Hydraulic control system and control method for full-width loading mechanism

Abstract

The present invention discloses a hydraulic control system and control method for a full-width loading mechanism, comprising a main shovel plate, auxiliary shovel plates overlapping and connected on the left and right sides of the main shovel plate, the auxiliary shovel plates being connected to auxiliary oil cylinders to control the opening and closing of the auxiliary shovel plates on the main shovel plate, symmetrically arranged rake arms on the main shovel plate, the rake arms being connected to a driving device arranged on the back of the main shovel plate, the driving device obtaining power through the rake arm oil cylinder connected thereto and transmitting the power to the rake arm, causing the rake arm to swing left and right on the main shovel plate, performing pushing and pulling actions to collect materials, and enabling the left and right rake arms to perform different actions at the same time through a hydraulic control system, and interlinking the stroke of the rake arm oil cylinder with the stroke of the auxiliary oil cylinder, so that when the auxiliary shovel plates are opened and closed, the rake arms can automatically change the swing amplitude, pushing the piled materials in the auxiliary shovel plates into the chute, thereby realizing full-width loading of the loading mechanism in the lane. This avoids siltation of pushed materials, ensures a constant flow rate during the working process of the loading mechanism, stabilizes material collection, and improves loading efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of roadheaders, and in particular to a hydraulic control system and a control method for a full-width loading mechanism. Background Art

[0002] The traditional star-wheel loading mechanism is driven by a motor and has a small starting torque. When encountering piled materials, it is very easy to cause the rake claws to jam, resulting in poor loading effect. At the same time, the traditional loading mechanism cannot achieve full-width loading and can only complete material collection by frequently mobilizing the entire machine, affecting the excavation efficiency.

[0003] The swing-arm, full-width loading mechanism enables full-width loading, reducing frequent loading adjustments and improving loading efficiency. Furthermore, the hydraulic cylinder that propels the rake arms offers advantages over traditional high-torque motors in terms of high starting torque and preventing stalling when the machine is fully loaded. However, due to structural limitations, if both rake arms push simultaneously, material can easily accumulate and block the rear transfer conveyor. If both rake arms pull back simultaneously, a higher flow rate is required, necessitating a larger hydraulic power source. This increases design costs and complicates coordinated control between the rake arms and the auxiliary shovel. Summary of the Invention

[0004] The object of the present invention is to provide a full-width loading mechanism hydraulic control system and control method to solve the problems in the background technology.

[0005] The technical solution adopted by the present invention is to provide a hydraulic control system of a full-width loading mechanism, including a main shovel plate, wherein auxiliary shovel plates are overlapped and connected on the left and right sides of the main shovel plate, and the auxiliary shovel plates are connected to auxiliary oil cylinders to control the auxiliary shovel plates to open and close left and right on the main shovel plate. Rake arms are symmetrically arranged on the main shovel plate, and the rake arms are connected to a driving device arranged on the back of the main shovel plate. The driving device obtains power through the rake arm oil cylinder connected thereto and transmits it to the rake arm, so that the rake arm swings left and right on the main shovel plate, performs pushing and pulling actions to collect materials, and the left and right rake arms perform different actions at the same time.

[0006] Furthermore, when the rake arm pushes the material, oil enters the rod cavity of the rake arm oil cylinder to cause it to contract; when the rake arm pulls back, oil enters the rodless cavity of the rake arm oil cylinder to cause it to extend.

[0007] Furthermore, by controlling the different oil inflow amounts of the rod chamber and the rodless chamber of the rake arm cylinder, the extension and retraction times are made the same, ensuring that the left and right rake arms perform different actions at the same time.

[0008] Furthermore, when the auxiliary oil cylinder contracts, the auxiliary shovel moves outward; when the auxiliary oil cylinder extends, the auxiliary shovel moves back.

[0009] Furthermore, a pressure sensor I is arranged at the oil inlet of the auxiliary oil cylinder to monitor the pressure and determine whether the auxiliary shovel covers the full width of the tunnel.

[0010] Furthermore, displacement sensors I and II are arranged inside the auxiliary oil cylinder and the rake arm oil cylinder respectively for monitoring the stroke data. The stroke of the rake arm oil cylinder is adjusted accordingly according to the stroke data of the auxiliary oil cylinder so that the maximum swing amplitude of the rake arm is close to the edge of the auxiliary shovel.

[0011] The hydraulic control system for the full-width loading mechanism maintains the same extension and retraction times for the rake arm cylinders, allowing the left and right rake arms to alternately push and pull material, preventing material from accumulating and blocking the rear transfer conveyor. This also ensures a constant flow rate throughout the loading mechanism's operation, ensuring stable material collection and improving loading efficiency.

[0012] The present invention also provides a control method for a full-width loading mechanism, comprising:

[0013] Step 1: While the auxiliary shovel is unfolding, monitor the pressure X of pressure sensor I;

[0014] Step 2: When X is greater than the pressure threshold X0, it is determined that the auxiliary shovel has covered the full width of the lane, and the travel ΔZ2 of the displacement sensor I is monitored;

[0015] Step 3: Calculate the stroke of the rake arm cylinder that makes the maximum swing amplitude of the rake arm close to the edge of the auxiliary shovel according to the stroke ΔZ2, and set it as the working stroke of the rake arm cylinder;

[0016] Step 4: Calculate the duration of one extension or retraction based on the area of ​​the rake arm cylinder cavity, the oil flow rate, and the working stroke of the rake arm cylinder, and set it as the control signal for switching the action of a single rake arm;

[0017] Step 5: Start the left and right rake arm cylinders and make them move back and forth alternately under time control.

[0018] Furthermore, the pressure threshold X0 is greater than the no-load pressure of the auxiliary oil cylinder and less than the maximum pressure for which the auxiliary oil cylinder is designed.

[0019] Furthermore, the time for the rake arm oil cylinder to extend and retract is the same, and the left and right rake arm oil cylinders extend and retract alternately, so that the left and right rake arms perform the pushing action and the pulling action alternately.

[0020] The control method of the full-width loading mechanism of the present invention mutually relates the stroke of the rake arm cylinder and the auxiliary cylinder in the hydraulic control system, so that when the auxiliary shovel is opened and closed, the rake arm can automatically change the swing amplitude, pushing the pile of materials in the auxiliary shovel into the chute, thereby realizing full-width loading of the loading mechanism in the tunnel and further improving the loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a front view of the present invention;

[0022] Figure 2 is a bottom view of the present invention;

[0023] Figure 3 It is a schematic diagram of the relationship between the rake arm oil cylinder structure and oil intake volume of the present invention.

[0024] In the figure: 1-main shovel, 2-drive device, 3-rake arm, 301-left rake arm, 302-right rake arm, 4-rake arm cylinder, 401-rodless chamber, 402-rod chamber, 5-auxiliary shovel, 6-auxiliary device, 7-auxiliary cylinder, B1-inner diameter of rake arm cylinder, B2-diameter of cylinder piston rod. DETAILED DESCRIPTION

[0025] In order to better understand the purpose, structure and function of the present invention, the hydraulic control system and control method of the full-width loading mechanism of the present invention are further described in detail below with reference to the accompanying drawings.

[0026] like Figure 1 and Figure 2 The figure shows a hydraulic control system for a full-width loading mechanism, comprising a main shovel blade 1, a drive unit 2, a rake arm 3, a rake arm cylinder 4, an auxiliary shovel blade 5, an auxiliary device 6, and an auxiliary cylinder 7. The auxiliary device 6 is fixed to the bottom of the main shovel blade 1. The auxiliary shovel blade 5 is hingedly connected to the auxiliary device 6 and arranged on both sides of the main shovel blade 1. The auxiliary cylinder 7 is hinged at one end to the connecting ear of the auxiliary device 6 and at the other end to the connecting ear at the top of the auxiliary shovel blade 5. The auxiliary cylinder 7 is extended and retracted to achieve the left and right opening and closing of the auxiliary shovel blade 5 on the main shovel blade 1. The maximum stroke of the auxiliary cylinder 7 is when the auxiliary shovel blade 5 is fully retracted, and the minimum stroke of the auxiliary cylinder 7 is when the auxiliary shovel blade 5 is fully extended. The auxiliary cylinders 7 on both sides extend and retract simultaneously, i.e., the auxiliary shovel blades 5 move simultaneously.

[0027] The drive unit 2 is mounted on the main shovel plate 1. The rake arm 3 is connected to the drive unit 2. The rake arm cylinder 4 is hinged at one end to a fixed lug within the main shovel plate 1 and at the other end to a fixed lug of the drive unit 2. The rake arm cylinder 4 extends and retracts, allowing the rake arm 3 to swing left and right on the main shovel plate 1, performing push and pull actions to collect material. The maximum stroke of the rake arm cylinder 4 is such that when the auxiliary shovel plate 5 is fully extended, the rake arm 3's maximum swing amplitude approaches the edge of the auxiliary shovel plate 5. The minimum stroke of the rake arm cylinder 4 is such that when the auxiliary shovel plate 5 is fully retracted, the rake arm 3's maximum swing amplitude approaches the edge of the auxiliary shovel plate 5. The rake arm 3 is divided into a left rake arm 301 and a right rake arm 302, each of which performs different actions simultaneously.

[0028] The extension and retraction time of the rake arm cylinder 4 are the same. Figure 3 As shown in the figure, the inner diameter of the rake arm cylinder is set to B1, the diameter of the cylinder piston rod is set to B2, the oil flow rate when the cylinder rodless chamber 401 is filled with oil is set to C1, and the oil flow rate when the cylinder rod chamber 402 is filled with oil is set to C2, and C2=C1(1-B2 2 / B1 2 ) relationship, the oil inlet volume of the cylinder can be set by the multi-way valve, which will not be explained here.

[0029] When the full-width loading mechanism is collecting materials, the rake arm 3 has two actions, pushing and pulling back. During the pushing action, the rod chamber 402 of the rake arm cylinder 4 is filled with oil, and the cylinder contracts. At this time, the cylinder pressure is relatively high and the required flow rate is relatively small; during the pulling back action, the rodless chamber 401 of the rake arm cylinder 4 is filled with oil, and the cylinder extends. At this time, the pressure is relatively low and the required flow rate is relatively large.

[0030] The extension and retraction of the rake arm cylinder 4 are switched by time. The duration of one extension or retraction is calculated based on the inner area of ​​the rake arm cylinder 4, the oil intake, and the working stroke of the rake arm cylinder 4, and the single rake arm action is switched accordingly.

[0031] The left and right rake arms operate separately. The left rake arm cylinder 4 contracts. When the left rake arm 301 pushes the material, the right rake arm cylinder 4 extends, and the right rake arm 302 pulls back. The extension and retraction times of the rake arm cylinders 4 are the same, ensuring that the left and right rake arms alternately push and pull back. This control method of alternating extension and contraction of the rake arm cylinders 4 on both sides provides stable control power, allows the use of low-power hydraulic components, saves costs, and is highly efficient in terms of the swing stroke.

[0032] A displacement sensor I is located inside the auxiliary cylinder 7, and a pressure sensor I is located at the oil inlet of the auxiliary cylinder 7. A displacement sensor II is located inside the rake arm cylinder 4. The pressure sensor is used to monitor pressure, and the displacement sensor is used to monitor travel.

[0033] A control method for a full-width loading mechanism, comprising:

[0034] Step 1: While the auxiliary shovel 5 is unfolded, the pressure X of the pressure sensor I is monitored;

[0035] Step 2: When X is greater than the pressure threshold X0, it is determined that the auxiliary shovel 5 has covered the full width of the lane, and the travel ΔZ2 of the displacement sensor I is monitored;

[0036] Step 3: Calculate the stroke of the rake arm cylinder 4 that enables the maximum swing amplitude of the rake arm 3 to be close to the edge of the auxiliary shovel 5 based on the stroke ΔZ2, and set it as the working stroke of the rake arm cylinder 4;

[0037] Step 4: Calculate the duration of one extension or retraction according to the inner area of ​​the rake arm cylinder 4, the oil flow rate, and the working stroke of the rake arm cylinder 4, and set it as the control signal for switching the action of a single rake arm 3;

[0038] Step 5: Start the left and right rake arm oil cylinders 4 and make them move back and forth alternately under time control.

[0039] Specifically, when the full-width loading mechanism begins operation, it first deploys the auxiliary blades 5 on both sides and monitors the pressure sensor data from the auxiliary cylinder 7's oil inlet. When pressure X exceeds a set pressure threshold X0, the auxiliary blades 5 are considered to have covered the full width of the laneway. Pressure threshold X0 should be greater than the no-load pressure of the auxiliary cylinder 7 and less than its maximum pressure, and can be adjusted based on actual laneway conditions.

[0040] The stroke of the rake arm cylinder 4 is linked to the stroke of the auxiliary cylinder 7. The maximum stroke of the rake arm cylinder 4 is set to Z0 + Z1, and the maximum stroke of the auxiliary cylinder 7 is set to Z2. When the auxiliary cylinder 7 reaches its maximum stroke Z2, i.e., when the auxiliary blade 5 is fully retracted, the stroke of the rake arm cylinder 4, when the rake arm 3 reaches its maximum swing amplitude and approaches the edge of the auxiliary blade 5, is Z0. When the auxiliary cylinder 7 is fully retracted, i.e., when the auxiliary blade 5 is fully extended, the stroke of the rake arm cylinder 4, when the rake arm 3 reaches its maximum swing amplitude and approaches the edge of the auxiliary blade 5, is Z0 + Z1.

[0041] Based on the real-time data Z0+ΔZ1 from the displacement sensor in the rake arm cylinder 4 and ΔZ2 from the displacement sensor in the auxiliary cylinder 7, a correlation is established between ΔZ1 and ΔZ2. As ΔZ2 increases, ΔZ1 decreases proportionally; as ΔZ2 decreases, ΔZ1 increases proportionally. In other words, as the auxiliary cylinder 7 extends and retracts, and the auxiliary blade 5 opens and closes, the operating stroke of the rake arm cylinder 4 changes in real time, ensuring that the maximum swing amplitude of the rake arm 3 always remains close to the edge of the auxiliary blade 5.

[0042] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A hydraulic control system for a full-width loading mechanism, comprising a main shovel (1), characterized in that: The left and right sides of the main shovel plate (1) are connected to auxiliary shovel plates (5), which are connected to auxiliary oil cylinders (7) to control the auxiliary shovel plates (5) to open and close left and right on the main shovel plate (1). Rake arms (3) are symmetrically arranged on the main shovel plate (1), and the rake arms (3) are connected to a driving device (2) arranged on the back of the main shovel plate (1). The driving device (2) obtains power through the rake arm oil cylinder (4) connected thereto and transmits it to the rake arm (3), so that the rake arm (3) swings left and right on the main shovel plate (1), performs a pushing action and a pulling action to collect materials, and the left and right rake arms perform different actions at the same time. The rake arm oil cylinder (4) The time of extension and retraction is the same, and the left and right rake arm cylinders extend and retract alternately, so that the left and right rake arms perform the pushing action and the pulling action alternately. A pressure sensor I is arranged at the oil inlet of the auxiliary oil cylinder (7) for monitoring the pressure to determine whether the auxiliary shovel (5) covers the full width of the lane. Displacement sensors I and II are arranged inside the auxiliary oil cylinder (7) and the rake arm cylinder (4) respectively for monitoring the stroke data. The stroke of the rake arm cylinder (4) is adjusted accordingly according to the stroke data of the auxiliary oil cylinder (7) so that the maximum swing amplitude of the rake arm (3) is close to the edge of the auxiliary shovel (5). The control method includes the following steps: 1: While the auxiliary shovel is unfolding, monitor the pressure X of pressure sensor I; Second: When X is greater than the pressure threshold X0, it is determined that the auxiliary shovel has covered the full width of the lane, and the travel ΔZ2 of the displacement sensor I is monitored; 3. According to the stroke ΔZ2, the stroke of the rake arm cylinder that makes the maximum swing amplitude of the rake arm close to the edge of the auxiliary shovel is calculated and set as the working stroke of the rake arm cylinder; Fourth: According to the cavity area of ​​the rake arm cylinder, the oil flow rate, and the working stroke of the rake arm cylinder, the duration of one extension or retraction is calculated and set as the control signal for switching the action of a single rake arm; 5. Start the left and right rake arm cylinders and make them move back and forth alternately under time control.

2. The full-width loading mechanism hydraulic control system according to claim 1, characterized in that: When the rake arm (3) pushes the material, oil is fed into the rod chamber (402) of the rake arm oil cylinder (4) to cause it to shrink. When the rake arm (3) pulls back, oil is fed into the rodless chamber (401) of the rake arm oil cylinder (4) to cause it to extend.

3. The full-width loading mechanism hydraulic control system according to claim 2, characterized in that: By controlling the different oil inflow amounts of the rod chamber (402) and the rodless chamber (401) of the rake arm oil cylinder (4), the extension and retraction times are made the same.

4. The full-width loading mechanism hydraulic control system according to claim 1, characterized in that: The pressure threshold value X0 is greater than the no-load pressure of the auxiliary oil cylinder (7) and less than the designed maximum pressure of the auxiliary oil cylinder (7).

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