A micro-angle stepping control method for hydraulic motor

Abstract

The present invention relates to a micro-angle stepping control method for a hydraulic motor, and belongs to the field of hydraulic transmission. A two-position four-way reversing valve, a one-way valve, a pulse oil cylinder and a two-position two-way hydraulic reversing valve are sequentially arranged between a hydraulic pump and a hydraulic motor. Through the coordinated control of the pulse oil cylinder, the manual reversing valve and the hydraulic reversing valve, the hydraulic motor is driven to rotate a small angle each time, thereby realizing the stepping control of the rotation angle; the hydraulic reversing valve realizes the automatic linkage control of the two sections of oil circuits from the hydraulic pump to the pulse oil cylinder, and from the pulse oil cylinder to the hydraulic motor, thereby improving the control and regulation efficiency; and laying a technical foundation 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 hydraulic motor micro-angle stepping 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 micro-angle stepping 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 micro-angle stepping control method mainly includes the following steps:

[0007] A two-position four-way reversing valve 2, a one-way valve 3, a pulse oil cylinder 4 and a two-position two-way hydraulic 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 reversing valve 2, the oil return port of the two-position four-way reversing valve 2 is connected to the oil tank 8, the B port of the two-position four-way reversing valve 2 is connected to the right chamber of the pulse oil cylinder 4 through the one-way valve 3, the A port of the two-position four-way 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 hydraulic reversing valve 5; the control oil port of the two-position two-way hydraulic reversing valve 5 is connected to the A port of the two-position four-way reversing valve 2 through the oil pipe 9;

[0008] Oil filling and energy storage process:

[0009] Make the valve cores in the two-position four-way reversing valve 2 and the two-position two-way hydraulic reversing valve 5 both in the right position;

[0010] The pressure oil output by the hydraulic pump 1 passes through the two-position four-way 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 reversing valve 2;

[0012] The two-position two-way hydraulic reversing valve 5 in the right position disconnects the oil circuit between the pulse oil cylinder 4 and the hydraulic motor 6, 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;

[0013] Pulse rotation process:

[0014] The valve core in the two-position four-way reversing valve 2 is switched to the left position. At the same time, the pressure oil output by the hydraulic pump 1 enters the control oil port of the two-position two-way hydraulic reversing valve 5 through the two-position four-way reversing valve 2 and the oil pipe 9 in turn, so that the two-position two-way hydraulic reversing valve 5 is switched to the left position.

[0015] The pressure oil output by the hydraulic pump 1 is injected into the left chamber of the pulse oil cylinder 4 through the two-position four-way reversing valve 2 and fills the left chamber of the pulse oil cylinder 4 with oil; the oil entering the left chamber pushes the piston of the pulse oil cylinder 4 to move from left to right;

[0016] The oil in the right chamber of the pulse cylinder 4 is squeezed out by the piston, and the two-position two-way hydraulic reversing valve 5 is switched to the left position, so that the oil circuit between the pulse cylinder 4 and the hydraulic motor 6 is connected. The oil in the right chamber of the pulse cylinder 4 passes through the two-position two-way hydraulic reversing valve 5 and enters the hydraulic motor 6 to push the hydraulic motor 6 to rotate a small angle.

[0017] Restore process:

[0018] The valve core in the two-position four-way reversing valve 2 is switched to the right position again, and the pressure oil is input to the right chamber of the pulse oil cylinder 4 through the hydraulic pump 1, so that the left chamber of the pulse oil cylinder 4 returns oil and relieves pressure; and the valve core of the two-position two-way hydraulic reversing valve 5 automatically returns to the right position under the action of the spring, and the entire control system returns to the initial state of the "oil filling and energy storage process";

[0019] The steps of "oil filling and energy storage process", "pulse rotation process" and "reduction process" are repeated many times, and the hydraulic motor 6 is rotated to the required angle through multiple accumulations.

[0020] Furthermore, an overflow valve 7 is provided between the hydraulic pump 1 and the oil inlet of the two-position four-way reversing valve 2 so that the excess pressure oil can return to the oil tank 8 through the overflow valve.

[0021] Furthermore, the two-position four-way reversing valve 2 is a manual reversing valve. By loosening the operating handle thereon, the valve core is automatically switched to the right position under the action of the spring.

[0022] The beneficial effects of the present invention are:

[0023] This control method drives the hydraulic motor to rotate a small angle each time through the coordinated control of the pulse cylinder, manual reversing valve and hydraulic reversing valve, thereby realizing step control of the rotation angle; the hydraulic reversing valve realizes automatic linkage control of the two oil circuits from the hydraulic pump to the pulse cylinder, and from the pulse cylinder to the hydraulic motor, thereby improving the control and regulation efficiency; and lays a technical foundation for accurate guided drilling and automated precise control of the rotary mechanism.

[0024] 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

[0025] 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:

[0026] Figure 1 It is a system schematic diagram of the present invention.

[0027] Reference numerals:

[0028] Hydraulic pump 1, two-position four-way reversing valve 2, one-way valve 3, pulse cylinder 4, two-position two-way hydraulic reversing valve 5, hydraulic motor 6, overflow valve 7, oil tank 8, oil pipe 9. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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.

[0032] See also Figure 1 , is a hydraulic motor micro-angle stepping control system, in which a two-position four-way reversing valve 2, a one-way valve 3, a pulse cylinder 4 and a two-position two-way hydraulic reversing valve 5 are sequentially arranged between a hydraulic pump 1 and a 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 a rotary output actuator. The two-position four-way reversing valve 2 is used to switch the oil inlet direction of the pulse 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 cylinder 4 and the two-position four-way reversing valve 2; the pulse 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 cylinder 4 matches the small angle of a single rotation of the hydraulic motor 6; the two-position two-way hydraulic reversing valve 5 is used to switch the on-off of the oil circuit between the pulse cylinder 4 and the hydraulic motor 6.

[0033] Specifically, the hydraulic pump 1 is connected to the oil inlet P port of the two-position four-way reversing valve 2, the oil return port T port of the two-position four-way reversing valve 2 is connected to the oil tank 8, the B port of the two-position four-way reversing valve 2 is connected to the right chamber of the pulse cylinder 4 through the one-way valve 3, the A port of the two-position four-way reversing valve 2 is connected to the left chamber of the pulse cylinder 4, and the right chamber of the pulse cylinder 4 is connected to the hydraulic motor 6 through the two-position two-way hydraulic reversing valve 5; the control oil port of the two-position two-way hydraulic reversing valve 5 and the A port of the two-position four-way reversing valve 2 are connected through the oil pipe 9.

[0034] The control method of the system mainly includes the following steps:

[0035] S1. Oil filling and energy storage process:

[0036] Initially, the valve cores in the two-position four-way reversing valve 2 and the two-position two-way hydraulic reversing valve 5 are both in the right position; the pressure oil output by the hydraulic pump 1 passes through the two-position four-way reversing valve 2 and the one-way valve 3 in turn, and is injected into the right chamber of the pulse cylinder 4 and fills the right chamber of the pulse cylinder 4 with oil. The oil entering the right chamber pushes the piston of the pulse cylinder 4 to move from right to left.

[0037] The oil in the left chamber of the pulse cylinder 4 is squeezed out by the piston and returns to the oil tank 8 through the two-position four-way reversing valve 2; at this time, the two-position two-way hydraulic reversing valve 5 in the right position disconnects the oil circuit between the pulse cylinder 4 and the hydraulic motor 6, and the oil in the right chamber of the pulse cylinder 4 will not enter the hydraulic motor 6, so (the pulse cylinder 4) is always in a state of oil filling and energy storage.

[0038] S2, pulse rotation process:

[0039] The operation causes the valve core in the two-position four-way directional control valve 2 to switch to the left position. At the same time, the pressure oil output by the hydraulic pump 1 enters the control oil port of the two-position two-way hydraulic directional control valve 5 through the two-position four-way directional control valve 2 and the oil pipe 9 in turn, so that the two-position two-way hydraulic directional control valve 5 is switched to the left position under the action of the oil.

[0040] The pressure oil output by the hydraulic pump 1 is injected into the left chamber of the pulse cylinder 4 through the two-position four-way reversing valve 2 and fills the left chamber of the pulse cylinder 4 with oil; the oil entering the left chamber pushes the piston of the pulse cylinder 4 to move from left to right, and the oil in the right chamber of the pulse cylinder 4 is squeezed out by the piston. The two-position two-way hydraulic reversing valve 5 switched to the left position connects the oil circuit between the pulse cylinder 4 and the hydraulic motor 6, and the oil in the right chamber of the pulse cylinder 4 enters the hydraulic motor 6 through the two-position two-way hydraulic reversing valve 5, thereby pushing the hydraulic motor 6 to rotate a small angle, thus realizing a step-by-step small angle rotation of the rotation angle.

[0041] S3, Restoration process:

[0042] The operation causes the valve core in the two-position four-way directional control valve 2 to switch to the right position again, and the pressurized oil is input to the right chamber of the pulse cylinder 4 through the hydraulic pump 1, so that the left chamber of the pulse cylinder 4 returns oil and relieves pressure; at this time, the valve core of the two-position two-way hydraulic directional control valve 5 automatically returns to the right position under the action of the spring, and the entire control system returns to the initial state of the "oil filling and energy storage process" again.

[0043] The steps of "oil filling and energy storage process", "pulse rotation process" and "reduction process" are repeated many times, and the hydraulic motor 6 is rotated to the required angle through multiple accumulations.

[0044] 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 can be returned to the oil tank 8 through the relief valve 7, so that the pressure safety of the system can be ensured. The relief valve 7 is arranged between the hydraulic pump 1 and the oil inlet of the two-position four-way reversing valve 2.

[0045] The two-position four-way reversing valve 2 in this solution is a manual reversing valve. By loosening the operating handle thereon, the valve core can be controlled to automatically switch to the right position under the action of the spring.

[0046] This control method drives the hydraulic motor to rotate a small angle each time through the coordinated control of the pulse cylinder, manual reversing valve and hydraulic reversing valve, thereby realizing step control of the rotation angle; the hydraulic reversing valve realizes automatic linkage control of the two oil circuits from the hydraulic pump to the pulse cylinder, and from the pulse cylinder to the hydraulic motor, thereby improving the control and regulation efficiency; and lays a technical foundation for accurate guided drilling and automated precise control of the rotary mechanism.

[0047] 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 micro-angle stepping of a hydraulic motor. Features The main steps include: A two-position four-way reversing valve (2), a one-way valve (3), a pulse oil cylinder (4) and a two-position two-way hydraulic 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 reversing valve (2), the oil return port of the two-position four-way reversing valve (2) is connected to the oil tank (8), the B port of the two-position four-way reversing valve (2) is connected to the right chamber of the pulse oil cylinder (4) through the one-way valve (3), and the two-position four-way reversing valve (2) is connected to the right chamber of the pulse oil cylinder (4). The port A of the 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 hydraulic reversing valve (5); the control oil port of the two-position two-way hydraulic reversing valve (5) is connected to the port A of the two-position four-way reversing valve (2) through the oil pipe (9); the two-position four-way reversing valve (2) is a manual reversing valve, and by releasing the operating handle thereon, the valve core thereof automatically switches to the right position under the action of the spring; Oil filling and energy storage process: Make sure that the valve cores in the two-position four-way directional control valve (2) and the two-position two-way hydraulic directional control valve (5) are both in the right position; The pressure oil output by the hydraulic pump (1) passes through the two-position four-way reversing valve (2) and the one-way valve (3) in sequence, and is then 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 cylinder (4) is squeezed out and returns to the oil tank (8) through the two-position four-way reversing valve (2); The two-position two-way hydraulic reversing valve (5) in the right position disconnects the oil circuit between the pulse oil cylinder (4) and the hydraulic motor (6), so that the oil in the right chamber of the pulse oil cylinder (4) does not enter the hydraulic motor (6), and the hydraulic motor (6) is always in the state of oil filling and energy storage; Pulse rotation process: The valve core in the two-position four-way reversing valve (2) is switched to the left position. At the same time, the pressure oil output by the hydraulic pump (1) enters the control oil port of the two-position two-way hydraulic reversing valve (5) through the two-position four-way reversing valve (2) and the oil pipe (9) in sequence, so that the two-position two-way hydraulic reversing valve (5) is switched 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 two-position four-way reversing valve (2) and fills the left chamber of the pulse oil cylinder (4) with oil; 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 cylinder (4) is squeezed out by the piston, and the two-position two-way hydraulic reversing valve (5) is switched to the left position, so that the oil circuit between the pulse cylinder (4) and the hydraulic motor (6) is connected. The oil in the right chamber of the pulse cylinder (4) passes through the two-position two-way hydraulic reversing valve (5) and enters the hydraulic motor (6), so as to drive the hydraulic motor (6) to rotate a small angle. Restore process: The valve core in the two-position four-way reversing valve (2) is switched to the right position again, and the pressure oil is input to the right chamber of the pulse oil cylinder (4) through the hydraulic pump (1), so that the left chamber of the pulse oil cylinder (4) returns oil and relieves pressure; and the valve core of the two-position two-way hydraulic reversing valve (5) automatically returns to the right position under the action of the spring, and the entire control system returns to the initial state of the "oil filling and energy storage process"; The steps of "oil filling and energy storage process", "pulse rotation process" and "reduction process" are repeated multiple times, and the hydraulic motor (6) is rotated to a 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 a relief valve (7) between the hydraulic pump (1) and the oil inlet of the two-position four-way reversing valve (2), the excess pressure oil can be returned to the oil tank (8) through the relief valve.

Images