right chamber of the pulse oil cylinder 4 and fills the right chamber of the pulse oil cylinder 4 with oil. The oil entering the right chamber pushes the piston of the pulse oil cylinder 4 to move from right to left;

[0011] The oil in the left chamber of the pulse cylinder 4 is squeezed out and returns to the oil tank 8 through the two-position four-way solenoid reversing valve 2; the pulse cylinder 4 is disconnected from the hydraulic motor 6 through the two-position two-way solenoid reversing valve 5, and the oil in the right chamber of the pulse cylinder 4 will not enter the hydraulic motor 6, so it is always in a state of oil filling and energy storage.

[0012] Pulse rotation process:

[0013] After the right chamber of the pulse oil cylinder 4 is filled with oil, the electromagnet Y1 of the two-position four-way electromagnetic reversing valve 2 is de-energized to push its valve core to switch to the right position; the electromagnet Y2 of the two-position two-way electromagnetic reversing valve 5 is energized to push its valve core to switch to the left position;

[0014] The pressure oil output by the hydraulic pump 1 is injected into the left chamber of the pulse cylinder 4 through the right position of the two-position four-way electromagnetic reversing valve 2 and fills the left chamber of the pulse cylinder 4 with oil. The oil entering the left chamber pushes the piston of the pulse cylinder 4 to move from left to right;

[0015] The oil in the right chamber of the pulse cylinder 4 is squeezed out by the piston and enters the hydraulic motor 6 through the two-position two-way electromagnetic reversing valve 5 in the on state to push the hydraulic motor 6 to rotate a small angle.

[0016] The steps of "oil charging and energy storage process" and "pulse rotation process" are repeated many times, and the hydraulic motor 6 is rotated to the required angle through multiple accumulations.

[0017] Furthermore, an overflow valve 7 is provided between the hydraulic pump 1 and the oil inlet of the two-position four-way electromagnetic reversing valve 2 so that the excess pressure oil can return to the oil tank 8 through the overflow valve.

[0018] The beneficial effects of the present invention are:

[0019] This control method uses the coordinated and automatic control of the pulse cylinder and two electromagnetic reversing valves to drive the hydraulic motor with a micro-flow of oil supply, so that the hydraulic motor can rotate a small angle in a step-by-step manner; the electromagnetic reversing valve is easy to control automatically, ensuring a high step-by-step rotation efficiency; and it lays a technical foundation for accurate guided drilling and automated and precise control of the rotary mechanism.

[0020] 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

[0021] 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:

[0022] Figure 1 This is a schematic diagram of the rotation control system of this scheme.

[0023] Reference numerals:

[0024] Hydraulic pump 1, two-position four-way solenoid directional valve 2, one-way valve 3, pulse cylinder 4, two-position two-way solenoid directional valve 5, hydraulic motor 6, overflow valve 7, oil tank 8. DETAILED DESCRIPTION

[0025] 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.

[0026] 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.

[0027] 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.

[0028] See also Figure 1, is a hydraulic motor low-speed step-by-step rotation control system, in which a two-position four-way electromagnetic reversing valve 2, a one-way valve 3, a pulse oil cylinder 4 and a two-position two-way electromagnetic reversing valve 5 are sequentially added between the hydraulic pump 1 and the hydraulic motor 6; wherein the hydraulic pump 1 is the power element of the system, providing pressure oil for each element in the system; the hydraulic motor 6 is the actuator of the rotation output. The (high-speed) two-position four-way electromagnetic reversing valve 2 is used to switch the oil inlet direction of the pulse oil cylinder 4; the one-way valve 3 is used to control the one-way flow of the oil circuit between the right chamber of the pulse oil cylinder 4 and the (high-speed) two-position four-way electromagnetic reversing valve 2; the pulse oil cylinder 4 is an element for accumulating and outputting oil, and is used to push the hydraulic motor 6 to rotate a small angle, and the volume of the pulse oil cylinder 4 matches the small angle of a single rotation of the hydraulic motor 6; the (high-speed) two-position two-way electromagnetic reversing valve 5 is used to switch the on-off of the oil circuit between the pulse oil cylinder 4 and the hydraulic motor 6.

[0029] 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 8, the B port of the two-position four-way solenoid reversing valve 2 is connected to the right chamber of the pulse cylinder 4 through the one-way valve 3, the A port of the two-position four-way solenoid 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 solenoid reversing valve 5.

[0030] The control method of the system mainly includes the following steps:

[0031] Oil filling and energy storage process:

[0032] The electromagnet Y1 of the two-position four-way electromagnetic reversing valve 2 is energized to push its valve core to switch to the left position; the electromagnet Y2 of the two-position two-way electromagnetic reversing valve 5 is de-energized to push its valve core to switch to the right position, which is an off state;

[0033] The pressure oil output by the hydraulic pump 1 passes through the left position of the two-position four-way electromagnetic reversing valve 2 and the one-way valve 3 in sequence, and then is injected into the right chamber of the pulse oil cylinder 4 and fills the right chamber of the pulse oil cylinder 4 with oil. The oil entering the right chamber pushes the piston of the pulse oil cylinder 4 to move from right to left;

[0034] The oil in the left chamber of the pulse cylinder 4 is squeezed out and returns to the oil tank 8 through the two-position four-way solenoid reversing valve 2; the pulse cylinder 4 is disconnected from the hydraulic motor 6 through the two-position two-way solenoid reversing valve 5, and the oil in the right chamber of the pulse cylinder 4 will not enter the hydraulic motor 6, so it is always in a state of oil filling and energy storage.

[0035] Pulse rotation process:

[0036] After the right chamber of the pulse oil cylinder 4 is filled with oil, the electromagnet Y1 of the two-position four-way electromagnetic reversing valve 2 is de-energized to push its valve core to switch to the right position; the electromagnet Y2 of the two-position two-way electromagnetic reversing valve 5 is energized to push its valve core to switch to the left position;

[0037] The pressure oil output by the hydraulic pump 1 is injected into the left chamber of the pulse cylinder 4 through the right position of the two-position four-way electromagnetic reversing valve 2 and fills the left chamber of the pulse cylinder 4 with oil. The oil entering the left chamber pushes the piston of the pulse cylinder 4 to move from left to right;

[0038] The oil in the right chamber of the pulse cylinder 4 is squeezed out by the piston. At this time, since the return oil path from the right chamber of the pulse cylinder 4 to the oil tank is cut off by the one-way valve 3, and the two-position two-way electromagnetic reversing valve 5 is in the left-position connection state, the oil in the right chamber of the pulse cylinder 4 can only enter the hydraulic motor 6 through the two-position two-way electromagnetic reversing valve 5, thereby pushing the hydraulic motor 6 to rotate a small angle, thereby realizing a step-by-step small-angle rotation of the rotation angle.

[0039] The steps of "oil filling and energy storage process" and "pulse rotation process" are repeated many times, and the hydraulic motor 6 can be rotated to the required angle through multiple accumulations.

[0040] In this solution, a relief valve 7 is also provided, which is used to adjust the driving force of the hydraulic motor 6. If the system pressure reaches the set value of the relief valve, the excess oil returns to the oil tank through the relief valve, thereby ensuring the pressure safety of the system. The relief valve 7 is arranged between the hydraulic pump 1 and the oil inlet of the two-position four-way electromagnetic reversing valve 2.

[0041] This control method uses the coordinated and automatic control of the pulse cylinder and two electromagnetic reversing valves to drive the hydraulic motor with a micro-flow of oil supply, so that the hydraulic motor can rotate a small angle in a step-by-step manner; the electromagnetic reversing valve is easy to control automatically, ensuring a high step-by-step rotation efficiency; and it lays a technical foundation for accurate guided drilling and automated and precise control of the rotary mechanism.

[0042] 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 method for controlling the low-speed step-by-step rotation of a hydraulic motor. Features The main steps include: A two-position four-way electromagnetic reversing valve (2), a one-way valve (3), a pulse oil cylinder (4) and a two-position two-way electromagnetic reversing valve (5) are sequentially arranged between the hydraulic pump (1) and the 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 (8), the B port of the two-position four-way electromagnetic reversing valve (2) is connected to the right chamber of the pulse oil cylinder (4) through the one-way valve (3), the A port of the two-position four-way electromagnetic reversing valve (2) is connected to the left chamber of the pulse oil cylinder (4), and the right chamber of the pulse oil cylinder (4) is connected to the hydraulic motor (6) through the two-position two-way electromagnetic reversing valve (5); Oil filling and energy storage process: The electromagnet (Y1) of the two-position four-way electromagnetic reversing valve (2) is energized to push its valve core to switch to the left position; the electromagnet (Y2) of the two-position two-way electromagnetic reversing valve (5) is de-energized to push its valve core to switch to the right position, i.e., the disconnected state; The pressure oil output by the hydraulic pump (1) passes through the left position of the two-position four-way electromagnetic reversing valve (2) and the one-way valve (3) in sequence, and is injected into the right chamber of the pulse oil cylinder (4) and fills the right chamber of the pulse oil cylinder (4) with oil. The oil entering the right chamber pushes the piston of the pulse oil cylinder (4) to move from right to left. The oil in the left chamber of the pulse oil cylinder (4) is squeezed out and returns to the oil tank (8) through the two-position four-way electromagnetic reversing valve (2); the pulse oil cylinder (4) and the hydraulic motor (6) are disconnected through the two-position two-way electromagnetic reversing valve (5), and the oil in the right chamber of the pulse oil cylinder (4) does not enter the hydraulic motor (6), so it is always in the state of oil filling and energy storage; Pulse rotation process: After the right chamber of the pulse oil cylinder (4) is filled with oil, the electromagnet (Y1) of the two-position four-way electromagnetic reversing valve (2) is de-energized to push its valve core to switch to the right position; the electromagnet (Y2) of the two-position two-way electromagnetic reversing valve (5) is energized to push its valve core to switch to the left position. The pressure oil output by the hydraulic pump (1) is injected into the left chamber of the pulse oil cylinder (4) through the right position of the two-position four-way electromagnetic reversing valve (2) and fills the left chamber of the pulse oil cylinder (4). The oil entering the left chamber pushes the piston of the pulse oil cylinder (4) to move from left to right. The oil in the right chamber of the pulse oil cylinder (4) is squeezed out by the piston and enters the hydraulic motor (6) through the two-position two-way electromagnetic reversing valve (5) in the connected state, so as to drive the hydraulic motor (6) to rotate a small angle; The steps of "oil filling and energy storage process" and "pulse rotation process" are repeated many times, and the hydraulic motor (6) is rotated to the required angle through multiple accumulations.

2. The method for controlling the low-speed step-by-step rotation of a hydraulic motor according to claim 1, Features: By arranging an overflow valve (7) between the hydraulic pump (1) and the oil inlet of the two-position four-way electromagnetic reversing valve (2), the excess pressure oil is returned to the oil tank (8) through the overflow valve.

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