A water-based proportional directional valve, hydraulic support and control method of hydraulic cylinder

Abstract

The water-based proportional directional valve, the hydraulic support and the control method of the hydraulic cylinder are provided, the water-based proportional directional valve comprises a driving part, a pilot valve and a main valve, the pilot valve comprises a control cavity valve body, liquid inlet flow channels and liquid return flow channels are arranged on the side surface of the control cavity valve body, a pilot control valve sleeve is arranged in the control cavity valve body, a pilot valve seat is arranged on the pilot control valve sleeve, an output end of the driving part is connected with a pilot driving rod, the pilot driving rod penetrates out of the pilot valve seat, and a pilot valve core is arranged at the end of the pilot driving rod; a main liquid inlet is arranged on the side surface of a liquid supply valve sleeve in the main valve, a main liquid return port is arranged on the side surface of a liquid return valve sleeve, a liquid supply valve core is arranged in the liquid supply valve sleeve, and a liquid return valve core is arranged in the liquid return valve sleeve; the pilot control valve sleeve is driven to move towards the main valve by the movement of the pilot valve core, and the liquid return valve core and the liquid supply valve core are sequentially driven to move. The embodiment of the present application can accurately adjust the opening degrees of the liquid supply valve core and the liquid return valve core by one external control quantity, and has high response speed.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of control valves, and in particular to a water-based proportional directional valve, a hydraulic support and a control method of a hydraulic cylinder. BACKGROUND

[0002] A coal mining face is formed by a plurality of hydraulic supports arranged in sequence on the working face, each being connected to a chute by a pushing jack. In order to realize normal operation of the working face, a certain degree of straightness needs to be maintained between the hydraulic supports on multiple working faces. However, in the process of coal mining, the coal mining face is basically a plane, and the chute is a track for the operation of the coal mining machine, which requires the chute to maintain a certain degree of straightness to enable the coal mining machine to achieve good coal cutting effect. In this way, in addition to realizing the support of the working face roof, the hydraulic support is also used to realize the moving of the support and the pushing of the chute. The hydraulic support mainly realizes the pushing operation of the chute through the hydraulic cylinder.

[0003] At present, the hydraulic cylinder for pushing is mostly realized by a two-position three-way on-off valve or a multi-stage speed regulating valve based on time control. Since the existing two-position three-way on-off valve cannot realize stepless proportional control of the flow, there is still a large space for improvement in control accuracy. SUMMARY

[0004] Therefore, the present disclosure aims to provide a water-based proportional directional valve, a hydraulic support and a control method of a hydraulic cylinder to solve the technical problems of being unable to realize stepless proportional control of the flow and low control accuracy in the related art.

[0005] One aspect of the present disclosure provides a water-based proportional directional valve, comprising a driving part, a pilot valve and a main valve connected in sequence, the pilot valve comprising a control cavity valve body, the side surface of the control cavity valve body being provided with a liquid inlet flow channel and a liquid return flow channel, a movable pilot control valve sleeve being arranged in the control cavity valve body, a pilot valve seat being arranged on the pilot control valve sleeve, the output end of the driving part being connected to a pilot driving rod, the pilot driving rod penetrating out of the pilot valve seat, a pilot valve core being arranged at the end of the pilot driving rod; the main valve comprising a liquid return valve sleeve and a liquid supply valve sleeve, the side surface of the liquid supply valve sleeve being provided with a main liquid inlet, the side surface of the liquid return valve sleeve being provided with a main liquid return, a liquid supply valve core being arranged in the liquid supply valve sleeve, a liquid return valve core being arranged in the liquid return valve sleeve, the pilot control valve sleeve, the liquid return valve core and the liquid supply valve core being sequentially arranged in sequence, the pilot control valve sleeve being moved towards the main valve by the movement of the pilot valve core and sequentially moving the liquid return valve core and the liquid supply valve core.

[0006] In some embodiments, the control cavity valve body has a valve core driving cavity and a valve core reset cavity, the valve core driving cavity and the valve core reset cavity being respectively located on both sides of the pilot control valve sleeve, the cross-sectional area of the two cavities of the valve core driving cavity and the valve core reset cavity having an area difference.

[0007] In some embodiments, an end cap is arranged inside the end of the control chamber valve body, and the driving part is arranged outside the end cap.

[0008] In some embodiments, a pilot valve spool is arranged inside the pilot control valve sleeve, and the pilot valve spool is arranged opposite to the pilot valve core, and the pilot valve spool and the bottom of the pilot control valve sleeve are connected by a first return spring.

[0009] In some embodiments, a positioning screw is arranged between the liquid return valve sleeve and the liquid supply valve sleeve, and a second return spring is arranged between the liquid supply valve core and the liquid supply valve sleeve.

[0010] In some embodiments, a first liquid return sealing pad is arranged between the liquid return valve core and the pilot control valve sleeve, and a second liquid return sealing pad is arranged between the liquid supply valve core and the liquid return valve sleeve.

[0011] In some embodiments, a damping screw plug is arranged inside the liquid inlet flow channel and the liquid return flow channel.

[0012] In some embodiments, a force balance sleeve is arranged between the liquid return valve core and the control chamber valve body, and a force balance flow channel is arranged on the pilot control valve sleeve.

[0013] Another aspect of the present disclosure provides a hydraulic support comprising a hydraulic cylinder and any one of the water-based proportional directional valves described above.

[0014] Another aspect of the present disclosure provides a control method of a hydraulic cylinder, wherein the hydraulic cylinder is driven by any one of the water-based proportional directional valves described above, and the control method comprises:

[0015] acquiring a current position, a current speed, a target speed, and a target position of a piston in the hydraulic cylinder;

[0016] determining an extension and retraction position and an extension and retraction speed of a driving rod of a driving part in the water-based proportional directional valve based on the current position, the current speed, the target speed, and the target position.

[0017] The proportional valve or digital valve with low power consumption and low driving proportional control is used based on the principle of pilot type position servo in the embodiments of the present disclosure, 1 external control quantity is used to accurately adjust the opening degree of the liquid supply valve core and the opening degree of the liquid return valve core, and the hydraulic pressure is used to drive the main valve core, so that the response speed is high.

[0018] In order to make the above-mentioned purposes, features and advantages of the present disclosure more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0019] In drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with or without letter suffixes may indicate different instances of similar parts. The drawings generally illustrate various embodiments by way of example rather than limitation and are used, together with the description and claims, to illustrate the disclosed embodiments. Where appropriate, the same reference numerals are used in all drawings to refer to the same or similar parts. Such embodiments are illustrative and not intended to be exhaustive or exclusive embodiments of the apparatus or method. The accompanying drawings, which are provided to further understand this disclosure and form part of this application, are used to explain the illustrative embodiments of this disclosure and do not constitute an undue limitation of this disclosure. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of the water-based proportional directional valve according to an embodiment of the present disclosure;

[0021] Figure 2 This is a schematic diagram of the water-based proportional directional valve in its initial state according to an embodiment of this disclosure;

[0022] Figure 3 This is a schematic diagram of the water-based proportional directional valve in an embodiment of this disclosure with the liquid supply valve port open;

[0023] Figure 4 This is a schematic diagram of the main valve in force balance in the water-based proportional directional valve of this embodiment;

[0024] Figure 5 This is a schematic diagram of the control system for controlling the hydraulic cylinder via a water-based proportional directional valve in an embodiment of this disclosure;

[0025] Figure 6 This is a schematic diagram of the process of controlling the hydraulic cylinder by a water-based proportional directional valve in an embodiment of this disclosure.

[0026] The above figures include the following reference numerals:

[0027] 1-Motor; 2-End cap; 3-Control chamber valve body; 4-Motor drive rod; 5-Pilot control valve sleeve; 6-Pilot drive rod; 7-Pilot valve seat; 8-Pilot valve core; 9-Pilot valve core seat; 10-First return spring; 11-Return valve sleeve; 12-Supply valve sleeve; 13-Second return spring; 14-Second return sealing gasket; 15-Positioning screw; 16-Supply valve core; 17-Return valve core; 18-First return sealing gasket; 19-Force balance sleeve; 20-Damping plug; 21-Valve core drive chamber; 22-Valve core reset chamber; 23-Inlet flow channel; 24-Valve core force balance chamber; 25-Force balance flow channel; 26-Return flow channel; 27-Main inlet; 28-Main return port; 29-Passage flow channel; 30-Knob. DETAILED DESCRIPTION

[0028] Hereinafter, specific embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, but the present disclosure is not limited thereto.

[0029] It is to be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limiting, but merely as exemplification of the embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the present disclosure.

[0030] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0031] These and other characteristics of the present disclosure will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of non-limiting examples, the principles of the present disclosure.

[0032] It should also be understood that, although the present disclosure has been described herein in terms of certain embodiments, modifications can be made to the embodiments disclosed herein, as will be apparent to those skilled in the art. The modifications are to be considered as falling within the scope of the present disclosure as set forth in the following claims.

[0033] The above and other aspects, features, and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, which illustrate, by way of non-limiting examples, the principles of the present disclosure.

[0034] Hereinafter, specific embodiments of the present disclosure will be described with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which can be implemented in various ways. Well-known and / or repetitive functions and structures are not described in detail to avoid unnecessary or redundant details that would obscure the present disclosure. Therefore, the specific structural and functional details disclosed herein are not intended to limit, but merely as a basis for the claims and a representative basis for teaching one skilled in the art to variously employ the present disclosure in substantially any appropriate detailed structure.

[0035] It is to be understood that the terms "first", "second", and the like, used in the description and the claims of the present disclosure as well as the above-described drawings, are used to distinguish between similar objects, and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of the terms so-termed "first", "second", etc. can be interchanged, where appropriate, to refer to the same element in different embodiments of the present disclosure described herein. Embodiments of the present disclosure described herein can be implemented in other than the order shown or described herein. Furthermore, the terms "comprise" and "have", and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a list of steps or units is not necessarily limited to those steps or units that are clearly listed, but can include other steps or units that are not clearly listed or inherent to such processes, methods, products, or apparatuses.

[0036] The present specification can use the phrases "in one embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments", which can refer to one or more of the same or different embodiments of the present disclosure.

[0037] A first embodiment of the present disclosure provides a water-based proportional directional valve, which can be used to control the action of a hydraulic cylinder, for example, to achieve control of a hydraulic support, as shown in Figures 1-4 As shown, the water-based proportional directional valve comprises a driving part, a pilot valve, and a main valve, wherein the driving part, the pilot valve, and the main valve are connected in sequence, and the driving part drives the pilot valve to drive the main valve to perform a predetermined action. In this embodiment, the driving part is a motor 1, and other devices such as proportional electromagnet can also be used. A knob 30 is provided on the motor 1, and manual control can be achieved through the knob 30.

[0038] Specifically, the pilot valve comprises a control chamber valve body 3, and the main valve comprises a return valve sleeve 11 and a supply valve sleeve 12, wherein both ends of the control chamber valve body 3 are provided with openings, an end cap 2 is provided on the inner side of the first end of the control chamber valve body 3, and the motor 1 is provided on the outer side of the end cap 2; the first end of the return valve sleeve 11 is connected with the second end of the control chamber valve body 3, and the second end of the return valve sleeve 11 is connected with the first end of the supply valve sleeve 12.

[0039] Further, a pilot control valve sleeve 5 is provided in the control chamber valve body 3, the pilot control valve sleeve 5 can move in the control chamber valve body 3, a pilot valve seat 7 is provided on the pilot control valve sleeve 5, and the pilot valve seat 7 has a through hole. Specifically, the pilot control valve sleeve 5 here is a U-shaped structure, the opening of the U-shaped structure is arranged towards the direction of the end cap 2, the pilot valve seat 7 is arranged on the inner side of the opening of the pilot control valve sleeve 5, and the side surface of the U-shaped structure is provided with a liquid flow channel 29.

[0040] Further, one end of the motor 1 is connected to the motor driving rod 4, the other end of the motor driving rod 4 is connected to the pilot driving rod 6, the pilot driving rod 6 can pass through the through hole on the pilot valve seat 7, and the end of the pilot driving rod 6 is provided with the pilot spool 8, which can be a spherical structure.

[0041] Further, in order to control the movement of the pilot spool 8, the inside of the pilot control valve sleeve 5 is provided with the pilot spool seat 9, which is arranged opposite to the pilot spool 8, and the pilot spool seat 9 is connected with the bottom of the pilot control valve sleeve 5 through the first reset spring 10, so that when the pilot spool 8 moves towards the main valve, it will abut against the pilot spool seat 9 and be subjected to the force of the first reset spring 10.

[0042] Further, the positioning screw 15 is arranged between the return valve sleeve 11 and the liquid supply valve sleeve 12, which can accurately connect the return valve sleeve 11 and the liquid supply valve sleeve 12, and can also maintain the sealing of the main valve.

[0043] Further, the movable liquid supply valve spool 16 is arranged in the liquid supply valve sleeve 12, and the movable return valve spool 17 is arranged in the return valve sleeve 11, and the pilot control valve sleeve 5, the return valve spool 17 and the liquid supply valve spool 16 are arranged in sequence, when the pilot control valve sleeve 5 moves towards the main valve, it will drive the return valve spool 17 to move, and further drive the liquid supply valve spool 16 to move.

[0044] The second reset spring 13 is arranged between the liquid supply valve spool 16 and the liquid supply valve sleeve 12, which facilitates the movement of the liquid supply valve spool 16 towards the pilot valve to reset.

[0045] In addition, the first return valve sealing pad 18 is arranged between the return valve spool 17 and the pilot control valve sleeve 5, and the pilot valve only uses one sealing, which ensures that the opening control of the main valve is realized at a lower power, and meets the use requirements of mining; in addition, the second return valve sealing pad 14 is arranged between the liquid supply valve spool 16 and the return valve sleeve 11, and the first return valve sealing pad 18 and the second return valve sealing pad 14 are used to respectively ensure the sealing between the return valve spool 17 and the pilot control valve sleeve 5 and the sealing between the liquid supply valve spool 16 and the return valve sleeve 11.

[0046] Further, the end of the liquid supply valve sleeve 12 is provided with a control port A, the side of the liquid supply valve sleeve 12 is provided with a main liquid inlet port 27, and the side of the liquid return valve sleeve 11 is provided with a main liquid return port 28; in addition, the side of the control cavity valve body 3 is provided with a liquid inlet flow channel 23 and a liquid return flow channel 26, wherein the main liquid inlet port 27 and the liquid inlet flow channel 23 are located on the first side of the water-based proportional directional valve and are connected to an external liquid supply source, and the liquid supply source is used to supply water; the main liquid return port 28 and the liquid return flow channel 26 are located on the second side of the water-based proportional directional valve. The main liquid inlet port 27 and the liquid inlet flow channel 23 form a liquid inlet passage P, and the main liquid return port 26 and the liquid return flow channel 28 form a liquid return passage R.

[0047] Further, the liquid inlet flow channel 23 and the liquid return flow channel 26 are provided with a damping screw plug 20, which controls the opening and closing of the liquid inlet flow channel 23 and the liquid return flow channel 26.

[0048] In addition, in order to maintain the force balance between the liquid return valve core 17 and the control cavity valve body 3, a force balance cavity 24 is formed between the liquid return valve core 17 and the control cavity valve body 3, a force balance sleeve 19 is arranged between the liquid return valve core 17 and the control cavity valve body 3, and a force balance flow channel 25 is arranged on the pilot control valve sleeve 5.

[0049] Further, the control cavity valve body 3 has a valve core driving cavity 21 and a valve core reset cavity 22, which are respectively located on both sides of the pilot control valve sleeve 5, wherein the cross-sectional areas of the two cavities of the valve core driving cavity 21 and the valve core reset cavity 22 have an area difference, and the cross-sectional area of the valve core driving cavity 21 is greater than that of the valve core reset cavity 22.

[0050] In the initial state, the pilot valve core 8 is located in the through hole of the pilot valve seat 7, so that the valve core driving cavity 21 and the valve core reset cavity 22 are not communicated, and the extension and retraction of the motor driving rod 4 driven by the motor 1 drives the movement of the pilot driving rod 6, thereby pushing the movement of the pilot valve core 8, so that the valve core driving cavity 21 and the valve core reset cavity 22 are communicated, thereby forming a pressure difference after the movement of the pilot valve core 8 to push the pilot control valve sleeve 5 to move following the pilot valve core 8.

[0051] The embodiment of the present disclosure is implemented as shown in Figures 2-3 as shown in Figure 2 , Figure 2The water-based proportional directional valve is shown in the initial state, in which the spool driving cavity 21 is connected with the return liquid passage 26, the spool reset cavity 22 is connected with the inlet liquid passage 23, the inlet liquid passage 23 and the return liquid passage 26 are both blocked by the damping screw plug 20, at this time, the pressure in the spool driving cavity 21 is zero, the pressure in the spool reset cavity 22 is the pressure P of the external liquid source, so there is a pressure difference between the spool driving cavity 21 and the spool reset cavity 22, in the initial state, the main return liquid port 28 is in the open state. The pilot spool 8 blocks the through hole on the pilot valve seat 7 under the action of the pressure difference between the two cavities and the first reset spring 10, thereby sealing the spool driving cavity 21 and the spool reset cavity 22, that is, cutting off the communication between the spool driving cavity 21 and the spool reset cavity 22.

[0052] The motor 1 is operated to drive the pilot driving rod 6 to move the pilot spool 8 to the right in the pilot control valve sleeve 5 by a distance L, the pilot spool 8 leaves the through hole, so that the spool driving cavity 21 is connected with the spool reset cavity 22, after the connection between the two cavities, the pressure in the spool driving cavity 21 rises. Figure 2

[0053] Here, due to the area difference between the cross-sectional areas of the spool driving cavity 21 and the spool reset cavity 22, the pressure acting area of the spool driving cavity 21 is greater than that of the spool reset cavity 22, so that the movement of the pilot control valve sleeve 5 can be realized at a lower pressure under the action of the pressure difference, that is, the pilot control valve sleeve 5 is pushed to move to the right in the pilot control valve sleeve 5 by a distance L until the pilot valve seat 7 moves by the same distance L and is in close contact with the pilot spool 8, at this time, the pilot control valve sleeve 5 moves to the right to the stop state, thereby completing a following movement of the pilot spool 8. Figure 2

[0054] Further, here, as the motor 1 continues to push the pilot spool 8 to move to the right in the pilot control valve sleeve 5, at this time, the control port A and the return liquid passage R are connected, so that the return liquid spool 17 moves to the right in the return liquid valve sleeve 17 to continuously reduce the opening degree until the main return liquid port 28 is blocked by the return liquid spool 17 and closed. Figure 2 Figure 2 The motor 1 continues to push the pilot spool 8 to move to the right in the pilot control valve sleeve 5, so that the return liquid spool 17 pushes the liquid supply spool 16 to move to the right, so that the opening degree of the liquid supply spool 16 continuously increases as the liquid supply spool 16 separates from the second sealing pad 14.

[0055] Figure 2 ​​​​​

[0056] The pressure of the two cavities in the pilot control valve sleeve 5 is regulated by the cooperation of the damping screw plug 20 and the pilot spool 8, and the position of the pilot control valve sleeve 5 is controlled, and the main valve is advanced or retracted.

[0057] The force balance of the liquid supply spool 16 is achieved in the above-mentioned regulating process. The liquid return spool 17 is closed by the liquid supply spool 16 on the right side receiving hydraulic thrust F1 and the liquid supply spool 16 on the left side receiving hydraulic balance force F2, and the liquid supply spool 16 is pressed against the second liquid return sealing pad 14 to achieve liquid return sealing. The opening of the main liquid return port 28 is adjusted by the specific chamfer of the screw, and the linear relationship between the liquid return flow and the position of the liquid return spool 17 is achieved.

[0058] The hydraulic balance of the liquid return spool 17 is set here. When the first liquid return sealing pad 18 of the liquid return spool 17 just contacts the liquid supply spool 16 for sealing, the liquid supply spool 16 on the right side receives hydraulic thrust F1=PA*S3, and the liquid supply spool 16 on the left side receives hydraulic balance force F2=PA*(S1-S2). Since S1-S2=S3, the hydraulic pressure balance is used to reduce the pilot driving resistance, thereby improving the response speed of the main valve. Here, S1 refers to the cross-sectional area of the force balance sleeve 19, S2 refers to the cross-sectional area of the pilot control valve sleeve 5, and S3 refers to the pressure receiving area of the liquid supply spool 16.

[0059] In addition, the liquid supply spool 16 is reset by the second return spring 13. In the initial state, the high-pressure liquid in the liquid supply channel P makes the liquid supply spool 16 press against the second liquid return sealing pad 14 to achieve P-A sealing. The pilot control valve sleeve 5 drives the liquid return spool 16 to slowly open the liquid supply spool 16 to achieve soft start and accurate adjustment of the opening, thereby achieving linear control of the flow.

[0060] As shown in Figure 3 The opening of the liquid supply spool 16 is continuously increased to continuously improve the flow capacity between the liquid inlet channel P and the control port A, until the opening of the liquid supply spool 16 reaches the maximum position, thereby achieving complete opening of the main liquid inlet port 27.

[0061] On the other hand, when the pilot spool 8 moves in the opposite direction (i.e., moves to the left in Figure 2 , the main liquid inlet port 27 is gradually closed and the main liquid return port 28 is gradually opened due to the corresponding follow-up characteristics.

[0062] Thus, the linear adjustment of the liquid return flow between the control port A and the liquid return passage R and the linear adjustment of the liquid supply flow between the liquid supply passage P and the control port A are realized based on the above steps.

[0063] Thus, the displacement of the liquid supply spool 16 can be accurately controlled by the moving distance of the pilot spool 8, so that the pilot spool 8 and the liquid supply spool 16 are in follow-up control, the valve opening degree of the liquid supply spool 16 can be continuously adjusted, and the inlet and outlet flow rates of the main inlet port 27 and the main outlet port 28 can be accurately controlled, so that the pressure impact caused by the opening and closing of the valve port can be reduced, and the control accuracy of the hydraulic cylinder can be improved.

[0064] Specifically, the pilot spool 8 in the embodiment can be stopped at any position in the stroke under the pushing of the motor 1, and the pilot control valve sleeve 5 and the liquid supply spool 16 are stopped from moving due to the follow-up characteristic, so that the main inlet port 27 on the liquid supply valve sleeve 12 and the main outlet port 28 on the liquid return valve sleeve 11 can be adjusted to any opening degree, thereby achieving the purpose of linear flow adjustment.

[0065] The motor 1 in the embodiment can be a step linear motor, so that the pilot spool 8 can be driven to move and retract, and the displacement accuracy of the retraction can reach 0.01 mm. Therefore, the retraction displacement of the pilot spool 8 and the retraction displacement of the liquid supply spool 16 can reach 0.01 mm. The step linear motor herein does not have the function of brake holding when power is off, and when the motor is powered off or loses power, the pilot control valve sleeve 5 is reset by the unbalanced force between the two chambers, thereby achieving the protection function of power off and power loss of the motor.

[0066] In addition, the step linear motor herein has a manual driving function, and the opening degree of the main valve can be adjusted by manually operating the knob 30 to realize manual control of the hydraulic cylinder after power failure in the mine. Specifically, if the coal mine has a power failure, the motor loses power and no longer provides force, and the sealing ball is reset under the double action of the pilot reset spring and hydraulic pressure, the spool driving chamber is connected with the liquid return R, the pressure in the chamber is continuously reduced, the pilot control valve sleeve is continuously reset to the left by the hydraulic driving force of the reset chamber until it contacts the end cover and returns to the initial position to connect the A port with the R liquid return, thereby realizing self-locking during power failure in the working process.

[0067] The motor 1 in the embodiment integrates manual and automatic functions, and the variable opening degree control of the main valve and the closed-loop control are realized by manually driving the motor.

[0068] The second embodiment of the present disclosure provides a control method of a hydraulic cylinder, wherein the hydraulic cylinder is arranged in a hydraulic support, a piston is arranged in the hydraulic cylinder, the piston in the hydraulic cylinder is driven by any one of the water-based proportional directional valves, and the control method comprises:

[0069] obtaining a current position, a current speed, a target speed and a target position of the piston in the hydraulic cylinder;

[0070] determining an extension and retraction position and an extension and retraction speed of a driving rod of a driving part in the water-based proportional directional valve based on the current position, the current speed, the target speed and the target position.

[0071] Specifically, as shown in Figure 5 and Figure 6 , the water-based proportional directional valve involved in the present embodiment can be used for position monitoring and adjustment of the piston in the hydraulic cylinder, for example, the position information and speed information of the piston in the hydraulic cylinder 2 are monitored in real time by a displacement detection unit, and the current position, the current speed, the target speed and the target position of the piston in the hydraulic cylinder 2 are input to a controller; based on the current position, the current speed, the target speed and the target position, the displacement and speed control instructions for the motor 1 are converted into the pulse number and pulse frequency of the pulse signal by the controller, and the pulse number and pulse frequency are transmitted to the motor 1 of the water-based proportional directional valve, and the extension and retraction position and the extension and retraction speed of the motor driving rod 4 in the motor 1 are determined, so as to determine the speed and position change information of the piston. Here, since the position of the liquid supply valve core 16 of the water-based proportional directional valve and the position of the pilot valve core 8 have a position follow-up closed loop relationship, that is, the position and speed of the pilot valve core 8 determine the position and speed of the liquid supply valve core 16, and the extension and retraction speed and the extension and retraction position of the hydraulic cylinder 2 are controlled by the continuous change of the opening degree of the liquid supply valve core 16.

[0072] When the position of the hydraulic cylinder 2 changes to the deviation range of the target position, the water-based proportional directional valve is controlled to reset, so that the piston of the hydraulic cylinder 2 stops moving, and the hydraulic cylinder 2 is locked by relying on the hydraulic control one-way lock, so that the speed and position double control closed loop of the hydraulic cylinder 2 is completed.

[0073] The third embodiment of the present disclosure provides a hydraulic support comprising a hydraulic cylinder and a water-based proportional directional valve according to any one of the above, and the control method is used to control the action of the hydraulic cylinder by the water-based proportional directional valve.

[0074] The embodiment of the present disclosure adopts a proportional valve or a digital valve with low power consumption and low drive ratio control based on the principle of a pilot type position servo, realizes accurate adjustment of a liquid supply valve core opening degree and a liquid return valve core opening degree by one external control quantity, and has high response speed by relying on hydraulic pressure to drive a main valve core.

[0075] In the above-described embodiments of the present disclosure, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0076] For the convenience of description, spatial relative terms such as "above", "upper", "top surface", "upper" and the like can be used herein to describe the spatial positional relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "above" other devices or structures will be positioned "below" or "below" other devices or structures. Thus, the example term "above" can include both "above" and "below". The device can also be positioned 90 degrees or in other orientations in other different ways, and the spatial relative description used herein is interpreted accordingly.

[0077] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment" and the like mentioned in the specification refer to specific features, structures or characteristics described in conjunction with the embodiment, which are included in at least one embodiment described in the general description of the application. The same expression appears in several places in the specification does not necessarily refer to the same embodiment. Further, when a specific feature, structure or characteristic is described in conjunction with any embodiment, it is claimed that the implementation of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of the present disclosure.

[0078] In the above-described embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0079] The above only describes the preferred embodiments of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A water-based proportional directional valve characterized by, The valve comprises a driving part, a pilot valve and a main valve connected in sequence, the pilot valve comprises a control cavity valve body, the side of the control cavity valve body is provided with an inlet flow channel and a return flow channel, a movable pilot control valve sleeve is arranged in the control cavity valve body, a pilot valve seat is arranged on the pilot control valve sleeve, the output end of the driving part is connected with a pilot driving rod, the pilot driving rod penetrates the pilot valve seat, and a pilot valve core is arranged at the end of the pilot driving rod; the main valve comprises a return flow valve sleeve and a liquid supply valve sleeve, the side of the liquid supply valve sleeve is provided with a main inlet, the side of the return flow valve sleeve is provided with a main return flow port, a liquid supply valve core is arranged in the liquid supply valve sleeve, and a return flow valve core is arranged in the return flow valve sleeve; the pilot control valve sleeve, the return flow valve core and the liquid supply valve core are sequentially arranged in sequence, and the movement of the pilot valve core drives the pilot control valve sleeve to move towards the main valve and sequentially drives the return flow valve core and the liquid supply valve core to move.

2. The water-based proportional directional valve according to claim 1, characterized in that, The control cavity valve body is provided with a valve core driving cavity and a valve core reset cavity, the valve core driving cavity and the valve core reset cavity are respectively arranged on the two sides of the pilot control valve sleeve, and the cross-sectional areas of the two cavities of the valve core driving cavity and the valve core reset cavity are different.

3. The water-based proportional directional valve according to claim 1, wherein The end inside of the control cavity valve body is provided with an end cover, and the driving part is arranged outside the end cover.

4. The water-based proportional directional valve according to claim 1, wherein The inside of the pilot control valve sleeve is provided with a pilot valve core seat which is arranged opposite to the pilot valve core, and the pilot valve core seat is connected with the bottom of the pilot control valve sleeve through a first reset spring.

5. The water-based proportional directional valve according to claim 4, wherein A positioning screw is arranged between the return flow valve sleeve and the liquid supply valve sleeve, and a second reset spring is arranged between the liquid supply valve core and the liquid supply valve sleeve.

6. The water-based proportional directional valve of claim 1, wherein A first return flow sealing gasket is arranged between the return flow valve core and the pilot control valve sleeve, and a second return flow sealing gasket is arranged between the liquid supply valve core and the return flow valve sleeve.

7. The water-based proportional directional valve according to claim 1, wherein Damping screw plugs are arranged in the inlet flow channel and the return flow channel.

8. The water-based proportional directional valve of claim 1, wherein, A force balance sleeve is arranged between the return flow valve core and the control cavity valve body, and a force balance flow channel is arranged on the pilot control valve sleeve. 9.A hydraulic support comprising a hydraulic cylinder and the water-based proportional directional valve according to any one of claims 1-8. 10.A control method of a hydraulic cylinder driven by the water-based proportional directional valve according to any one of claims 1-8, the control method comprising: obtaining the current position, the current speed, the target speed and the target position of a piston in the hydraulic cylinder; determining the extension and retraction position and the extension and retraction speed of a driving rod of a driving part in the water-based proportional directional valve based on the current position, the current speed, the target speed and the target position.

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