Coal mine equipment hydraulic control system and coal mine hydraulic support

Abstract

The invention relates to the technical field of coal mine hydraulic equipment, in particular to a coal mine equipment hydraulic control system and a coal mine hydraulic support. The coal mine equipment hydraulic control system comprises a hydraulic executing mechanism and a hydraulic control assembly, and the hydraulic control assembly is connected between the hydraulic executing mechanism and a pump station; the hydraulic actuating mechanism is controlled to operate by adjusting the flow direction and flow of fluid media on the two sides of the hydraulic actuating mechanism; the detection module is configured to detect state parameters of the hydraulic executing mechanism in real time in the system operation process; the control module is configured to generate a control signal according to the state parameters; and the adjusting module is configured to receive the control signal and adjust the flow direction and flow of the fluid medium in the hydraulic control assembly according to the control signal. According to the scheme, the defects that in the prior art, hydraulic equipment is single in control mode, and fine adjustment of dynamic parameters such as hydraulic stroke and speed is difficult to achieve are overcome, and the stepless and continuous proportional hydraulic equipment adjusting function is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine hydraulic equipment, and in particular to a coal mine equipment hydraulic control system and a coal mine hydraulic support. Background Art

[0002] Coal mining is a special work with a harsh environment, which places extremely high demands on the reliability and safety of equipment. Hydraulic equipment is widely used in coal mining due to its high meshing efficiency, strong power, and good control accuracy, such as hydraulic supports and hydraulic tunneling machines.

[0003] Traditional hydraulic reversing control systems mainly use solenoid valves or reversing valve groups as core control components. Their control methods are single and it is difficult to achieve fine adjustment of dynamic parameters such as hydraulic stroke, speed, and pressure. For example, traditional hydraulic supports can only achieve two states: open and closed. It is impossible to dynamically adjust the height and speed of the support according to actual conditions, thus limiting its application scope and control accuracy.

[0004] With the continuous upgrading of coal mining technology and the increasing requirements for automation, traditional hydraulic switching control systems can no longer meet the needs of complex applications. Summary of the invention

[0005] The present invention provides a coal mine equipment hydraulic control system and a coal mine hydraulic support, which are used to solve the defects of the prior art that the hydraulic equipment control mode is single and it is difficult to achieve fine adjustment of dynamic parameters such as hydraulic stroke and speed, and realize the stepless and continuous proportional hydraulic equipment adjustment function.

[0006] The present invention provides a hydraulic control system for coal mine equipment, comprising: a hydraulic actuator and a hydraulic control component, wherein the hydraulic control component is connected between the hydraulic actuator and a pump station, and controls the operation of the hydraulic actuator by adjusting the flow direction and flow rate of a fluid medium on both sides of the hydraulic actuator; a detection module, configured to detect state parameters of the hydraulic actuator in real time during system operation; a control module, configured to generate a control signal according to the state parameters; and an adjustment module, configured to receive the control signal and adjust the flow direction and flow rate of the fluid medium in the hydraulic control component according to the control signal.

[0007] According to one embodiment of the present invention, the state parameter includes an actual displacement value of a piston of the hydraulic actuator; the control module includes: a calculation unit configured to perform deviation calculation through the actual displacement value and a command displacement value input into the system, so as to calculate an absolute value of a difference between the actual displacement value and the command displacement value as a deviation amount; and a control signal generating unit, generating a control signal for adjusting a flow rate of a fluid medium in the hydraulic control component according to the deviation amount.

[0008] According to one embodiment of the present invention, the control module includes a judgment unit; the judgment unit is configured to compare the actual displacement value and the command displacement value; when the actual displacement value is smaller than the command displacement value, the control signal includes maintaining the flow direction of the fluid medium in the hydraulic control component unchanged; when the actual displacement value is greater than the command displacement value, the control signal includes switching the flow direction of the fluid medium in the hydraulic control component.

[0009] According to one embodiment of the present invention, the regulating module includes a reversing valve group and an electro-hydraulic proportional valve arranged in the hydraulic control component; when the hydraulic actuator is started, the reversing valve group is first opened, and then the flow of the electro-hydraulic proportional valve is adjusted to gradually increase; when the hydraulic actuator is stopped, the flow of the electro-hydraulic proportional valve is first adjusted to gradually decrease, and then the reversing valve group is closed.

[0010] According to one embodiment of the present invention, the pump station is connected with a high-pressure pipeline for outputting a fluid medium and a low-pressure pipeline for recovering the fluid medium, the number of the electro-hydraulic proportional valves is one or more, and the electro-hydraulic proportional valves are arranged at any of the following positions: the electro-hydraulic proportional valve is arranged between the reversing valve group and the high-pressure pipeline; the electro-hydraulic proportional valve is arranged between the reversing valve group and the low-pressure pipeline; the electro-hydraulic proportional valve is arranged between the reversing valve group and any inlet and outlet of the hydraulic actuator.

[0011] The present invention also provides a coal mine hydraulic support, comprising: a push jack for executing the pushing and sliding action of the hydraulic support, the push jack being provided with a displacement sensor for detecting the moving position of the piston; a fluid supply mechanism comprising a pump station, the pump station being connected with a high-pressure pipeline for outputting a fluid medium and a low-pressure pipeline for recovering the fluid medium; a hydraulic control component being arranged between the push jack and the fluid supply mechanism, the hydraulic control component comprising a reversing valve group and an electro-hydraulic proportional valve; a support controller integrating the coal mine equipment hydraulic control system of the above-mentioned embodiment, the support controller being respectively connected to the displacement sensor, the reversing valve group and the electro-hydraulic proportional valve.

[0012] According to one embodiment of the present invention, the reversing valve group includes: a frame shifting main valve, which is arranged between the rodless chamber of the push jack and the high-pressure pipeline; a push-slide main valve, which is arranged between the rod chamber of the push jack and the high-pressure pipeline; a frame shifting pilot valve, which is electrically connected to the support controller and is arranged between the high-pressure pipeline and the frame shifting main valve, so as to control the movement of the valve core of the frame shifting main valve; a push-slide pilot valve, which is electrically connected to the support controller and is arranged between the high-pressure pipeline and the push-slide main valve, so as to control the movement of the valve core of the push-slide main valve.

[0013] According to one embodiment of the present invention, the electro-hydraulic proportional valve is arranged between the reversing valve group and the high-pressure pipeline, and the rack shifting main valve and the push-slide main valve are connected in parallel to each other and connected to the electro-hydraulic proportional valve.

[0014] According to one embodiment of the present invention, a hydraulically controlled one-way valve is provided between the pipeline connected to the rodless chamber of the push jack and the pipeline connected to the rod chamber of the push jack; when the main valve of the shifting frame is opened, the hydraulically controlled one-way valve is opened by the hydraulic pressure, allowing the fluid medium on the pipeline connected to the rod chamber of the push jack to flow in both directions; when the main valve of the shifting frame is closed, the hydraulically controlled one-way valve is closed, and only the fluid medium is allowed to enter the rod chamber of the push jack along the pipeline, preventing the fluid medium in the rod chamber from flowing out.

[0015] According to one embodiment of the present invention, it includes: a first column and a second column, the first column and the second column are connected in parallel to the liquid supply mechanism; a lifting column main valve, one side of which is connected to the high-pressure pipeline, and the other side is respectively connected to the rodless chambers of the first column and the second column; a lowering column main valve, one side of which is connected to the high-pressure pipeline, and the other side is respectively connected to the rod chambers of the first column and the second column; a lifting column pilot valve, which is electrically connected to the bracket controller and is arranged between the high-pressure pipeline and the lifting column main valve to control the movement of the valve core of the lifting column main valve; a lowering column pilot valve, which is electrically connected to the bracket controller and is arranged between the high-pressure pipeline and the lowering column main valve to control the movement of the valve core of the lowering column main valve.

[0016] The coal mine equipment hydraulic control system and coal mine hydraulic support provided by the present invention are achieved by introducing a comprehensive control system including a hydraulic actuator, a hydraulic control component, a detection module, a control module and an adjustment module. The hydraulic control component is connected between the hydraulic actuator and the pump station, and controls its operation by adjusting the flow direction and flow rate of the fluid medium on both sides of the hydraulic actuator; the detection module detects the piston movement position in the hydraulic actuator in real time during the operation of the system to obtain the actual displacement value; the control module generates a corresponding control signal according to the actual displacement value; the adjustment module receives the control signal and adjusts the flow direction and flow rate of the fluid medium in the hydraulic control component according to the instruction content, thereby realizing the stepless and continuous proportional fine adjustment function of the hydraulic equipment. The above system is applied in the coal mine hydraulic support, which can dynamically adjust its own working state through the stepless and continuous proportional adjustment function, thereby enhancing the safety and efficiency of coal mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the principle of the hydraulic control system of coal mine equipment provided by the present invention.

[0019] Figure 2 The invention is a schematic diagram of the connection principle of the electro-hydraulic proportional valve of the hydraulic control system of coal mine equipment.

[0020] Figure 3 The invention is a schematic diagram of the pipeline connection principle of the coal mine hydraulic support provided by the present invention.

[0021] Reference numerals: 1. Main valve for moving the frame; 2. Main valve for pushing and sliding; 3. Main valve for raising the column; 4. Main valve for lowering the column; 5. Bracket controller; 6. Electro-hydraulic proportional valve; 7. Pushing jack; 8. Displacement sensor; 9. First column; 10. Pilot valve for moving the frame; 11. Pilot valve for pushing and sliding; 12. Pilot valve for raising the column; 13. Pilot valve for lowering the column; 14. Pump station; 15. Hydraulic-controlled one-way valve; 16. Second column. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0024] Combine the following Figure 1-Figure 3 The specific implementation methods of the coal mine equipment hydraulic control system and the coal mine hydraulic support of the present invention are described.

[0025] like Figure 1 As shown, the present invention provides a hydraulic control system for coal mine equipment, including: a hydraulic actuator and a hydraulic control component, the hydraulic control component is connected between the hydraulic actuator and the pump station 14, and the hydraulic actuator operation is controlled by adjusting the flow direction and flow rate of the fluid medium on both sides of the hydraulic actuator; a detection module is configured to detect the state parameters of the hydraulic actuator in real time during the operation of the system; a control module is configured to generate a control signal according to the state parameters; and an adjustment module is configured to receive the control signal and adjust the flow direction and flow rate of the fluid medium in the hydraulic control component according to the control signal. This system can not only realize the position control of the hydraulic actuator, but also calculate the required flow rate in real time through real-time collection and analysis of the state parameters, and perform precise speed control and pressure control accordingly, so as to specifically adjust the specific working states such as the piston displacement, moving speed, and output torque of the hydraulic actuator, and ensure the efficient operation and safety of the hydraulic equipment in coal mining operations.

[0026] Specifically, as the core part of the system, the hydraulic actuator directly acts on the object to be controlled (such as the hydraulic support) and is responsible for executing commands such as adjusting the height of the support, pushing and sliding, and moving the support. The hydraulic control component is connected between the hydraulic actuator and the pump station 14, and flexibly adjusts the state of the actuator by adjusting the flow direction and flow rate of the hydraulic oil. The detection module is used to monitor the operating status of the system in real time, continuously monitor the position changes of the piston inside the hydraulic actuator, and record the actual displacement data. The control module analyzes the state parameters provided by the detection module, calculates the required control signal, and guides the next action of the hydraulic system. The adjustment module receives these signals and adjusts the oil flow in the hydraulic control component accordingly, so as to achieve more precise stepless and continuous proportional adjustment of the hydraulic actuator.

[0027] In addition, in actual application scenarios, the hydraulic control system of coal mine equipment is suitable for the comprehensive mechanized coal mining (comprehensive mining) equipment system of coal mines. For example, in the process of moving the frame and pushing the slide, precise position control needs to be achieved, which is crucial for the straightness control of the entire comprehensive mining working face. In addition, the system is also applicable to the posture control of the hydraulic support, including but not limited to the position control of the balancing hydraulic cylinder, the pressure and position control of the protective hydraulic cylinder, and the pressure control of the hydraulic support column. The same principle also applies to the control of the advance support. Not only that, the precise control of the tensioning device of the scraper conveyor and the rotary mechanism of the motor, and even in the future, after the transmission medium of the coal mining machine is replaced from oil to emulsion, the system can also be applied to the control of the coal mining machine rocker arm. Through this series of applications, the hydraulic control system of coal mine equipment can significantly improve the efficiency and safety of comprehensive mining work.

[0028] According to a coal mine equipment hydraulic control system of the present invention, the state parameter preferably includes the actual displacement value of the piston of the hydraulic actuator. The control module includes: a calculation unit, configured to perform deviation calculation through the actual displacement value and the command displacement value input into the system, so as to calculate the absolute value of the difference between the actual displacement value and the command displacement value as the deviation amount; a control signal generation unit, which generates a control signal for adjusting the flow rate of the fluid medium in the hydraulic control component according to the deviation amount. Specifically, the calculation unit first obtains the actual displacement value provided by the detection module, and compares it with the command displacement value preset by the system, and calculates the absolute value of the difference between the two, that is, the deviation amount. Subsequently, the control signal generation unit generates a corresponding control signal according to the calculated deviation amount, which is used to adjust the flow rate of the fluid medium in the hydraulic control component, and then accurately controls the action of the hydraulic actuator to ensure that it achieves the expected position, speed or pressure control target. This closed-loop control mechanism ensures the response speed and control accuracy of the hydraulic system, thereby improving the overall performance and reliability of the coal mine equipment.

[0029] It is understandable that, in other embodiments, the state parameters may include any one or more physical quantity parameters such as the actual displacement value of the piston, the hydraulic pressure, the piston movement speed, etc., and the coal mine equipment hydraulic control system is operated on this basis.

[0030] Specifically, in the scheme based on the hydraulic pressure of the hydraulic actuator as the state parameter, the detection module of the hydraulic system not only monitors the actual displacement value of the piston, but also measures the hydraulic pressure inside the hydraulic actuator in real time. In this case, in addition to dealing with the deviation between the actual displacement value and the command displacement value, the control module also needs to consider the change in hydraulic pressure. If the detected hydraulic pressure is lower or higher than the set safety range, the control module will immediately generate corresponding control instructions, and adjust the flow direction and flow rate of the hydraulic medium fluid medium in the hydraulic control component of the hydraulic control circuit through the adjustment module to achieve the purpose of stabilizing the hydraulic pressure. This helps to prevent equipment damage or operating errors caused by abnormal hydraulic pressure, and further ensure the operating safety and reliability of coal mine equipment.

[0031] In the solution based on the piston movement speed of the hydraulic actuator as the state parameter, the detection module will focus on real-time monitoring of the movement speed of the piston. Through high-speed data acquisition technology, the changes in the movement speed of the piston under different working conditions can be accurately captured. The control module uses these speed data and combines the speed target value preset by the system to calculate the speed deviation. According to the calculation results, the control module will issue corresponding control instructions to the adjustment module, which will adjust the flow rate of the hydraulic medium accordingly to ensure that the movement speed of the piston meets the expected requirements. This method is particularly suitable for scenarios that require fine control of the movement speed, such as when performing precise adjustments to the height of hydraulic supports or controlling the tension of scraper conveyors. It can effectively improve work efficiency and operating accuracy and reduce unnecessary energy consumption and wear.

[0032] In order to ensure the comprehensiveness and flexibility of the hydraulic control system of coal mine equipment, the above implementation plan not only covers the control strategy based on hydraulic pressure and piston movement speed as state parameters, but also emphasizes the versatility and adaptability of system design. Considering the high requirements for position accuracy in practical applications, we will focus on the technical solution with the actual displacement value of the piston as the main state parameter. However, this does not exclude the importance and necessity of other state parameters (such as hydraulic pressure, piston movement speed, etc.) in specific application scenarios. In fact, multi-parameter comprehensive control is the key to improving the overall performance of the system. By flexibly using different state parameters, the control strategy can be optimized according to the specific working environment and task requirements to achieve a more accurate and efficient hydraulic control effect.

[0033] Further, according to a coal mine equipment hydraulic control system of the present invention, the control module also includes a judgment unit; the judgment unit is configured to compare the actual displacement value and the command displacement value; when the actual displacement value is less than the command displacement value, the control signal includes maintaining the flow direction of the fluid medium in the hydraulic control component unchanged; when the actual displacement value is greater than the command displacement value, the control signal includes switching the flow direction of the fluid medium in the hydraulic control component. When the system detects that there is a difference between the actual displacement value and the command displacement value, the judgment unit will automatically compare. If the actual displacement value is lower than the command displacement value, it means that the actuator has not reached the expected position. At this time, the system will keep the flow direction of the fluid medium unchanged and continue to push the actuator to move in the target direction; on the contrary, if the actual displacement value exceeds the command displacement value, it means that the actuator has exceeded the set position. At this time, the system will change the flow direction of the fluid medium to make it move in the opposite direction and return to the correct set position. Such a design ensures that the hydraulic actuator can accurately move according to the command displacement value, thereby improving the control accuracy and response speed.

[0034] According to a hydraulic control system for coal mine equipment of the present invention, the regulating module includes a reversing valve group and an electro-hydraulic proportional valve 6 arranged in a hydraulic control component; when the hydraulic actuator is started, the reversing valve group is first opened, and then the flow of the electro-hydraulic proportional valve 6 is adjusted to gradually increase; when the hydraulic actuator stops, the flow of the electro-hydraulic proportional valve 6 is first adjusted to gradually decrease, and then the reversing valve group is closed. When the hydraulic actuator starts to act, the flow direction of the fluid medium is first determined by opening the reversing valve group, and then the flow of the electro-hydraulic proportional valve 6 is gradually increased to smoothly accelerate to the required working speed. When the hydraulic actuator needs to stop, the flow of the electro-hydraulic proportional valve 6 is gradually reduced to slow down the actuator until it stops completely, and then the reversing valve group is closed to cut off the supply of the fluid medium. This progressive start and stop strategy can not only effectively prevent the impact and wear caused by sudden start or stop, but also improve the response smoothness of the system, thereby extending the service life of the equipment and improving the stability of the overall operation.

[0035] like Figure 2As shown, according to a hydraulic control system for coal mine equipment of the present invention, the pump station 14 is connected with a high-pressure pipeline for outputting a fluid medium and a low-pressure pipeline for recovering the fluid medium, the number of the electro-hydraulic proportional valve 6 is one or more, and the electro-hydraulic proportional valve 6 is arranged at any of the following positions: the electro-hydraulic proportional valve 6 is arranged between the reversing valve group and the high-pressure pipeline; the electro-hydraulic proportional valve 6 is arranged between the reversing valve group and the low-pressure pipeline; the electro-hydraulic proportional valve 6 is arranged between the reversing valve group and any inlet and outlet of the hydraulic actuator. The above-mentioned layout mode enables the system to flexibly configure the position of the electro-hydraulic proportional valve 6 according to actual needs, so as to realize accurate control of the flow rate of the fluid medium. Whether it is supplying oil from the high-pressure pipeline to the actuator, or returning oil from the actuator to the low-pressure pipeline, or directly controlling the oil flow entering the actuator, it can be achieved by adjusting the electro-hydraulic proportional valve 6. In this way, not only can the operating efficiency of the hydraulic system be optimized, but also the working state of the hydraulic actuator can be adjusted according to the needs of different application scenarios, further improving the adaptability and controllability of the system.

[0036] For example, if an electro-hydraulic proportional valve 6 is added, it can be added to the high-pressure inlet pipeline of the main inlet, or it can be added between the electro-hydraulic controlled reversing valve and the control chamber of the hydraulic actuator, and it can also be added to the main return liquid pipeline of the electro-hydraulic controlled reversing valve. There are four possible positions in total. Specifically, these four positions are: the high-pressure inlet pipeline, the inlet between the electro-hydraulic controlled reversing valve and the hydraulic actuator, the return liquid port between the electro-hydraulic controlled reversing valve and the hydraulic actuator, and the low-pressure return liquid pipeline. It is feasible to add the electro-hydraulic proportional valve 6 to any one or more of these four positions. By installing the electro-hydraulic proportional valve 6 at these key positions, bidirectional speed regulation of the hydraulic actuator and bidirectional precise position or pressure control can be achieved, thereby improving the flexibility and control accuracy of the entire hydraulic control system. Such a design provides a variety of configuration possibilities, and the most suitable installation scheme can be selected according to actual needs.

[0037] The coal mine hydraulic support provided by the present invention is described below. The coal mine hydraulic support described below and the coal mine equipment hydraulic control system described above can be referred to each other.

[0038] like Figure 2 and Figure 3As shown, the present invention also provides a coal mine hydraulic support, including: a push jack 7, used to perform the pushing and sliding action of the hydraulic support, the push jack 7 is provided with a displacement sensor 8 for detecting the moving position of the piston; a fluid supply mechanism, including a pump station 14, the pump station 14 is connected with a high-pressure pipeline for outputting a fluid medium and a low-pressure pipeline for recovering the fluid medium; a hydraulic control component, arranged between the push jack 7 and the fluid supply mechanism, the hydraulic control component includes a reversing valve group and an electro-hydraulic proportional valve 6; a support controller 5, integrated with the coal mine equipment hydraulic control system of the above-mentioned embodiment, the support controller 5 is respectively connected to the displacement sensor 8, the reversing valve group and the electro-hydraulic proportional valve 6.

[0039] Specifically, the push jack 7 monitors the position change of its piston in real time through the displacement sensor 8, and these data are transmitted to the support controller 5 so that the controller can generate corresponding control signals according to the actual displacement value. The pump station 14 in the fluid supply mechanism provides the necessary fluid medium to the hydraulic actuator through the high-pressure pipeline, and recycles the used medium through the low-pressure pipeline. The reversing valve group and the electro-hydraulic proportional valve 6 in the hydraulic control component work together to adjust the flow direction and flow rate of the fluid medium according to the instructions issued by the support controller 5, thereby realizing precise control of the push jack 7. By integrating the hydraulic control system of coal mine equipment, the support controller 5 can realize dynamic adjustment of the hydraulic support to ensure its efficiency and safety in coal mining operations.

[0040] According to a coal mine hydraulic support of the present invention, the reversing valve group includes: a frame shifting main valve 1, which is arranged between the rodless chamber of the push jack 7 and the high-pressure pipeline; a push-slide main valve 2, which is arranged between the rod chamber of the push jack 7 and the high-pressure pipeline; a frame shifting pilot valve 10, which is electrically connected to the support controller 5 and is arranged between the high-pressure pipeline and the frame shifting main valve 1, and is used to control the movement of the valve core of the frame shifting main valve 1; a push-slide pilot valve 11, which is electrically connected to the support controller 5 and is arranged between the high-pressure pipeline and the push-slide main valve 2, and is used to control the movement of the valve core of the push-slide main valve 2. Specifically, the frame shifting main valve 1 and the push-slide main valve 2 control the supply of fluid medium to the rodless chamber and the rod chamber of the push jack 7 respectively, ensuring that the push jack 7 can perform the pushing or shifting action as needed. The frame moving pilot valve 10 and the push-slide pilot valve 11 are respectively controlled by the frame controller 5 through electronic signals to determine when and how to move the valve core of the corresponding main valve, thereby accurately controlling the flow direction of the fluid medium. The above structure not only realizes the precise control of the hydraulic support action, but also improves the response speed and control accuracy of the system, so that the hydraulic support can better adapt to the complex and changeable coal mining environment.

[0041] According to a coal mine hydraulic support of the present invention, the electro-hydraulic proportional valve 6 is preferably arranged between the reversing valve group and the high-pressure pipeline, and the frame shifting main valve 1 and the push-slide main valve 2 are connected in parallel to the electro-hydraulic proportional valve 6. In this case, the electro-hydraulic proportional valve 6 is mainly used to adjust the flow rate of the fluid medium entering the hydraulic actuator. Specifically, when it is necessary to perform a frame shifting action, the electro-hydraulic proportional valve 6 adjusts the flow rate of the fluid medium entering the frame shifting main valve 1 from the high-pressure pipeline, and the push-slide main valve 2 is responsible for returning the fluid medium in the hydraulic actuator to the low-pressure pipeline. Vice versa, when it is necessary to perform a push-slide action, the electro-hydraulic proportional valve 6 adjusts the flow rate of the fluid medium entering the push-slide main valve 2, and the frame shifting main valve 1 is responsible for returning the fluid.

[0042] According to the coal mine hydraulic support of the preferred embodiment of the present invention, when the frame moving operation is performed, the electromagnet of the frame moving pilot valve 10 is energized, and the high-pressure liquid enters the pilot control chamber of the frame moving main valve 1 through the frame moving pilot valve 10, thereby reversing the frame moving main valve 1. At this time, the high-pressure liquid output by the pump station 14 passes through the electro-hydraulic proportional valve 6, and then enters the rodless chamber of the push jack 7 through the frame moving main valve 1, while the liquid in the rod chamber of the push jack 7 returns to the low-pressure pipeline through the push-slide main valve 2, thereby forming a frame moving liquid inlet proportional throttling speed control system.

[0043] In order to control the frame moving speed, the opening of the electro-hydraulic proportional valve 6 is adjusted through the support controller 5, thereby controlling the flow entering the frame moving main valve 1. The larger the opening of the electro-hydraulic proportional valve 6, the greater the flow entering the frame moving main valve 1, and the faster the frame moving speed. When approaching the specified position, the opening of the electro-hydraulic proportional valve 6 is gradually reduced to reduce the flow entering the frame moving main valve 1, thereby reducing the frame moving speed, until the frame moving position reaches the command position, the opening of the electro-hydraulic proportional valve 6 is closed, and then the electromagnet of the frame moving pilot valve 10 is de-energized, and the frame moving main valve 1 is closed to complete the frame moving action. Since the opening of the electro-hydraulic proportional valve 6 is related to the real-time position of the piston detected by the push jack 7, the displacement closed-loop feedback control is realized, thereby greatly improving the accuracy of the frame moving position, which helps to make multiple groups of coal mine hydraulic supports basically arranged in a straight line.

[0044] When the coal mine hydraulic support completes the frame shifting and column lifting, the push-slide operation can be performed. Similarly, the push-slide pilot valve 11 electromagnet is energized, and the high-pressure liquid enters the pilot control chamber of the push-slide main valve 2 through the push-slide pilot valve 11, causing the push-slide main valve 2 to change direction. At this time, the high-pressure liquid output by the pump station 14 passes through the electro-hydraulic proportional valve 6, and then enters the rod chamber of the push-slide jack 7 through the push-slide main valve 2, while the liquid in the rodless chamber of the push-slide jack 7 returns to the low-pressure pipeline through the frame shifting main valve 1, forming a push-slide liquid inlet proportional throttling speed control system.

[0045] The electro-hydraulic proportional valve 6 can also be arranged on the pipeline after the main valve 1 of the frame shifting and before the rodless chamber of the push jack 7, so that the proportional speed control of the frame shifting and the push slide can be realized. For example, when the frame is shifted, a frame shifting liquid inlet proportional speed control system is formed, and when the push slide is pushed, a push slide return liquid throttling speed control system is formed. The electro-hydraulic proportional valve 6 can also be arranged on the pipeline between the push slide main valve 2 and the hydraulically controlled one-way valve 15 of the push jack 7, and when the frame is shifted, a frame shifting liquid return proportional speed control system is formed, and when the push slide is pushed, a push slide inlet proportional speed control system is formed.

[0046] Regardless of the position where the electro-hydraulic proportional valve 6 is set, its initial state can be a normally open or normally closed state. The normally open state means that the electro-hydraulic proportional valve 6 is in the maximum opening state under the default state. When the frame shifting main valve 1 or the push-slide main valve 2 is opened, the high-pressure liquid can immediately enter a cavity of the push jack 7. If the electro-hydraulic proportional valve 6 is in a normally closed state, and its main valve port is closed under the default state, then whether the high-pressure liquid can enter a cavity of the push jack 7 depends on the opening time of the electro-hydraulic proportional valve 6. Preferably, the push-slide main valve 2 or the frame shifting main valve 1 is opened first, and then the electro-hydraulic proportional valve 6 is opened, which can effectively reduce the hydraulic shock of the system. When the push jack 7 reaches the specified position, the electro-hydraulic proportional valve 6 is closed first and then the push-slide main valve 2 or the frame shifting main valve 1 is closed, which can also reduce the hydraulic shock. It has the characteristics of soft start and soft close, which is convenient for realizing a low-impact and smooth control strategy.

[0047] According to a coal mine hydraulic support of the present invention, a hydraulically controlled one-way valve 15 is provided between the pipeline connected to the rodless chamber of the push jack 7 and the pipeline connected to the rod chamber of the push jack 7; when the main valve 1 of the frame shifting is opened, the hydraulically controlled one-way valve 15 is opened by the hydraulic pressure, allowing the fluid medium on the pipeline connected to the rod chamber of the push jack 7 to flow in both directions; when the main valve 1 of the frame shifting is closed, the hydraulically controlled one-way valve 15 is closed, only allowing the fluid medium to enter the rod chamber of the push jack 7 along the pipeline, preventing the fluid medium in the rod chamber from flowing out. When the main valve 1 of the frame shifting is opened, the hydraulically controlled one-way valve 15 allows the fluid medium to flow in both directions in the pipeline connected to the rod chamber of the push jack 7, ensuring that the hydraulic actuator can operate smoothly. When the main valve 1 for moving the frame is closed, the hydraulically controlled one-way valve 15 becomes closed, allowing only the fluid medium to enter the rod chamber of the push jack 7 along a specific direction, while preventing the fluid medium in the chamber from flowing back, thereby ensuring the stability of the hydraulic system and the normal operation of the actuator. This design not only ensures the flexibility of the hydraulic support when performing the frame moving action, but also provides a reliable locking mechanism when a fixed position is required, thereby enhancing the safety and control accuracy of the system.

[0048] A coal mine hydraulic support according to the present invention includes: a first column 9 and a second column 16, the first column 9 and the second column 16 are connected in parallel to a liquid supply mechanism; a column raising main valve 3, one side of which is connected to a high-pressure pipeline, and the other side is respectively connected to the rodless chambers of the first column 9 and the second column 16; a column lowering main valve 4, one side of which is connected to a high-pressure pipeline, and the other side is respectively connected to the rod chambers of the first column 9 and the second column 16; a column raising pilot valve 12, which is electrically connected to a support controller 5 and is arranged between the high-pressure pipeline and the column raising main valve 3, so as to control the movement of the valve core of the column raising main valve 3; a column lowering pilot valve 13, which is electrically connected to the support controller 5, and is arranged between the high-pressure pipeline and the column lowering main valve 4, so as to control the movement of the valve core of the column lowering main valve 4.

[0049] Specifically, the first column 9 and the second column 16 are connected in parallel to the liquid supply mechanism, and the column raising or lowering operation can be performed simultaneously. One side of the column raising main valve 3 is connected to the high-pressure pipeline, and the other side is connected to the rodless chambers of the first column 9 and the second column 16 respectively. When the column needs to be raised, the electromagnet of the column raising pilot valve 12 is energized, and the high-pressure liquid enters the pilot control chamber of the column raising main valve 3 through the column raising pilot valve 12, so that the column raising main valve 3 is reversed, and the high-pressure liquid then flows into the rodless chambers of the first column 9 and the second column 16, pushing the columns to rise synchronously.

[0050] One side of the column lowering main valve 4 is also connected to the high-pressure pipeline, and the other side is respectively connected to the rod chambers of the first column 9 and the second column 16. When the column needs to be lowered, the electromagnet of the column lowering pilot valve 13 is energized, and the high-pressure liquid enters the pilot control chamber of the column lowering main valve 4 through the column lowering pilot valve 13, so that the column lowering main valve 4 is reversed, and the high-pressure liquid flows into the rod chambers of the first column 9 and the second column 16, prompting the columns to descend synchronously.

[0051] By controlling the column raising pilot valve 12 and the column lowering pilot valve 13, the support controller 5 can realize the control of the synchronous lifting and lowering of the columns, ensuring the consistent movements of the first column 9 and the second column 16, which not only improves the coordination of the hydraulic support during the column raising and lowering process, but also enhances the overall stability and reliability of the system.

[0052] In order to achieve the required locking between the bracket movements, preferably, a hydraulically controlled one-way valve 15 is respectively arranged between the lower chamber of the lifting column of the first column 9 and the second column 16, the pushing piston rod chamber of the pushing jack 7 and the corresponding main valve outlet, and the control port of the hydraulically controlled one-way valve 15 is connected to another chamber of the corresponding hydraulic actuator.

[0053] like Figure 3As shown, in the case of a single lifting column main valve 3 and a lowering column main valve 4, when the column is lifted, the electromagnet of the lifting column pilot valve 12 is energized, and the high-pressure liquid enters the pilot control chamber of the lifting column main valve 3 through the lifting column pilot valve 12, thereby reversing the lifting column main valve 3. At this time, the high-pressure liquid enters the lifting column lower chamber of the first column 9 and the second column 16 through the hydraulically controlled one-way valve 15 of the first column 9 and the hydraulically controlled one-way valve 15 of the second column 16, respectively, and the liquid in the lowering column upper chamber of the first column 9 and the second column 16 returns to the low-pressure pipeline through the lowering column main valve 4.

[0054] Similarly, when the column is lowered, the electromagnet of the column lowering pilot valve 13 is energized, and the high-pressure liquid enters the pilot control chamber of the column lowering main valve 4 through the column lowering pilot valve 13, thereby reversing the column lowering main valve 4. At this time, the high-pressure liquid enters the column lowering upper chamber of the first column 9 and the second column 16, and under the pressure of the high-pressure liquid, the hydraulically controlled one-way valve 15 of the first column 9 and the hydraulically controlled one-way valve 15 of the second column 16 are opened under the action of the high-pressure liquid at their control ports, and the liquid in the lower chamber of the first column 9 and the lower chamber of the second column 16 is returned to the low-pressure pipeline through the hydraulically controlled one-way valve 15 and the column raising main valve 3.

[0055] It is understandable that, in order to increase the speed of raising and lowering the column, multiple column raising main valves 3 and column lowering main valves 4 may be provided to increase the flow rate of the liquid supply, thereby achieving rapid column raising and lowering.

[0056] According to the preferred embodiment of the combination of the hydraulic control system of coal mine equipment and the coal mine hydraulic support in the present invention, the system configuration in which the electro-hydraulic proportional valve 6 is located in front of the main valve 1 for moving the frame and the main valve 2 for pushing and sliding is taken as an example, and the input is the displacement instruction of the push jack 7. The displacement sensor 8 uploads the position information of the push jack 7 detected in real time to the support controller 5, and performs deviation calculation. The calculated deviation information has two main functions: one is to judge the sign and absolute value of the position deviation, that is, the threshold judgment function; the other is to serve as the input signal of the closed-loop control of the electro-hydraulic proportional valve 6, and the control signal size of the electro-hydraulic proportional valve 6 is calculated according to the deviation signal, thereby controlling the flow size entering the push jack 7.

[0057] Taking the rack moving action as an example, at the beginning, the actual displacement of the push jack 7 is much smaller than the command displacement, so the deviation displacement signal is positive. At this time, the support controller 5 outputs 1 (digital quantity) to the frame moving pilot valve 10, indicating that the frame moving pilot valve 10 is opened, and at the same time outputs 0 (digital quantity) to the push and slide pilot valve 11, indicating that the push and slide pilot valve 11 is closed. In addition, the position deviation is calculated by the support controller 5 (such as a PID controller) and then outputs an analog control quantity to the electro-hydraulic proportional valve 6 to adjust the opening size of the electro-hydraulic proportional valve 6 in real time. In other words, the larger the position deviation, the larger the opening of the electro-hydraulic proportional valve 6. As the push jack 7 gradually approaches the command position, the deviation signal calculated by the support controller 5 gradually decreases, and the analog control quantity output to the electro-hydraulic proportional valve 6 also gradually decreases, and the valve port of the proportional valve gradually closes until the error is zero, and the valve port is completely closed.

[0058] If the push jack 7 overshoots when moving the frame due to load inertia, it means that the position deviation signal is negative. At this time, the bracket controller 5 outputs 0 (digital quantity) to the frame moving pilot valve 10, closing the frame moving pilot valve 10, and at the same time outputs 1 (digital quantity) to the push and slide pilot valve 11, opening the push and slide pilot valve 11, while the opening of the electro-hydraulic proportional valve 6 is still in the open state, thus realizing the reversal of the push jack 7, so that the push jack 7 moves back toward the target instruction.

[0059] In summary, the role of the deviation is to control the flow rate. The larger the absolute value of the deviation, the larger the valve opening, and the larger the output flow rate, which does not care about the movement direction of the push jack 7. The role of the threshold judgment is to control the control direction of the push jack 7, that is, the opening and closing working state of the frame shifting main valve 1 and the push slide main valve 2, and does not care about the movement speed of the push jack 7.

[0060] It should also be noted that, theoretically, the direction can be determined based on the positive or negative value of the position deviation signal, but in actual situations, if the absolute value of the calculated position deviation signal is very small, that is, within a certain threshold range, the actual position of the push jack 7 and the command position can be assumed to be equal, that is, the deviation is considered to be zero, and the control of the rack moving main valve 1 and the push slide main valve 2 is no longer performed. Therefore, by setting the above threshold range, unnecessary control actions can be reduced.

[0061] In addition, when the push jack 7 is started (including the start when extending and retracting), the main valve for liquid inlet can be opened first, and then the electro-hydraulic proportional valve 6 can be controlled to open. Since the valve port of the electro-hydraulic proportional valve 6 is gradually opened, it is not easy to have a pressure shock phenomenon, and the start-up is relatively smooth. When the push jack 7 is about to stop moving (including the stop when extending and retracting), the electro-hydraulic controlled reversing valve can be closed first, and then the corresponding main valve for liquid inlet can be closed after it stops smoothly. This effectively avoids the pressure shock generated when the switch valve directly controls the push jack 7 at the moment of opening and closing, and the overshoot phenomenon when stopping. It can be understood that the main valve and the electro-hydraulic proportional valve 6 can also be controlled at the same time. Since the response time of the pilot valve is short, this combination will also have a certain low-impact effect.

[0062] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hydraulic control system for coal mine equipment, characterized in that: include: A hydraulic actuator and a hydraulic control component, wherein the hydraulic control component is connected between the hydraulic actuator and a pump station (14) and controls the operation of the hydraulic actuator by adjusting the flow direction and flow rate of the fluid medium on both sides of the hydraulic actuator; A detection module, configured to detect state parameters of the hydraulic actuator in real time during system operation; a control module configured to generate a control signal according to the state parameter; The regulating module is configured to receive the control signal and regulate the flow direction and flow rate of the fluid medium in the hydraulic control component according to the control signal.

2. The hydraulic control system for coal mine equipment according to claim 1, characterized in that: The state parameter includes the actual displacement value of the piston of the hydraulic actuator; The control module comprises: a calculation unit configured to perform deviation calculation using the actual displacement value and the command displacement value input into the system, so as to calculate an absolute value of a difference between the actual displacement value and the command displacement value as a deviation amount; A control signal generating unit generates a control signal for adjusting the flow rate of the fluid medium in the hydraulic control component according to the deviation.

3. The hydraulic control system for coal mine equipment according to claim 2, characterized in that: The control module includes a judgment unit; The judgment unit is configured to compare the actual displacement value with the command displacement value; When the actual displacement value is smaller than the command displacement value, the control signal includes maintaining the flow direction of the fluid medium in the hydraulic control component unchanged; when the actual displacement value is larger than the command displacement value, the control signal includes switching the flow direction of the fluid medium in the hydraulic control component.

4. The coal mine equipment hydraulic control system according to any one of claims 1 to 3, characterized in that: The regulating module comprises a reversing valve group and an electro-hydraulic proportional valve (6) arranged on the hydraulic control component; When the hydraulic actuator is started, the reversing valve group is first opened, and then the flow rate of the electro-hydraulic proportional valve (6) is adjusted to gradually increase; When the hydraulic actuator stops, the flow rate of the electro-hydraulic proportional valve (6) is first adjusted to gradually decrease, and then the reversing valve group is closed.

5. The hydraulic control system for coal mine equipment according to claim 4, characterized in that: The pump station (14) is connected to a high-pressure pipeline for outputting a fluid medium and a low-pressure pipeline for recovering the fluid medium. The number of the electro-hydraulic proportional valve (6) is one or more, and the electro-hydraulic proportional valve (6) is arranged at any of the following positions: The electro-hydraulic proportional valve (6) is arranged between the reversing valve group and the high-pressure pipeline; The electro-hydraulic proportional valve (6) is arranged between the reversing valve group and the low-pressure pipeline; The electro-hydraulic proportional valve (6) is arranged between the reversing valve group and any liquid inlet and outlet of the hydraulic actuator.

6. A coal mine hydraulic support, characterized in that: include: A push jack (7) is used to perform a pushing and sliding action of the hydraulic support, and the push jack (7) is provided with a displacement sensor (8) for detecting a moving position of a piston; A liquid supply mechanism, comprising a pump station (14), the pump station (14) being connected to a high-pressure pipeline for outputting a fluid medium and a low-pressure pipeline for recovering the fluid medium; A hydraulic control component is arranged between the push jack (7) and the fluid supply mechanism, the hydraulic control component comprising a reversing valve group and an electro-hydraulic proportional valve (6); A support controller (5) is integrated with the coal mine equipment hydraulic control system according to any one of claims 1 to 5, and the support controller (5) is respectively connected to the displacement sensor (8), the reversing valve group and the electro-hydraulic proportional valve (6).

7. The coal mine hydraulic support according to claim 6, characterized in that: The reversing valve group comprises: A rack shifting main valve (1) is arranged between the rodless chamber of the push jack (7) and the high-pressure pipeline; A push-slide main valve (2) is arranged between the rod chamber of the push jack (7) and the high-pressure pipeline; A frame moving pilot valve (10) is electrically connected to the support controller (5) and is arranged between the high-pressure pipeline and the frame moving main valve (1) to control the movement of the valve core of the frame moving main valve (1); The push-and-slide pilot valve (11) is electrically connected to the support controller (5) and is arranged between the high-pressure pipeline and the push-and-slide main valve (2) to control the movement of the valve core of the push-and-slide main valve (2).

8. The coal mine hydraulic support according to claim 7, characterized in that: The electro-hydraulic proportional valve (6) is arranged between the reversing valve group and the high-pressure pipeline, and the rack shifting main valve (1) and the push-slide main valve (2) are connected in parallel to each other and are connected to the electro-hydraulic proportional valve (6).

9. The coal mine hydraulic support according to claim 8, characterized in that: A hydraulically controlled one-way valve (15) is provided between a pipeline connected to the rodless chamber of the push jack (7) and a pipeline connected to the rod chamber of the push jack (7); When the frame shifting main valve (1) is opened, the hydraulically controlled one-way valve (15) is opened under the influence of hydraulic pressure, allowing the fluid medium on the pipeline with the rod chamber connected to the push jack (7) to flow in both directions; When the frame shifting main valve (1) is closed, the hydraulically controlled one-way valve (15) is closed, allowing only the fluid medium to enter the rod chamber of the push jack (7) along the pipeline, preventing the fluid medium in the rod chamber from flowing out.

10. The coal mine hydraulic support according to any one of claims 6 to 9, characterized in that: include: A first column (9) and a second column (16), wherein the first column (9) and the second column (16) are connected in parallel to the liquid supply mechanism; A main valve (3) for raising the column, one side of which is connected to the high-pressure pipeline, and the other side of which is respectively connected to the rodless chambers of the first column (9) and the second column (16); A column lowering main valve (4), one side of which is connected to the high-pressure pipeline, and the other side of which is respectively connected to the rod chambers of the first column (9) and the second column (16); A lifting column pilot valve (12), electrically connected to the support controller (5), and arranged between the high-pressure pipeline and the lifting column main valve (3), for controlling the movement of the valve core of the lifting column main valve (3); The column lowering pilot valve (13) is electrically connected to the support controller (5) and is arranged between the high-pressure pipeline and the column lowering main valve (4) to control the movement of the valve core of the column lowering main valve (4).

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