Combined drive slewing mechanism and control system therefor

Abstract

The application discloses a combined driving rotary mechanism and a control system thereof. The combined driving rotary mechanism comprises a rotary disc, a driving device and a driven braking device. The driving device is connected with the rotary disc in transmission to provide stable rotary driving for the rotary disc. The driven braking device is connected with the rotary disc in transmission to provide braking torque for the rotary disc. The application is applied to the field of engineering machinery, and can not only improve the stability of a rotary action of a rock drilling equipment boom and the positioning precision of the rock drilling equipment, but also provide sufficient torque to meet the working condition when the rock drilling equipment is working.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically a combined drive rotary mechanism and its control system. Background Technology

[0002] Currently, rock drilling rigs are mostly used when employing the tunnel bench method or large-section construction. The boom of this equipment adopts... Figure 1 The articulated boom structure shown, when the boom is as follows Figure 2 When fully extended, the boom extends quite far, and the rock drilling equipment in front of the boom exerts a 2-ton thrust on the boom during operation. At this time, when the equipment is drilling on the side wall, the slewing support on the equipment will bear a huge static torque. Due to the large torque, hydraulic cylinder direct push is currently the main method used for boom slewing drive.

[0003] In the slewing mechanism with direct hydraulic cylinder push, due to the long boom, considering the rigidity of the boom itself and the structural clearance, it is prone to swaying during operation. Moreover, since a large driving torque is not required during slewing, the hydraulic cylinder driving pressure is not high, which easily leads to hydraulic cylinder creep. This places higher demands on the stability of system control and makes system matching difficult.

[0004] For the drive of the boom slewing mechanism of construction machinery, motor reducers are widely used as a relatively mature solution. Motor reducers have the characteristics of smooth operation and simple control. However, motor reducers can only be used in situations where the slewing torque is not large throughout the entire slewing stroke. For the rock drilling equipment mentioned above, motor reducers can only be used for control during operation. However, when the rock drilling equipment is in operation, the motor reducer not only cannot output sufficient braking torque, but the vibration during the rock drilling process may also affect the service life of the motor reducer transmission gears, increasing maintenance costs. Summary of the Invention

[0005] To address the shortcomings of the prior art, this invention provides a combined drive slewing mechanism and its control system, which can be effectively applied to the slewing support of rock drilling equipment, improving the stability of the rock drilling equipment boom during slewing, enhancing the positioning accuracy of the rock drilling equipment, and providing sufficient torque to meet the working conditions when the rock drilling equipment is performing rock drilling operations.

[0006] To achieve the above objectives, the present invention provides a combined drive rotary mechanism, including a rotary table and:

[0007] An active drive device is connected to the rotary table transmission to provide stable rotary drive to the rotary table;

[0008] The driven braking device is connected to the rotary table drive to provide braking torque to the rotary table.

[0009] In one embodiment, the rotary table is a rotary gear;

[0010] The active drive device includes an active drive component, a reducer, and a drive gear, wherein the drive gear meshes with the rotary gear.

[0011] The active drive component is connected to the input end of the reducer, and the drive gear is fixedly mounted on the output end of the reducer.

[0012] In one embodiment, the active drive element is a hydraulic motor or an electric motor.

[0013] In one embodiment, the driven braking device is a hydraulic cylinder.

[0014] In one embodiment, the combined drive rotary mechanism further includes a linkage mechanism;

[0015] One end of the linkage mechanism is coaxial with and fixedly connected to the rotary table, and the other end of the linkage mechanism is hinged to the output end of the hydraulic cylinder.

[0016] To achieve the above objectives, the present invention also provides a control system for the above-mentioned combined drive rotary mechanism, wherein the power source of the active drive device in the combined drive rotary mechanism is a hydraulic motor, and the power source of the driven braking device in the combined drive rotary mechanism is a hydraulic cylinder.

[0017] The control system includes:

[0018] The reversing valve has an oil inlet P1 port, an oil return T1 port, a working A1 port, and a working B1 port. The oil inlet P1 port is connected to the oil pump, the oil return T1 port is connected to the oil tank, the working A1 port is connected to the working A2 port of the hydraulic motor through the forward rotation oil circuit, and the working B1 port is connected to the working B2 port of the hydraulic motor through the reverse rotation oil circuit.

[0019] The shuttle valve has an oil inlet P2 port, an oil inlet P3 port, and an oil outlet C1 port. The oil inlet P2 port is connected to the forward rotation oil circuit, and the oil inlet P3 port is connected to the reverse rotation oil circuit.

[0020] The first hydraulic lock has a control port D1, a working port A3, and a working port B3. The control port D1 is connected to the oil outlet port C1 through a first connecting oil circuit, and the working port A3 is connected to the rodless chamber of the hydraulic cylinder through a rodless chamber oil circuit.

[0021] The second hydraulic lock has a control port D2, a working port A4, and a working port B4. The control port D2 is connected to the oil outlet port C1 through a first connecting oil circuit. The working port A4 is connected to the rod chamber of the hydraulic cylinder through a rod chamber oil circuit. The working port B4 is connected to the working port B3 through a second connecting oil circuit.

[0022] In one embodiment, a one-way valve is connected in series in the first connecting oil line. The one-way valve has an oil inlet P4 port and an oil outlet C2 port. The oil inlet P4 port is connected to the oil outlet C1 port, and the oil outlet C2 port is connected to the control D1 port and the control D2 port respectively.

[0023] Both the control port D1 and the control port D2 are connected to the oil tank through a third connecting oil circuit, and the third connecting oil circuit is equipped with damping.

[0024] In one embodiment, the second connecting oil circuit is connected to the oil tank via a return oil circuit, and a back pressure valve is connected in series on the return oil circuit.

[0025] In one embodiment, both the rodless chamber oil circuit and the rod chamber oil circuit are equipped with a one-way throttle valve and an overflow valve.

[0026] In one embodiment, a balance valve is connected in series in both the forward and reverse oil circuits, and a bidirectional relief valve connected in parallel with the hydraulic motor is provided between the forward and reverse oil circuits.

[0027] The present invention has the following beneficial technical effects:

[0028] 1. The combined drive rotary mechanism in this invention can not only improve the stability of the rock drilling equipment boom during rotation and improve the positioning accuracy of the rock drilling equipment, but also provide sufficient torque to meet the working conditions when the rock drilling equipment is performing rock drilling operations.

[0029] 2. The driven braking device in this invention can be used as a damper, which can further improve the smoothness of operation during the rotation process;

[0030] 3. The control system in this invention connects the control oil circuit of the hydraulic motor and the hydraulic cylinder through a shuttle valve, thereby simultaneously meeting the requirements of dynamic smoothness of the rotary mechanism and large static braking torque. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0032] Figure 1 This is a structural diagram of a conventional articulated boom before deployment;

[0033] Figure 2 This is a structural diagram of a conventional articulated boom after it has been deployed.

[0034] Figure 3 This is a schematic diagram of the combined drive rotary mechanism in an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the control system in an embodiment of the present invention.

[0036] Reference numerals in the attached diagram: 1. Rotary table; 101. Mounting hole; 2. Hydraulic motor; 3. Reducer; 4. Drive gear; 5. Hydraulic cylinder; 6. Linkage mechanism; 7. Reversing valve; 8. First balance valve; 9. Second balance valve; 10. First relief valve; 11. Second relief valve; 12. Oil inlet circuit; 13. Oil return circuit; 14. Oil tank; 15. Oil drain circuit; 16. Forward rotation circuit; 17. Reverse rotation circuit; 18. Shuttle valve; 19. First hydraulic lock; 20. Second hydraulic lock; 21. Check valve; 22. Damping; 23. One-way throttle valve; 24. Third relief valve; 25. First connecting circuit; 26. Rodless chamber circuit; 27. Rod chamber circuit; 28. Second connecting circuit; 29. ​​Third connecting circuit; 30. Back pressure valve; 31.

[0037] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0040] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0042] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0043] Example 1

[0044] like Figure 3 The diagram shows a combined drive rotary mechanism disclosed in this embodiment, including a rotary table 1, an active drive device, and a driven brake device. This combined drive rotary mechanism is mainly used for the rotary support of rock drilling equipment. The active drive device and the driven brake device are respectively connected to the rotary table 1 for transmission. The active drive device provides stable rotary drive to the rotary table 1, thereby improving the stability of the rock drilling equipment's boom rotation and enhancing its positioning accuracy. The driven brake device provides braking torque to the rotary table 1, thereby providing sufficient torque to meet operating conditions during rock drilling operations.

[0045] Specifically, the rotary table 1 is a rotary gear, and the rock drilling rig is equipped with a rotating shaft. The rotary table 1 is fixedly mounted on the rotating shaft by key connection or welding. The rotary table 1 is provided with several mounting holes 101 for mounting and fixing the rock drilling equipment boom. During the rotation of the rock drilling equipment boom driven by the rotary table 1, the rotary table 1 rotates together with the rotating shaft. It is worth noting that the rotary table 1 and the rotating shaft can also be rotatably connected by bearings or clearance fit, that is, the rotary table 1 rotates around the rotating shaft during the rotation of the rock drilling equipment boom driven by the rotary table 1.

[0046] In this embodiment, the active drive device includes an active drive component, a reducer 3, and a drive gear 4. The active drive component is a hydraulic motor or an electric motor, and the active drive component and the reducer 3 are fixedly mounted on the rock drilling equipment. Specifically, the active drive component is connected to the input end of the reducer 3, and the drive gear 4 is fixedly mounted on the output end of the reducer 3, meshing with the rotary table 1. The radius of the drive gear 4 is smaller than the radius of the rotary table 1.

[0047] In this embodiment, the driven braking device is a hydraulic cylinder 5, with its fixed end hinged to the rock drilling equipment. The combined drive rotary mechanism also includes a linkage mechanism 6. One end of the linkage mechanism 6 is sleeved on the rotating shaft and fixedly connected to the rotary table 1, while the other end is hinged to the telescopic end of the hydraulic cylinder 5. The hydraulic cylinder 5, as the driven braking device, is connected to the linkage mechanism 6. The linkage mechanism 6 can provide an effective lever arm to minimize the size of the hydraulic cylinder 5, thereby achieving the economy of the rotary mechanism. When the rotary table 1 moves, the rod-side and rodless chambers of the hydraulic cylinder 5 can be in a suspended state, so that no additional force is provided during operation. Of course, in specific implementations, the hydraulic cylinder 5 can also provide a certain back pressure by adjusting the throttling damping to reduce the proportion of unstable loads such as boom sway of the rock drilling equipment, thus improving operational stability.

[0048] The working process / principle of the combined drive rotary mechanism in this embodiment is as follows:

[0049] During the rotation of rotary table 1, the rotary table 1 is driven by the active drive device, and the reducer 3 can output a stable rotation speed, thereby reducing the swaying of the rock drilling equipment boom during rotation and greatly improving the stability of operation.

[0050] When the rotary table 1 rotates, the hydraulic motor or electric motor drives the reducer 3 as the active drive component. The reducer 3 drives the rotary table 1 to move through the drive gear 4, which in turn drives the rock drilling equipment boom to rotate. At the same time, the rotary table 1 drives the hydraulic cylinder 5, which acts as a driven braking device, to move. The speed ratio and number of teeth of the drive gear 4 and the rotary table 1 can be set according to system requirements to achieve the best running stability. The reducer 3 may not be equipped with a built-in brake, and the static braking effect is achieved by the driven braking device.

[0051] When the rock drilling equipment operates after the rotary table 1 stops rotating, the rod chamber and rodless chamber of the hydraulic cylinder 5, which serves as the driven braking device, are completely closed by the hydraulic lock. The load torque is provided by the hydraulic cylinder 5 through the linkage mechanism 6. The hydraulic cylinder 5 can easily provide a thrust of several tons or even tens of tons, thereby achieving a sufficiently large braking force to meet the requirements of special working conditions.

[0052] Example 2

[0053] For the combined drive rotary mechanism in Embodiment 1, where the active drive component is a hydraulic motor 2 and the driven braking device is a hydraulic cylinder 5, this embodiment discloses a corresponding hydraulic control system to simultaneously meet the requirements of dynamic smoothness of the rotary mechanism and large static braking torque.

[0054] refer to Figure 4The control system in this embodiment includes two parts: a motor control oil circuit and a hydraulic cylinder control oil circuit.

[0055] Specifically, the motor control oil circuit consists of a directional valve 7, a two-way balance valve, and a two-way relief valve. The directional valve 7 is mainly used to switch the hydraulic motor 2 between forward and reverse rotation; the two-way balance valve includes a first balance valve 8 and a second balance valve 9, used to provide effective back pressure to prevent stalling and improve stability and safety; the two-way relief valve includes a first relief valve 10 and a second relief valve 11, used to absorb hydraulic shock when the rotation stops, making the stopping action more stable.

[0056] More specifically, the directional valve 7 has an inlet P1 port, a return port T1 port, a working port A1 port, and a working port B1 port, while the hydraulic motor 2 has a working port A2 port, a working port B2 port, and a drain port T2 port. The inlet P1 port is connected to the oil pump 13 via the inlet oil passage 12; the return port T1 port is connected to the oil tank 15 via the return oil passage 14; the drain port T2 port is connected to the oil tank 15 via the drain oil passage 16; the working port A1 port is connected to the working port A2 via the forward rotation oil passage 17; and the working port B1 port is connected to the working port B2 via the reverse rotation oil passage 18. A first balance valve 8 is connected in series in the forward rotation oil passage 17, and a second balance valve 9 is connected in series in the reverse rotation oil passage 18. Both the first relief valve 10 and the second relief valve 11 are located between the forward rotation oil passage 17 and the reverse rotation oil passage 18 and are connected in parallel with the hydraulic motor 2, with the first relief valve 10 and the second relief valve 11 operating in opposite directions.

[0057] In this embodiment, the hydraulic cylinder control circuit includes a shuttle valve 19, a first hydraulic lock 20, a second hydraulic lock 21, a check valve 22, a damper 23, a one-way throttle valve 24, and a third relief valve 25. The shuttle valve 19 has an inlet P2 port, an inlet P3 port, and an outlet C1 port. The first hydraulic lock 20 has a control D1 port, a working A3 port, and a working B3 port. The second hydraulic lock 21 has a control D2 port, a working A4 port, and a working B4 port. The inlet P2 port is connected to the forward rotation circuit 17, and the inlet P3 port is connected to the reverse rotation circuit 18. The control D1 port and control D2 port are respectively connected to the outlet C1 port through a first connecting circuit 26. The working A3 port is connected to the rodless chamber of the hydraulic cylinder 5 through a rodless chamber circuit 27. The working A4 port is connected to the rod chamber of the hydraulic cylinder 5 through a rod chamber circuit 28. The working B4 port and the working B3 port are connected through a second connecting circuit 29.

[0058] More specifically, the one-way valve 22 has an oil inlet P4 port and an oil outlet C2 port. The oil inlet P4 port is connected to the oil outlet C1 port, and the oil outlet C2 port is connected to the control ports D1 and D2 ports respectively. Both the control ports D1 and D2 ports are connected to the oil tank 15 through the third connecting oil passage 30, and the damper 23 is provided on the third connecting oil passage 30. The rodless chamber oil passage 27 and the rod chamber oil passage 28 are both equipped with a one-way throttle valve 24 and a third relief valve 25. The third relief valve 25 and the second connecting oil passage 29 are both connected to the oil tank 15 through the return oil passage 14, and a back pressure valve 31 is connected in series on the return oil passage 14.

[0059] The working process / principle of the control system in this embodiment is as follows:

[0060] When the rotary table 1 rotates, the shuttle valve 19, during the operation of the hydraulic motor 2, can supply high-pressure oil from the high-pressure chamber (which is the forward rotation oil circuit 17 when the hydraulic motor 2 rotates forward, and the reverse rotation oil circuit 18 when the hydraulic motor 2 rotates in reverse) to the hydraulic cylinder control oil circuit to open the first hydraulic lock 20 and the second hydraulic lock 21. After the first hydraulic lock 20 and the second hydraulic lock 21 are opened, the rod chamber and the rodless chamber of the hydraulic cylinder 5 are connected by the rodless chamber oil circuit 27, the rod chamber oil circuit 28 and the second connecting oil circuit 29 and connected to the return oil circuit 14. Since the return oil circuit 14 is equipped with a back pressure valve 31, the oil can effectively flow into the working chamber of the hydraulic cylinder 5 while the hydraulic cylinder 5 is suspended, preventing the hydraulic cylinder 5 from sucking in air. During this process, the hydraulic cylinder 5 can be made not to provide any back pressure by adjusting the one-way throttle valve 24 to reduce the running resistance. If the swing load of the rock drilling equipment boom is small and the rate of change is large, a certain back pressure can be provided by adjusting the one-way throttle valve 24 to stabilize the operation. Since the rod chamber oil circuit 28 and the rodless chamber oil circuit 27 are both equipped with one-way throttle valves 24, the stability of the bidirectional action of the hydraulic cylinder 5 can be adjusted.

[0061] When the rotary table 1 stops rotating, the shuttle valve 19 no longer supplies high-pressure oil. The high-pressure oil used to open the first hydraulic lock 20 and the second hydraulic lock 21 is cut off by the check valve 22. At this time, the high-pressure oil used to open the first hydraulic lock 20 and the second hydraulic lock 21 is discharged by the damper 23. By setting the damper 23, the discharge time of the high-pressure oil in the cavity can be adjusted, thereby delaying the closing time of the first hydraulic lock 20 and the second hydraulic lock 21, thus effectively avoiding the hydraulic shock generated when the hydraulic cylinder 5 stops, making the rotation stop more stable.

[0062] When the first hydraulic lock 20 and the second hydraulic lock 21 are fully closed, the hydraulic cylinder 5 can provide sufficient braking force. The third relief valve 25 is installed on the rod chamber oil passage 28 and the rodless chamber oil passage 27 of the hydraulic cylinder 5. The safety pressure can be adjusted to protect the load of the rock drilling equipment boom within a safe range.

[0063] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A control system for a combined drive rotary mechanism, characterized in that, The combined drive rotary mechanism includes a rotary table and: an active drive device, which is connected to the rotary table to provide stable rotary drive to the rotary table; and a driven brake device, which is connected to the rotary table to provide braking torque to the rotary table; the power source of the active drive device in the combined drive rotary mechanism is a hydraulic motor, and the power source of the driven brake device in the combined drive rotary mechanism is a hydraulic cylinder. The control system includes: The reversing valve has an oil inlet P1 port, an oil return T1 port, a working A1 port, and a working B1 port. The oil inlet P1 port is connected to the oil pump, the oil return T1 port is connected to the oil tank, the working A1 port is connected to the working A2 port of the hydraulic motor through the forward rotation oil circuit, and the working B1 port is connected to the working B2 port of the hydraulic motor through the reverse rotation oil circuit. The shuttle valve has an oil inlet P2 port, an oil inlet P3 port, and an oil outlet C1 port. The oil inlet P2 port is connected to the forward rotation oil circuit, and the oil inlet P3 port is connected to the reverse rotation oil circuit. The first hydraulic lock has a control port D1, a working port A3, and a working port B3. The control port D1 is connected to the oil outlet port C1 through a first connecting oil circuit, and the working port A3 is connected to the rodless chamber of the hydraulic cylinder through a rodless chamber oil circuit. The second hydraulic lock has a control port D2, a working port A4, and a working port B4. The control port D2 is connected to the oil outlet port C1 through a first connecting oil circuit. The working port A4 is connected to the rod chamber of the hydraulic cylinder through a rod chamber oil circuit. The working port B4 is connected to the working port B3 through a second connecting oil circuit.

2. The control system according to claim 1, characterized in that, A one-way valve is connected in series in the first connecting oil line. The one-way valve has an oil inlet P4 port and an oil outlet C2 port. The oil inlet P4 port is connected to the oil outlet C1 port, and the oil outlet C2 port is connected to the control D1 port and the control D2 port respectively. Both the control port D1 and the control port D2 are connected to the oil tank through a third connecting oil circuit, and the third connecting oil circuit is equipped with damping.

3. The control system according to claim 1 or 2, characterized in that, The second connecting oil circuit is connected to the oil tank through the return oil circuit, and a back pressure valve is connected in series on the return oil circuit.

4. The control system according to claim 1 or 2, characterized in that, Both the rodless chamber oil circuit and the rod chamber oil circuit are equipped with a one-way throttle valve and an overflow valve.

5. The control system according to claim 1 or 2, characterized in that, A balance valve is connected in series in both the forward and reverse oil circuits, and a bidirectional relief valve connected in parallel with the hydraulic motor is provided between the forward and reverse oil circuits.

6. The control system according to claim 1 or 2, characterized in that, The rotary table is a rotary gear; The active drive device includes an active drive component, a reducer, and a drive gear, wherein the drive gear meshes with the rotary gear. The active drive component is connected to the input end of the reducer, and the drive gear is fixedly mounted on the output end of the reducer.

7. The control system according to claim 1 or 2, characterized in that, It also includes linkage mechanisms; One end of the linkage mechanism is coaxial with and fixedly connected to the rotary table, and the other end of the linkage mechanism is hinged to the output end of the hydraulic cylinder.

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