Impact-cutting composite rock breaking hydraulic system and method for mining heading machine

Abstract

According to the impact-cutting composite rock breaking hydraulic system and method for the mining heading machine, hydraulic damping and impact hammer collaborative operation are integrated, and the problems that a traditional heading machine is low in rock breaking efficiency, poor in stability and insufficient in adaptability are solved. The system comprises a cutting arm hydraulic damping system and an impact hammer hydraulic impact system, and multi-parameter closed-loop regulation and control are achieved through a controller. The device is characterized in that a double overflow protection mechanism is adopted, a proportional overflow valve and an external control overflow valve cooperate with each other, a hydraulic control one-way valve is combined for compensating an oil path, and the pressure difference of a hydraulic cylinder is dynamically kept stable; the impact hammer system adjusts the pressure of an energy accumulator through a proportional pressure reducing valve and is matched with a hydraulic control switch valve to realize variable impact energy control; based on feedback of a vibration sensor and a pressure sensor, damping and impact parameters of the cutting arm are adjusted in a self-adaptive mode through a nonlinear algorithm, and intelligent rock breaking operation under different rock stratum hardness is achieved. According to the system, the impact resistance stability, the rock breaking efficiency and the operation intelligence level of the heading machine are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining, and specifically refers to a hydraulic system and method for impact-cutting composite rock breaking of a roadheader for mines. Background Art

[0002] A roadheader is a key equipment for coal mine roadway excavation operations. For deep small-section hard rock roadways, although TBMs and shield machines have strong hard rock crushing capabilities, due to their large cross-sectional diameters, they are not suitable for small-section roadways. While traditional cantilever partial-section roadheaders are suitable for small-section roadways, their small size limits the improvement of cutting power. For hard rock crushing, not only is the tunneling efficiency low, but it also exacerbates the wear of pick teeth. Currently, the solution adopted is to stop the roadheader when encountering hard rock, and manually drill the rock to loosen it before starting the roadheader for cutting operations. Based on this, the concept of an impact-cutting composite rock breaking system emerged.

[0003] The impact-cutting composite rock breaking system is applied to a cantilever partial-section roadheader. Without changing the cutting power, through the prior auxiliary rock breaking of an impact hammer integrated inside the cutting head, cracks are formed in the hard rock, reducing its internal stress and providing looseness, which is beneficial for the cutting operation of the cutting head, reducing pick tooth wear while improving the tunneling efficiency. However, the internal spatial structure of the cutting head limits the volume of the impact hammer. Traditional small-volume impact hammers are difficult to output a large enough impact energy, and the huge impact force brought by hard rock impact breaking will cause an instantaneous rapid increase in the pressure of the lifting hydraulic cylinder and swing hydraulic cylinder of the roadheader cutting arm, and the cutting arm will receive greater vibration than during cutting operations. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above technical defects and provide a hydraulic system and method for impact-cutting composite rock breaking of a roadheader for mines.

[0005] To solve the above technical problem, the technical solution provided by the present invention is: A hydraulic system for impact-cutting composite rock breaking of a roadheader for mines, comprising:

[0006] A hydraulic oil tank for storing and providing hydraulic oil;

[0007] A cutting arm hydraulic damping system, including a first power source and a lifting damping hydraulic cylinder control subsystem and a swing damping hydraulic cylinder control subsystem connected to the first power source;

[0008] The lifting damping hydraulic cylinder control subsystem includes a left lifting damping hydraulic cylinder, a right lifting damping hydraulic cylinder, a first electromagnetic directional control valve, a first pilot-operated check and overflow valve A, a first pilot-operated check and overflow valve B, a first externally controlled overflow valve A, a first externally controlled overflow valve B, a first proportional overflow valve A, a first proportional overflow valve B, a first one-way valve A, and a first one-way valve B, for controlling the lifting damping of the cutting arm;

[0009] The swing damping hydraulic cylinder control subsystem includes a left swing damping hydraulic cylinder, a right swing damping hydraulic cylinder, a second electromagnetic reversing valve, a second pilot-operated check overflow valve A, a second pilot-operated check overflow valve B, a second externally controlled overflow valve A, a second externally controlled overflow valve B, a second proportional overflow valve A, a second proportional overflow valve B, a second check valve A and a second check valve B, and is used to control the swing damping of the cutting arm;

[0010] The impact hammer hydraulic impact system includes a second power source, an accumulator power source, a proportional pressure reducing valve 1, a proportional reversing valve, an accumulator 1, a hydraulic reversing valve, an impact hammer body, a pilot-operated switch valve 1, an accumulator 2, a pilot-operated switch valve 2, an accumulator 3, a proportional pressure reducing valve 2 and a check valve C, and is used to realize the impact function of the impact hammer;

[0011] The controller is connected to the proportional overflow valve in the cutting arm hydraulic damping system and the proportional pressure reducing valve and the proportional reversing valve in the impact hammer hydraulic impact system for controlling connection, and is used to receive feedback signals and control the actions of each valve.

[0012] Further, in the lifting damping hydraulic cylinder control subsystem, the output end of the first power source is provided with a first oil supply line and a second oil supply line. The first oil supply line is sequentially connected to the oil inlet passage of the first electromagnetic reversing valve and the second check valve B, and is communicated with the rod chambers of the left lifting damping hydraulic cylinder and the right lifting damping hydraulic cylinder through two first oil supply branches respectively; the rodless chambers of the left lifting damping hydraulic cylinder and the right lifting damping hydraulic cylinder are both commonly connected to a first oil return line through a first oil return branch, and the first oil return line is used to connect the first externally controlled overflow valve A, the oil return passage of the first electromagnetic reversing valve and the fuel tank; the first externally controlled overflow valve B and the first proportional overflow valve B are respectively connected in parallel with the second check valve B through a first bypass A and a first bypass B; the first check valve A and the first proportional overflow valve A are respectively connected in parallel with the first externally controlled overflow valve A through a first bypass C and a first bypass D; the first pilot-operated check overflow valve A and the first pilot-operated check overflow valve B are respectively connected in parallel with the first electromagnetic reversing valve through a first compensation oil line A and a first compensation oil line B.

[0013] Further, in the swing damping hydraulic cylinder control subsystem, the output end of the second power source is sequentially connected to the oil inlet passage of the second electromagnetic directional valve and the second check valve A through the second oil supply line, and is respectively communicated with the rodless cavity of the right swing damping hydraulic cylinder and the rod end cavity of the left swing damping hydraulic cylinder through two second oil supply branches; the rodless cavities of the left swing damping hydraulic cylinder and the rod end cavities of the right swing damping hydraulic cylinder are both commonly connected to a second oil return line through the second oil return branch, and the second oil return line is used to connect the second externally controlled overflow valve B, the oil return passage of the second electromagnetic directional valve, and the fuel tank; the second externally controlled overflow valve A and the second proportional overflow valve A are respectively connected in parallel with the second check valve A through the second bypass A and the second bypass B; the second check valve B and the second proportional overflow valve B are respectively connected in parallel with the second externally controlled overflow valve B through the second bypass C and the second bypass D; the second hydraulic control one-way overflow valve A and the second hydraulic control one-way overflow valve B are respectively connected in parallel with the second electromagnetic directional valve through the second compensation oil line A and the second compensation oil line B.

[0014] Further, in the hydraulic impact system of the impact hammer, the impact hammer body is provided with ports A, B, C, D, and E. The oil outlet end of the second power source is communicated with port D through the oil inlet line. Port A is sequentially communicated with the hydraulic directional valve, the proportional directional valve, and the fuel tank through the oil return line; two oil inlet branches are provided at the oil outlet end of the oil inlet line and are respectively communicated with accumulator one and the A oil inlet port of the hydraulic directional valve; port C of the impact hammer body is provided with a C oil line, and the oil outlet ends of the C oil line are respectively connected to the large end hydraulic control port of the hydraulic directional valve, the Kb port of the hydraulic control switch valve one, and the Kb port of the hydraulic control switch valve two through the C oil line branch; the small end hydraulic control port of the hydraulic directional valve, the KS port of the hydraulic control switch valve one, and the KS port of the hydraulic control switch valve two are all connected to the oil inlet line through oil pipes; port B of the impact hammer body is connected to the oil return line through an oil line; the M port of the proportional directional valve is sequentially connected to the first proportional pressure reducing valve, the M-way check valve, and accumulator two through the M oil line; an M branch is provided on the M oil line, and the two ends of the M branch are respectively connected to the P port of the hydraulic control switch valve one and the A port of the hydraulic control switch valve two; and the A port of the hydraulic control switch valve one is connected to port E of the impact hammer body; the oil outlet end of the accumulator power source is sequentially connected to the second proportional pressure reducing valve and accumulator three through the accumulator oil line, and the P port of the hydraulic control switch valve two is connected to the accumulator oil line.

[0015] Further, the controller collects the vibration signal of the cutting arm and the load pressure signal of the hydraulic cylinders in real time through the vibration sensors installed on the cutting arm and the pressure sensors on the left lifting damping hydraulic cylinder, the right lifting damping hydraulic cylinder, the left swing damping hydraulic cylinder, and the right swing damping hydraulic cylinder, and dynamically adjusts the first proportional overflow valve A, the first proportional overflow valve B, the second proportional overflow valve A, and the second proportional overflow valve B based on a non-linear control algorithm to achieve vibration buffering of the cutting arm and overload overflow protection of the hydraulic cylinders; meanwhile, the impact pressure and the rebound acceleration of the drill rod are monitored in real time through the pressure sensors installed on the impact hammer body and the acceleration sensors on the drill rod, and the proportional pressure reducing valve 1, the proportional pressure reducing valve 2, and the proportional reversing valve are closed-loop controlled according to the feedback signals, so as to adjust the impact frequency and impact work of the impact hammer body.

[0016] The present application also provides a control method for a hydraulic system of an impact-cutting composite rock-breaking roadheader for mines, which specifically includes the following steps:

[0017] Step S: Monitor the vibration of the cutting arm and the load pressure of the hydraulic cylinder in real time:

[0018] The vibration signal of the cutting arm is collected in real time through the vibration sensors installed on the cutting arm; meanwhile, the load pressure signals of the rodless chamber and the rod chamber of each hydraulic cylinder are obtained through the pressure sensors on the left lifting damping hydraulic cylinder, the right lifting damping hydraulic cylinder, the left swing damping hydraulic cylinder, and the right swing damping hydraulic cylinder.

[0019] Step S: Dynamically adjust the damping of the cutting arm and overload protection:

[0020] The vibration signal and the load pressure signal in step S are input into the controller, and control commands for the first proportional overflow valve A, the first proportional overflow valve B, the second proportional overflow valve A, and the second proportional overflow valve B are generated based on a non-linear control algorithm.

[0021] When the cutting arm is lifted or swung, by adjusting the valve opening of the first proportional overflow valve A or the first proportional overflow valve B, the back pressure of the rodless chamber or the rod chamber of the lifting damping hydraulic cylinder is changed; by adjusting the valve opening of the second proportional overflow valve A or the second proportional overflow valve B, the back pressure of the left chamber or the right chamber of the swing damping hydraulic cylinder is changed to achieve vibration buffering of the cutting arm.

[0022] When the load pressure of the hydraulic cylinder exceeds the threshold value, control the valve openings of the first externally controlled overflow valve A, the first externally controlled overflow valve B, the second externally controlled overflow valve A, and the second externally controlled overflow valve B, and combine the oil draining or oil filling functions of the first hydraulically controlled one-way overflow valve A, the first hydraulically controlled one-way overflow valve B, the second hydraulically controlled one-way overflow valve A, and the second hydraulically controlled one-way overflow valve B to perform double overload overflow protection.

[0023] Step S: Monitor the impact parameters of the impact hammer in real time:

[0024] The oil pressure signals at ports A, B, C, D, and E of the impact hammer are obtained in real time through the pressure sensors installed on the impact hammer body; the impact acceleration and rebound acceleration signals of the drill rod are collected through the acceleration sensors on the drill rod.

[0025] Step S: Closed-loop control of the impact frequency and impact work:

[0026] The oil pressure signals and acceleration signals in step S are input into the controller to generate control commands for the first proportional pressure reducing valve, the second proportional pressure reducing valve, and the proportional reversing valve.

[0027] When the drill rod is in the return stroke condition, control the reversing direction of the proportional reversing valve to make the hydraulic oil flow from the second power source to port D of the impact hammer body, driving the piston to move upward.

[0028] When the drill rod enters the impact condition, trigger the upward movement of the spool of the hydraulic reversing valve according to the oil pressure signal of port C communicating with port D, so that the high-pressure oil drives the piston to move downward to impact the drill rod through port A.

[0029] When it is necessary to adjust the impact frequency, control the first hydraulic control switch valve to connect the accumulator II and port E, and adjust the energy storage pressure of the accumulator II through the first proportional pressure reducing valve to shorten the piston stroke time.

[0030] When it is necessary to adjust the impact work, synchronously control the first hydraulic control switch valve and the second hydraulic control switch valve to connect the accumulator II and the accumulator III to port E, and adjust the energy storage pressure of the accumulator III through the second proportional pressure reducing valve to change the oil pressure at port E to adjust the impact work.

[0031] Step S: Perform adaptive compensation control:

[0032] During the lifting or swinging of the cutting arm, if the volumes of the two chambers of the hydraulic cylinder change instantaneously due to sudden changes in external loads, the hydraulic control one-way overflow valves in the first compensation oil circuit A, the first compensation oil circuit B, the second compensation oil circuit A, and the second compensation oil circuit B are used to relieve or supplement the oil, and at the same time, combined with the real-time adjustment of the proportional overflow valve by the controller, the pressure difference of the hydraulic cylinder is maintained stable.

[0033] The advantages of the present invention compared with the prior art are as follows:

[0034] In terms of improving the stability of the cutting arm, the hydraulic damping system of the cutting arm of the present invention includes a lifting and swinging damping hydraulic cylinder control subsystem. The left lifting damping hydraulic cylinder and the right lifting damping hydraulic cylinder in the lifting subsystem are provided with damping holes and buffer pads. The left swinging damping hydraulic cylinder and the right swinging damping hydraulic cylinder in the swinging subsystem have a similar structure and both play a buffering role. When the cutting arm is suddenly affected by an external load, the piston position moves slightly, causing the instantaneous change of the volumes of the two chambers. The system realizes double overload overflow through the first externally controlled overflow valve and the first proportional overflow valve, ensuring that the pressure difference between the two chambers does not change significantly. The swinging subsystem also has this mechanism, which can match the impact load in real time, effectively suppress the instability of the cutting arm caused by hard rock impact, and extend the service life of the hydraulic cylinder.

[0035] In terms of enhancing the adaptability to rock breaking, the hydraulic impact system of the impact hammer includes components such as the impact hammer body, accumulator one, accumulator two, accumulator three, proportional pressure reducing valve one, proportional pressure reducing valve two, etc. By adjusting the pressure setting values of different proportional pressure reducing valves, different accumulators can store energy at different pressures, enabling the impact hammer drill rod to achieve variable impact work on the rock wall under different working conditions. The first and second hydraulic control switch valves are crucial in the system. By moving the spool, the accumulator is connected to the impact hammer body, thereby outputting different impact work, and the optimal impact energy can be intelligently matched under different rock hardnesses.

[0036] In terms of realizing intelligent operation, the controller in the electro-hydraulic intelligent control system receives various feedback signals, dynamically adjusts each proportional valve based on the non-linear control algorithm, and realizes the vibration buffering of the cutting arm and the overload overflow protection of the hydraulic cylinder. At the same time, according to the feedback signals, closed-loop control is performed on the proportional pressure reducing valve and the proportional reversing valve to adjust the impact frequency and impact work of the impact hammer, enabling the roadheader to perform intelligent tunneling operations without manual intervention when operating on rocks of different hardnesses. Description of the Drawings

[0037] Figure 1 is the principle block diagram of a hydraulic system for impact-cutting composite rock breaking of a mine roadheader in this application;

[0038] Figure 2 is the hydraulic schematic diagram of the hydraulic damping system of the cutting arm;

[0039] Figure 3 is the schematic diagram of the hydraulic flow direction during the descent and left swing of the cutting arm;

[0040] Figure 4 is the hydraulic schematic diagram of the hydraulic impact system of the impact hammer;

[0041] Figure 5 is the schematic diagram of the hydraulic flow direction during the return stroke of the impact hammer drill rod;

[0042] Figure 6 is the schematic diagram of the hydraulic flow direction during the normal impact of the impact hammer drill rod;

[0043] Figure 7 Schematic diagram of the hydraulic flow direction for the variable-frequency impact condition of the percussion hammer drill rod

[0044] Figure 8 Schematic diagram of the hydraulic flow direction for the impact condition with variable impact energy of the percussion hammer drill rod

[0045] Figure 9 Control block diagram of the electro-hydraulic intelligent control system

[0046] Figure 10 Schematic diagram of the impact-cutting combined rock-breaking hydraulic system and control method of the roadheader for this application

[0047] As shown in the figure: 1. Hydraulic oil tank; 2. First power source; 3. First oil supply line; 4. Second oil supply line; 5. Left lifting damping hydraulic cylinder; 6. Right lifting damping hydraulic cylinder; 7. First electromagnetic directional valve; 8. First pilot-operated check and overflow valve A; 9. First pilot-operated check and overflow valve B; 10. First externally controlled overflow valve A; 11. First externally controlled overflow valve B; 12. First proportional overflow valve A; 13. First proportional overflow valve B; 14. First check valve A; 15. First check valve B; 16. First return line; 17. First bypass A; 18. First bypass B; 19. First bypass C; 20. First bypass D; 21. First compensation oil line A; 22. First compensation oil line B; 23. Left swing damping hydraulic cylinder; 24. Right swing damping hydraulic cylinder; 25. Second electromagnetic directional valve; 26. Second pilot-operated check and overflow valve A; 27. Second pilot-operated check and overflow valve B; 28. Second externally controlled overflow valve A; 29. Second externally controlled overflow valve B; 30. Second proportional overflow valve A; 31. Second proportional overflow valve B; 32. Second check valve A; 33. Second check valve B; 34. Second return line; 35. Second bypass A; 36. Second bypass B; 37. Second bypass C; 38. Second bypass D; 39. Second compensation oil line A; 40. Second compensation oil line B; 41. Second power source; 42. Accumulator power source; 43. Proportional reducing valve 1; 44. Proportional directional valve; 45. Accumulator 1; 46. Hydraulic directional valve; 47. Percussion hammer body; 48. Pilot-operated switch valve 1; 49. Accumulator 2; 50. Pilot-operated switch valve 2; 51. Accumulator 3; 52. Proportional reducing valve 2; 53. Check valve C; 54. Inlet oil line; 55. Return oil line; 56. C oil line; 57. M oil line; 58. M line check valve; 59. M branch; 60. Accumulator oil line; 61. Controller. Detailed implementation manners

[0048] The present invention will be further described in detail below with reference to the accompanying drawings.

[0049] The specific implementation manners of the present invention will be further described below with reference to the accompanying drawings. Among them, the same components are denoted by the same reference numerals.

[0050] It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the attached drawings, and the terms "inner" and "outer" respectively refer to the directions towards or away from the geometric center of a specific component.

[0051] To make the content of the present invention easier to be clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the attached drawings in the embodiments of the present invention.

[0052] Refer to the attached Figure 1 and the attached Figure 2 , the present application provides a hydraulic system for impact-cutting composite rock breaking of a mine roadheader, including:

[0053] A hydraulic oil tank 1 for storing and providing hydraulic oil;

[0054] A cutting arm hydraulic damping system, including a first power source 2 and a lifting damping hydraulic cylinder control subsystem and a swing damping hydraulic cylinder control subsystem connected to the first power source 2;

[0055] The lifting damping hydraulic cylinder control subsystem includes a left lifting damping hydraulic cylinder 5, a right lifting damping hydraulic cylinder 6, a first electromagnetic reversing valve 7, a first pilot-operated check overflow valve A8, a first pilot-operated check overflow valve B9, a first externally controlled overflow valve A10, a first externally controlled overflow valve B11, a first proportional overflow valve A12, a first proportional overflow valve B13, a first one-way valve A14 and a first one-way valve B15, and is used to control the lifting damping of the cutting arm;

[0056] The swing damping hydraulic cylinder control subsystem includes a left swing damping hydraulic cylinder 23, a right swing damping hydraulic cylinder 24, a second electromagnetic reversing valve 25, a second pilot-operated check overflow valve A26, a second pilot-operated check overflow valve B27, a second externally controlled overflow valve A28, a second externally controlled overflow valve B29, a second proportional overflow valve A30, a second proportional overflow valve B31, a second one-way valve A32 and a second one-way valve B33, and is used to control the swing damping of the cutting arm;

[0057] An impact hammer hydraulic impact system, including a second power source 41, an accumulator power source 42, a first proportional pressure reducing valve 43, a proportional reversing valve 44, a first accumulator 45, a hydraulic reversing valve 46, an impact hammer body 47, a first pilot-operated switch valve 48, a second accumulator 49, a second pilot-operated switch valve 50, a third accumulator 51, a second proportional pressure reducing valve 52 and a one-way valve C53, and is used to realize the impact function of the impact hammer;

[0058] A controller 61, which is control-connected to the proportional overflow valves in the cutting arm hydraulic damping system and the proportional pressure reducing valves and proportional reversing valves in the impact hammer hydraulic impact system, and is used to receive feedback signals and control the actions of each valve.

[0059] Specifically, in the description of the lifting damping hydraulic cylinder control subsystem:

[0060] In the lifting damping hydraulic cylinder control subsystem, the output end of the first power source 2 is provided with a first oil supply line 3 and a second oil supply line 4. The first oil supply line 3 is sequentially connected to the oil inlet passage of the first electromagnetic directional valve 7 and the first check valve B15, and is communicated with the rod chambers of the left lifting damping hydraulic cylinder 5 and the right lifting damping hydraulic cylinder 6 through two first oil supply branches respectively; the rodless chambers of the left lifting damping hydraulic cylinder 5 and the right lifting damping hydraulic cylinder 6 are both commonly connected to a first oil return line 16 through a first oil return branch, and the first oil return line 16 is used to connect the first externally controlled overflow valve A10, the oil return passage of the first electromagnetic directional valve 7 and the fuel tank 1; the first externally controlled overflow valve B11 and the first proportional overflow valve B13 are respectively connected in parallel with the first check valve B15 through a first bypass A17 and a first bypass B18; the first check valve A14 and the first proportional overflow valve A12 are respectively connected in parallel with the first externally controlled overflow valve A10 through a first bypass C19 and a first bypass D20; the first hydraulic control check overflow valve A8 and the first hydraulic control check overflow valve B9 are respectively connected in parallel with the first electromagnetic directional valve 7 through a first compensation oil line A21 and a first compensation oil line B22.

[0061] Further, in the description of the swing damping hydraulic cylinder control subsystem:

[0062] The output end of the second power source 2 is sequentially connected to the oil inlet passage of the second electromagnetic directional valve 25 and the second check valve A32 through the second oil supply line 4, and is communicated with the rodless chamber of the right swing damping hydraulic cylinder 24 and the rod chamber of the left swing damping hydraulic cylinder 23 through two second oil supply branches respectively; the rodless chambers of the left swing damping hydraulic cylinder 23 and the right swing damping hydraulic cylinder 24 are both commonly connected to a second oil return line 34 through a second oil return branch, and the second oil return line 34 is used to connect the second externally controlled overflow valve B29, the oil return passage of the second electromagnetic directional valve 25 and the fuel tank 1; the second externally controlled overflow valve A28 and the second proportional overflow valve A30 are respectively connected in parallel with the second check valve A32 through a second bypass A35 and a second bypass B36; the second check valve B33 and the second proportional overflow valve B31 are respectively connected in parallel with the second externally controlled overflow valve B29 through a second bypass C37 and a second bypass D38; the second hydraulic control check overflow valve A26 and the second hydraulic control check overflow valve B27 are respectively connected in parallel with the second electromagnetic directional valve 25 through a second compensation oil line A39 and a second compensation oil line B40.

[0063] Reference Figure 3 , when the cutting arm is in the descending and left-swinging motion state:

[0064] Lower damping motion: The hydraulic oil flows into the rod chambers of the left and right lifting damping hydraulic cylinders 5 and 6 through the first power source 2, the first electromagnetic directional valve 7, and the first one-way valve B15. Part of the oil in the rodless chambers of the left and right lifting damping hydraulic cylinders 5 and 6 flows back to the oil tank 1 through the first externally controlled overflow valve A10 and the first electromagnetic directional valve 7. The pistons of the left and right lifting damping hydraulic cylinders 5 and 6 return, realizing the lowering motion of the cutting arm.

[0065] During the lowering process of the cutting arm, when the external load suddenly changes, the piston position moves slightly. At this time, the following methods are used to achieve the damping buffer for the lowering of the cutting arm:

[0066] (1) The damping holes in the left and right lifting damping hydraulic cylinders 5 and 6 slow down the instantaneous flow rate of the oil in the cylinders, and the buffer pads slow down the piston movement speed;

[0067] (2) When the pistons of the left and right lifting damping hydraulic cylinders 5 and 6 move slightly, the volumes of the two chambers change instantaneously. If the volume of the rodless chamber decreases and the volume of the rod chamber increases: The instantaneous decrease in the volume of the rodless chamber causes some of the oil in it to be unable to flow back to the oil tank 1 through the first return oil circuit 16 in time. The instantaneous decrease in volume causes the pressure to increase. The high-pressure oil flows from the Ta1 port of the first pilot-operated check overflow valve A8 to the Sa1 port, pushing the spool of the first pilot-operated check overflow valve A8 downward. The flow direction of the first pilot-operated check overflow valve A8 changes, and part of the oil is drained to the oil tank 1 through the first pilot-operated check overflow valve A8; The instantaneous increase in the volume of the rod chamber causes a void in it. At this time, since the Sa2 port and the Ta2 port of the first pilot-operated check valve B9 are connected, the spring force of the Sb2 port cannot overcome the pressure of the Ta2 port, and the spool does not move and remains at the lowest end. Part of the oil is replenished from the oil tank 1 to the rod chamber through the first pilot-operated check valve B9. Conversely, if the volume of the rod chamber decreases and the volume of the rodless chamber increases, the functions of the first pilot-operated check overflow valve A8 and the first pilot-operated check valve B9 are opposite to the above, realizing the instantaneous compensation of a small amount of oil.

[0068] (3) If the volume of the rodless chamber decreases and the volume of the rod chamber increases: The instantaneous pressure at the lower end of the first externally controlled overflow valve A10 increases, and the oil controls the first externally controlled overflow valve B11, making its valve port smaller. A back pressure is generated in the rod chamber of the hydraulic cylinder to ensure that the pressure difference between the two chambers does not change significantly, realizing overload overflow; If the volume of the rod chamber decreases and the volume of the rodless chamber increases, the functions of the first externally controlled overflow valve A10 and the first externally controlled overflow valve B11 are opposite to the above.

[0069] (4) If the volume of the rodless chamber decreases and the volume of the rod chamber increases: By adjusting the first proportional overflow valve B13, making its valve port smaller, a back pressure is generated in the rod chamber of the hydraulic cylinder; If the volume of the rod chamber decreases and the volume of the rodless chamber increases: By adjusting the first proportional overflow valve A12, making its valve port smaller, a back pressure is generated in the rodless chamber of the hydraulic cylinder; Double overload overflow is achieved with method (3).

[0070] Left swing damping motion: High-pressure hydraulic oil flows into the rod chamber of the right swing damping hydraulic cylinder 24 and the rodless chamber of the left swing damping hydraulic cylinder 23 through the first power source 2, the second electromagnetic directional control valve 25, and the second one-way valve A32. Part of the low-pressure hydraulic oil flows back to the oil tank 1 through the second externally controlled overflow valve B29 and the second electromagnetic directional control valve 25. The piston rod of the left swing damping hydraulic cylinder 23 returns, and the piston rod of the right swing damping hydraulic cylinder 24 extends, realizing the left swing motion of the cutting arm. During the left swing of the cutting arm, when the external load suddenly changes, the piston position moves slightly. At this time, the right swing damping buffer of the cutting arm is realized in the following way:

[0071] (1) The damping holes in the left swing damping hydraulic cylinder 23 and the right swing damping hydraulic cylinder 24 slow down the instantaneous flow rate of the hydraulic oil in the cylinder, and the buffer pads slow down the piston movement speed;

[0072] (2) When the pistons of the left swing damping hydraulic cylinder 23 and the right swing damping hydraulic cylinder 24 move slightly, the volumes of the two chambers change instantaneously. When the pistons of the hydraulic cylinders move slightly, the volumes of the two chambers change instantaneously. If the volume of the left chamber of the left swing damping hydraulic cylinder 23 and the right swing damping hydraulic cylinder 24 decreases and the volume of the right chamber increases: The instantaneous decrease in the volume of the left chamber causes some of the hydraulic oil in it to be unable to flow back to the oil tank 1 through the second return oil circuit 34 in time. At this time, since the Sa3 port and the Ta3 port of the second hydraulic control one-way overflow valve A26 are connected, the spring force of the Sb3 port cannot overcome the pressure of the Ta3 port, and the spool of the second hydraulic control one-way overflow valve A26 does not move and remains at the lowest end. Some hydraulic oil is drained to the oil tank 1 through the second hydraulic control one-way overflow valve A26; The instantaneous increase in the volume of the right chamber causes a void to be generated inside, and the pressure decreases. At this time, since the Ta4 port of the second hydraulic control one-way overflow valve B27 is still connected to the oil tank 1, the pressure of the Sa4 port cannot overcome the spring force of the Ta4 port, and the spool of the second hydraulic control one-way overflow valve B27 does not move and remains at the uppermost end. The hydraulic oil is replenished from the oil tank 1 to the right chamber through the internal one-way valve of the second hydraulic control one-way overflow valve B27. Conversely, if the volume of the right chamber decreases and the volume of the left chamber increases, the functions of the second hydraulic control one-way overflow valve A26 and the second hydraulic control one-way overflow valve B27 are opposite to the above, realizing instantaneous compensation of a small amount of hydraulic oil.

[0073] (3) If the volume of the left chamber decreases and the volume of the right chamber increases: Since the lower end of the second externally controlled overflow valve A28 is still connected to the high-pressure hydraulic oil, the hydraulic oil continues to control the second externally controlled overflow valve B29, making its valve port smaller, generating back pressure in the right chamber, ensuring that the pressure difference between the two chambers does not change significantly, and realizing overload overflow; If the volume of the right chamber decreases and the volume of the left chamber increases, the functions of the second externally controlled overflow valve A28 and the second externally controlled overflow valve B29 are opposite to the above.

[0074] (4) If the volume of the left chamber decreases and the volume of the right chamber increases: By adjusting the second proportional overflow valve B31 to make its valve opening smaller, back pressure is generated in the right chamber of the hydraulic cylinder; If the volume of the right chamber decreases and the volume of the left rod chamber increases: By adjusting the second proportional overflow valve A30 to make its valve opening smaller, back pressure is generated in the left chambers of the left swing damping hydraulic cylinder 23 and the right swing damping hydraulic cylinder 24; Double overload overflow is achieved in the same way as in (3).

[0075] Except for the different pipeline connection methods of the damping hydraulic cylinders, the connection methods of the cutting arm hydraulic lifting system (left) and the hydraulic swing system (right) are the same. Therefore, the specific embodiments of the above-mentioned cutting arm hydraulic damping system are only described in detail in combination with the working conditions of the left position of the spool of the first electromagnetic directional valve 7 and the right position of the spool of the second electromagnetic directional valve 25 shown in the figure. The remaining working conditions are arranged as follows in the table:

[0076]

[0077] Refer to the appendix Figure 4 In one embodiment of the hydraulic impact system of the impact hammer, an A port, a B port, a C port, a D port, and an E port are provided on the impact hammer body 47. The oil outlet end of the second power source 41 is connected to the D port through the oil inlet passage 54. The A port is connected to the oil tank 1 through the oil return passage 55 in sequence via the hydraulic directional valve 46, the proportional directional valve 44; Two oil inlet branches are provided at the oil outlet end of the oil inlet passage 54 and are respectively connected to the accumulator one 45 and the A oil inlet of the hydraulic directional valve 46; A C oil passage 56 is provided at the C port of the impact hammer body 47. The oil outlet ends of the C oil passage 56 are all connected to the large end hydraulic control port of the hydraulic directional valve 46, the Kb1 port of the hydraulic control switch valve one 48, and the Kb2 port of the hydraulic control switch valve two 50 through the C oil passage branches; The small end hydraulic control port of the hydraulic directional valve 46, the KS1 port of the hydraulic control switch valve one 48, and the KS2 port of the hydraulic control switch valve two 50 are all connected to the oil inlet passage 54 through oil pipes; The B port of the impact hammer body 47 is connected to the oil return passage 55 through an oil passage; The M port of the proportional directional valve 44 is connected to the accumulator two 49 through the M oil passage 57 in sequence via the proportional pressure reducing valve one 43 and the M-way check valve 58; An M branch 59 is provided on the M oil passage 57. The two ends of the M branch 59 are respectively connected to the P1 port of the hydraulic control switch valve one 48 and the A2 port of the hydraulic control switch valve two 50; And the A1 port of the hydraulic control switch valve one 48 is connected to the E port of the impact hammer body 47; The oil outlet end of the accumulator power source 42 is connected to the accumulator three 51 through the accumulator oil passage 60 in sequence via the proportional pressure reducing valve two 52, and the P2 port of the hydraulic control switch valve two 50 is connected to the accumulator oil passage 60.

[0078] (1) Refer to Figure 5, when the impact hammer drill rod is in the return stroke condition: The hydraulic oil flows from the oil tank 1 through the second power source 41 to port D of the impact hammer body 47. The piston of the impact hammer body 47 starts to move upward under the action of the high-pressure oil in the lower chamber. At this time, the drill rod at the lower end of the piston is not affected by the piston impact force and also starts to move upward under the rebound of the coal mine roadway rock wall; The hydraulic oil in the upper chamber of the impact hammer body 47 flows back to the oil tank 1 from port A through the hydraulic control valve 46 and the proportional control valve 44 in sequence.

[0079] (2) Reference Figure 6 , normal impact condition of the impact hammer drill rod: When the drill rod moves upward to a certain limited position, port C of the impact hammer body 47 is connected to port D. At this time, part of the hydraulic oil flows from the oil tank 1 through the second power source 41 to port D of the impact hammer body 47, and then through port C to the large end hydraulic control port of the hydraulic control valve 46. The spool of the hydraulic control valve 46 moves upward. Another part flows to the large end hydraulic control ports of the hydraulic control switch valve 1 48 and the hydraulic control switch valve 2 50 (corresponding to port Kb1 of the hydraulic control switch valve 1 48 and port Kb2 of the hydraulic control switch valve 2 50 respectively); When the spool of the hydraulic control valve 46 moves upward to a certain position, the high-pressure oil can directly flow from the oil tank 1 through the second power source 41 to port A of the impact hammer body 47. The piston of the impact hammer body 47 starts to move downward under the action of the high-pressure oil in the upper chamber to impact the drill rod, realizing the impact of the drill rod on the coal mine roadway rock wall.

[0080] (3) Reference Figure 7 , variable-frequency impact condition of the impact hammer drill rod: When the drill rod moves upward to a certain limited position, port C of the impact hammer body 47 is connected to port D. Another part of the hydraulic oil flows to the large end hydraulic control port of the hydraulic control switch valve 1 48. When the spool of the hydraulic control switch valve 1 48 moves upward to a certain position, the accumulator 2 49 is connected to port E of the impact hammer body 47; Adjust the spool commutation of the proportional control valve 44. The hydraulic oil flows through the proportional control valve 44, the proportional pressure reducing valve 1 43, and the M-way check valve 58 into the accumulator 2 49. By adjusting the pressure setting value of the proportional pressure reducing valve 1 43, different pressure energy storage of the accumulator 2 49 is realized; Under the condition that the accumulator 2 49 is connected to port E of the impact hammer body 47, the stroke of the impact hammer drill rod becomes shorter under the action of the high-pressure oil at port E in the upper chamber, and the time used for one impact becomes shorter, realizing the variable-frequency impact of the drill rod on the coal mine roadway rock wall.

[0081] (4) Reference Figure 8, Impact hammer drill rod variable impact power impact condition: When the drill rod moves upward to a certain limit position, port C of the impact hammer body 47 is connected to port D, and another part of the hydraulic oil flows to the large-end hydraulic control ports of the first hydraulic control switch valve 48 and the second hydraulic control switch valve 50. When the spools of the first hydraulic control switch valve 48 and the second hydraulic control switch valve 50 move upward to a certain position, the accumulator III 51 is connected to port E of the impact hammer body 47. At this time, the accumulator power source 42 is started, and the hydraulic oil flows from the fuel tank 1 through the second proportional pressure reducing valve 52 and the M-way one-way valve 58 into the accumulator III 51; under the condition that the accumulator II 49, the accumulator III 51 and port E of the impact hammer body 47 are connected, the impact hammer drill rod is under the action of different pressures of the hydraulic oil in the upper chamber, and the variable impact power of the drill rod impacts the rock wall of the coal mine roadway is realized.

[0082] Refer to the appendix Figure 9 - Appendix Figure 10 , The electro-hydraulic intelligent control system has the following control logic: The controller 61 receives the feedback signals of the vibration of the cutting arm of the cutting arm hydraulic damping system and the load pressures of the left lifting damping hydraulic cylinder 5, the right lifting damping hydraulic cylinder 6, the left swing damping hydraulic cylinder 23, and the right swing damping hydraulic cylinder 24, and performs closed-loop control on the first proportional relief valve A12, the first proportional relief valve B13, the second proportional relief valve A30, and the second proportional relief valve B31; receives the feedback signals of the impact pressure of the impact hammer hydraulic impact system and the rebound acceleration of the drill rod, and performs closed-loop control on the first proportional pressure reducing valve 43, the second proportional pressure reducing valve 52, and the proportional reversing valve 44. The controller 61 can collect the vibration signal of the cutting arm and the load pressure signal of the hydraulic cylinder in real time through the vibration sensor installed on the cutting arm and the pressure sensors on the left lifting damping hydraulic cylinder 5, the right lifting damping hydraulic cylinder 6, the left swing damping hydraulic cylinder 23, and the right swing damping hydraulic cylinder 24, and perform dynamic adjustment on the first proportional relief valve A12, the first proportional relief valve B13, the second proportional relief valve A30, and the second proportional relief valve B31 based on the non-linear control algorithm to achieve vibration buffering of the cutting arm and overload overflow protection of the hydraulic cylinder; at the same time, it can monitor the impact pressure and the rebound acceleration of the drill rod in real time through the pressure sensor installed on the impact hammer body 47 and the acceleration sensor on the drill rod, and perform closed-loop control on the first proportional pressure reducing valve 43, the second proportional pressure reducing valve 52, and the proportional reversing valve 44 according to the feedback signals, so as to adjust the impact frequency and impact power of the impact hammer body to ensure the high efficiency and stability of the impact rock breaking operation.

[0083] Further, the controller 61 collects the vibration signal of the cutting arm and the load pressure signal of the hydraulic cylinders in real time through the vibration sensor installed on the cutting arm and the pressure sensors on the left lifting damping hydraulic cylinder 5, the right lifting damping hydraulic cylinder 6, the left swing damping hydraulic cylinder 23, and the right swing damping hydraulic cylinder 24, and dynamically adjusts the first proportional overflow valve A12, the first proportional overflow valve B13, the second proportional overflow valve A30, and the second proportional overflow valve B31 based on the non-linear control algorithm to achieve vibration buffering of the cutting arm and overload overflow protection of the hydraulic cylinders; at the same time, the impact pressure and the rebound acceleration of the drill rod are monitored in real time through the pressure sensor installed on the impact hammer body 47 and the acceleration sensor on the drill rod, and the proportional pressure reducing valve 1 43, the proportional pressure reducing valve 2 52, and the proportional reversing valve 44 are closed-loop controlled according to the feedback signal, so as to adjust the impact frequency and impact work of the impact hammer body 47.

[0084] The control method of the electro-hydraulic intelligent control system will be further described below with reference to specific embodiments:

[0085] Damping buffer control is implemented for the damping hydraulic cylinders, and the feedback parameters are the vibration signal S on the cutting arm c and the load pressure P of the damping hydraulic cylinders cL1,2 、P cR1,2 . The signal S is measured by the vibration sensor installed on the cutting arm c ; the load pressure P is calculated by the pressure sensors installed on the left lifting damping hydraulic cylinder 5, the right lifting damping hydraulic cylinder 6, the left swing damping hydraulic cylinder 23, and the right swing damping hydraulic cylinder 24 cL1,2 =P Lb1,2 -A Ll P Ll1,2 / A Lb ,P cR1 =P Rb1 -A Rl P Rl1 / A Rb ,P cR2 =P Rl2 -A Rb P Rb2 / A Rl (P Lb1,2 、P Ll1,2 are the pressures of the large chamber and the small chamber of the lifting damping hydraulic cylinders (collectively referred to as the left lifting damping hydraulic cylinder 5 and the right lifting damping hydraulic cylinder 6), P Rb1,2 、P Rl1,2 are the pressures of the large chamber and the small chamber of the swing damping hydraulic cylinders (collectively referred to as the left swing damping hydraulic cylinder 23 and the right swing damping hydraulic cylinder 24), A Lb 、A Ll are the effective areas of the large chamber and the small chamber of the lifting damping hydraulic cylinders respectively, A Rb 、ARl are the effective areas of the large chamber and the small chamber of the swing damping hydraulic cylinder, respectively).

[0086] Take the state variables of the cutting arm damping hydraulic cylinder as with subscript i = L1, L2, R1, R2, and the state equation of the damping hydraulic cylinder is:

[0087]

[0088] In the formula: α i is a parameter related to the physical inherent characteristics of the damping hydraulic cylinder; Q ci is the load flow rate flowing into the i-th damping hydraulic cylinder, which satisfies the following expression:

[0089] Q ci =(Q c12 +Q c13 +Q c15 +Q c16,18,19,111 ) / 2

[0090] In the formula: Q c12 , Q c13 , Q c15 , Q c16,18,19,111 are the flow rates flowing through the first electromagnetic directional valve, the first pilot-operated check overflow valve, the first externally controlled overflow valve A, the first proportional overflow valve A, the first proportional overflow valve B, the second proportional overflow valve A, and the second proportional overflow valve B, respectively. The values are measured by flow sensors, where Q c16,18,19,111 is the control input, which forms a closed-loop feedback with the piston stroke y ci of the damping hydraulic cylinder.

[0091] Taking the PID controller as an example, the control input Q c16,18,19,111 satisfies the following expression:

[0092]

[0093] In the formula: subscript i = L1, L2, R1, R2; K cP , K cI , K cD are the control parameters of the PID controller; e y is the piston stroke tracking error; y cd is the desired piston stroke. Since x ci in the state equation of the damping hydraulic cylinder is related to the cutting arm vibration signal S c , the piston stroke tracking error is also affected by it. Therefore, the vibration signal S c is also used as a feedback signal. At this time, through the tracking feedback control of the piston stroke of the hydraulic cylinder, the buffer control of the damping hydraulic cylinder is realized. The smaller the tracking error e y , the better the damping buffer effect.

[0094] Continue to refer to Figure 10 to achieve variable frequency and variable impact work control for the impact hammer, and the feedback parameters are the piston stroke y hp and the load pressure P of the impact hammer hL , measure the upper and lower chamber pressures through the pressure sensors installed on the impact hammer body 47, and calculate the load pressure P hL =P up -A down P down / A up (p up and p down are the upper and lower chamber pressures respectively, and A up and A down are the effective piston areas of the upper and lower chambers respectively); measure the acceleration a of the drill rod through the acceleration sensor installed on the drill rod of the impact hammer body 47 hp , and calculate the piston stroke

[0095] Take the state variables of the impact hammer as The state equation of the impact hammer is as follows:

[0096]

[0097] In the formula: β i is a parameter related to the physical inherent characteristics of the impact hammer; Q h is the load flow rate flowing into the impact hammer body 47, and satisfies the following expression:

[0098] Q h =s 24 Q h24 +Q h22 +Q h212 +Q h213 +s 26 Q h26 +s 28 Q h28

[0099] In the formula: s 24 , s 26 , s 28 are the sign functions related to the spool positions of the hydraulic control valve 46, the first hydraulic control switch valve 48, and the second hydraulic control switch valve 50 respectively. There are two values of -1 and 1 for s 24 , and there are two values of 0 and 1 for s 26 and s 28 ; Q h24 , Q h22 , Q h212 , Q h213 , Q h26 , Q h28They are the oil flow rates through the hydraulic directional control valve 46, proportional directional control valve 44, proportional pressure reducing valve 1 43, proportional pressure reducing valve 2 52, hydraulic control switch valve 1 48, and hydraulic control switch valve 2 50 respectively. The values are measured by flow sensors, where Q h22 、Q h212 、Q h213 are control inputs, which form a closed-loop feedback with the piston stroke y hp and the impact hammer load pressure P hL .

[0100] Still taking the PID controller as an example, the control inputs Q h22 、Q h212 、Q h213 satisfy the following expression:

[0101]

[0102] In the formula: the subscript i = 22, 212, 213; K hP 、K hI 、K hD are the control parameters of the PID controller; e f,W is the frequency tracking error and impact work tracking error; f hd is the desired impact frequency; W hd is the desired impact work. At this time, the feedback control of the impact hammer with variable frequency and variable impact work is realized.

[0103] This application also provides a control method for the impact-cutting composite rock breaking hydraulic system of a mine roadheader, which specifically includes the following steps:

[0104] Step S1, real-time monitoring of the cutting arm vibration and the hydraulic cylinder load pressure:

[0105] Through the vibration sensor installed on the cutting arm, the vibration signal of the cutting arm is collected in real time; at the same time, through the pressure sensors on the left lifting damping hydraulic cylinder 5, right lifting damping hydraulic cylinder 6, left swing damping hydraulic cylinder 23, and right swing damping hydraulic cylinder 24, the load pressure signals of the rodless cavity and rod cavity of each hydraulic cylinder are obtained;

[0106] Step S2, dynamic adjustment of the cutting arm damping and overload protection:

[0107] Input the vibration signal and load pressure signal in step S1 into the controller 61, and generate the control instructions for the first proportional overflow valve A12, first proportional overflow valve B13, second proportional overflow valve A30, and second proportional overflow valve B31 based on the nonlinear control algorithm;

[0108] When the cutting arm is lifted or swung, by adjusting the valve opening of the first proportional overflow valve A12 or the first proportional overflow valve B13, the back pressure of the rodless chamber or the rod chamber of the lifting damping hydraulic cylinder is changed; by adjusting the valve opening of the second proportional overflow valve A30 or the second proportional overflow valve B31, the back pressure of the left chamber or the right chamber of the swing damping hydraulic cylinder is changed, so as to realize the vibration buffering of the cutting arm.

[0109] When the load pressure of the hydraulic cylinder exceeds the threshold value, control the valve openings of the first externally controlled overflow valve A10, the first externally controlled overflow valve B11, the second externally controlled overflow valve A28, and the second externally controlled overflow valve B29, and combine the oil drainage or oil filling functions of the first hydraulically controlled one-way overflow valve A8, the first hydraulically controlled one-way overflow valve B9, the second hydraulically controlled one-way overflow valve A26, and the second hydraulically controlled one-way overflow valve B27 to perform double overload overflow protection.

[0110] Step S3: Monitor the impact parameters of the impact hammer in real time:

[0111] Through the pressure sensors installed on the impact hammer body 47, the oil pressure signals at ports A, B, C, D, and E of the impact hammer are obtained in real time; through the acceleration sensors on the drill rod, the impact acceleration and rebound acceleration signals of the drill rod are collected.

[0112] Step S4: Closed-loop control of the impact frequency and impact work:

[0113] Input the oil pressure signals and acceleration signals in step S3 into the controller 61 to generate control commands for the first proportional pressure reducing valve 43, the second proportional pressure reducing valve 52, and the proportional reversing valve 44.

[0114] When the drill rod is in the return stroke condition, control the reversing direction of the proportional reversing valve 44 to make the oil flow through the second power source 41 to port D of the impact hammer body 47 to drive the piston to move upward.

[0115] When the drill rod enters the impact condition, according to the oil pressure signal of port C communicating with port D, trigger the spool of the hydraulic reversing valve 46 to move upward, so that the high-pressure oil drives the piston to move downward to impact the drill rod through port A.

[0116] When it is necessary to adjust the impact frequency, control the first hydraulically controlled switch valve 48 to connect the accumulator two 49 with port E, and adjust the energy storage pressure of the accumulator two 49 through the first proportional pressure reducing valve 43 to shorten the piston stroke time.

[0117] When it is necessary to adjust the impact work, synchronously control the first hydraulically controlled switch valve 48 and the second hydraulically controlled switch valve 50 to connect the accumulator two 49 and the accumulator three 51 with port E, and adjust the energy storage pressure of the accumulator three 51 through the second proportional pressure reducing valve 52 to change the oil pressure at port E to adjust the impact work.

[0118] Step S5: Execute adaptive compensation control:

[0119] During the lifting or swinging process of the cutting arm, if the volumes of the two chambers of the hydraulic cylinder change instantaneously due to sudden changes in external loads, the hydraulic control one-way overflow valves of the first compensation oil circuit A21, the first compensation oil circuit B22, the second compensation oil circuit A39, and the second compensation oil circuit B40 are used to relieve or supplement the oil, and at the same time, combined with the real-time adjustment of the proportional overflow valve by the controller 61, the pressure difference of the hydraulic cylinder is maintained stable.

[0120] The above is only one implementation mode of the present invention. It should be pointed out that for ordinary technicians in the technical field, without departing from the principle of the present invention, several improvements and retouches can be made, and these improvements and retouches should also be regarded as the protection scope of the present invention. For example, for the non-linear control algorithms not mentioned in the electro-hydraulic intelligent control system proposed by the present invention except for PID, although any control strategy is adopted, the control methods related to the present invention are regarded as the protection scope.

Claims

1. A hydraulic system for impact-cutting combined rock breaking of a mine tunneling machine, characterized in that, Comprising: A hydraulic oil tank (1) for storing and supplying hydraulic oil; A cutting arm hydraulic damping system, including a first power source (2) and a lifting damping hydraulic cylinder control subsystem and a swing damping hydraulic cylinder control subsystem connected to the first power source (2); The lifting damping hydraulic cylinder control subsystem includes a left lifting damping hydraulic cylinder (5), a right lifting damping hydraulic cylinder (6), a first electromagnetic directional control valve (7), a first pilot-operated check and overflow valve A (8), a first pilot-operated check and overflow valve B (9), a first externally controlled overflow valve A (10), a first externally controlled overflow valve B (11), a first proportional overflow valve A (12), a first proportional overflow valve B (13), a first check valve A (14) and a first check valve B (15), for controlling the lifting damping of the cutting arm; The swing damping hydraulic cylinder control subsystem includes a left swing damping hydraulic cylinder (23), a right swing damping hydraulic cylinder (24), a second electromagnetic directional control valve (25), a second pilot-operated check and overflow valve A (26), a second pilot-operated check and overflow valve B (27), a second externally controlled overflow valve A (28), a second externally controlled overflow valve B (29), a second proportional overflow valve A (30), a second proportional overflow valve B (31), a second check valve A (32) and a second check valve B (33), for controlling the swing damping of the cutting arm; A hydraulic impact system for an impact hammer, including a second power source (41), an accumulator power source (42), a first proportional pressure reducing valve (43), a proportional directional control valve (44), a first accumulator (45), a hydraulic directional control valve (46), an impact hammer body (47), a first pilot-operated switch valve (48), a second accumulator (49), a second pilot-operated switch valve (50), a third accumulator (51), a second proportional pressure reducing valve (52) and a check valve C (53), for realizing the impact function of the impact hammer; A controller (61), control-connected to the proportional overflow valves in the cutting arm hydraulic damping system and the proportional pressure reducing valves and the proportional directional control valve in the hydraulic impact system for the impact hammer, for receiving feedback signals and controlling the actions of the valves.

2. The hydraulic system for impact-cutting combined rock breaking of a mine roadheader according to claim 1, characterized in that, In the lifting damping hydraulic cylinder control subsystem, the output end of the first power source (2) is provided with a first oil supply line (3) and a second oil supply line (4). The first oil supply line (3) is sequentially connected to the oil inlet passage of the first electromagnetic directional valve (7) and the first check valve B (15), and is communicated with the rod chambers of the left lifting damping hydraulic cylinder (5) and the right lifting damping hydraulic cylinder (6) through two first oil supply branches respectively. The rodless chambers of the left lifting damping hydraulic cylinder (5) and the right lifting damping hydraulic cylinder (6) are both commonly connected to a first oil return line (16) through a first oil return branch, and the first oil return line (16) is used to connect the first externally controlled overflow valve A (10), the oil return passage of the first electromagnetic directional valve (7) and the fuel tank (1). The first externally controlled overflow valve B (11) and the first proportional overflow valve B (13) are respectively connected in parallel with the first check valve B (15) through a first bypass A (17) and a first bypass B (18). The first check valve A (14) and the first proportional overflow valve A (12) are respectively connected in parallel with the first externally controlled overflow valve A (10) through a first bypass C (19) and a first bypass D (20). The first hydraulically controlled one-way overflow valve A (8) and the first hydraulically controlled one-way overflow valve B (9) are respectively connected in parallel with the first electromagnetic directional valve (7) through a first compensation oil line A (21) and a first compensation oil line B (22).

3. The impact-cutting composite rock-breaking hydraulic system for a mine roadheader according to claim 1, characterized in that, In the swing damping hydraulic cylinder control subsystem, the output end of the first power source (2) is sequentially connected to the oil inlet passage of the second electromagnetic directional valve (25) and the second check valve A (32) through the second oil supply line (4), and is communicated with the rodless chamber of the right swing damping hydraulic cylinder (24) and the rod chamber of the left swing damping hydraulic cylinder (23) through two second oil supply branches respectively. The rodless chambers of the left swing damping hydraulic cylinder (23) and the right swing damping hydraulic cylinder (24) are both commonly connected to a second oil return line (34) through a second oil return branch, and the second oil return line (34) is used to connect the second externally controlled overflow valve B (29), the oil return passage of the second electromagnetic directional valve (25) and the fuel tank (1). The second externally controlled overflow valve A (28) and the second proportional overflow valve A (30) are respectively connected in parallel with the second check valve A (32) through a second bypass A (35) and a second bypass B (36). The second check valve B (33) and the second proportional overflow valve B (31) are respectively connected in parallel with the second externally controlled overflow valve B (29) through a second bypass C (37) and a second bypass D (38). The second hydraulically controlled one-way overflow valve A (26) and the second hydraulically controlled one-way overflow valve B (27) are respectively connected in parallel with the second electromagnetic directional valve (25) through a second compensation oil line A (39) and a second compensation oil line B (40).

4. The impact-cutting composite rock-breaking hydraulic system for a mine roadheader according to claim 1, characterized in that, In the hydraulic impact system of the impact hammer, an A port, a B port, a C port, a D port, and an E port are provided on the impact hammer body (47). The oil outlet end of the second power source (41) is communicated with the D port through an oil inlet passage (54). The A port is communicated with the hydraulic reversing valve (46), the proportional reversing valve (44), and the fuel tank (1) in sequence through an oil return passage (55). Two oil inlet branches are provided at the oil outlet end of the oil inlet passage (54) and are respectively communicated with the accumulator I (45) and the A oil inlet port of the hydraulic reversing valve (46). A C oil passage (56) is provided at the C port of the impact hammer body (47). The oil outlet ends of the C oil passage (56) are respectively connected with the large-end hydraulic control port of the hydraulic reversing valve (46), the Kb1 port of the hydraulic control switch valve I (48), and the Kb2 port of the hydraulic control switch valve II (50) through C oil passage branches. The small-end hydraulic control port of the hydraulic reversing valve (46), the KS1 port of the hydraulic control switch valve I (48), and the KS2 port of the hydraulic control switch valve II (50) are all connected with the oil inlet passage (54) through oil pipes. The B port of the impact hammer body (47) is connected with the oil return passage (55) through an oil passage. The M port of the proportional reversing valve (44) is connected with the proportional pressure reducing valve I (43), the M-way one-way valve (58), and the accumulator II (49) in sequence through an M oil passage (57). An M branch (59) is provided on the M oil passage (57). The two ends of the M branch (59) are respectively connected with the P1 port of the hydraulic control switch valve I (48) and the A2 port of the hydraulic control switch valve II (50). And the A1 port of the hydraulic control switch valve I (48) is connected with the E port of the impact hammer body (47). The oil outlet end of the accumulator power source (42) is connected with the proportional pressure reducing valve II (52), the one-way valve C (53), and the accumulator III (51) in sequence through an accumulator oil passage (60). And the P2 port of the hydraulic control switch valve II (50) is connected with the accumulator oil passage (60).

5. The impact-cutting compound rock-breaking hydraulic system for a mine roadheader and its control method according to any one of claims 1-4, characterized in that, The controller (61) collects the vibration signal of the cutting arm and the load pressure signal of the hydraulic cylinder in real time through vibration sensors installed on the cutting arm and pressure sensors on the left lifting damping hydraulic cylinder (5), the right lifting damping hydraulic cylinder (6), the left swing damping hydraulic cylinder (23), and the right swing damping hydraulic cylinder (24), and dynamically adjusts the first proportional overflow valve A (12), the first proportional overflow valve B (13), the second proportional overflow valve A (30), and the second proportional overflow valve B (31) based on a nonlinear control algorithm to achieve vibration buffering of the cutting arm and overload overflow protection of the hydraulic cylinder. At the same time, the impact pressure and the rebound acceleration of the drill rod are monitored in real time through pressure sensors installed on the impact hammer body (47) and acceleration sensors on the drill rod, and the proportional pressure reducing valve I (43), the proportional pressure reducing valve II (52), and the proportional reversing valve (44) are subjected to closed-loop control according to the feedback signal, so as to adjust the impact frequency and impact work of the impact hammer body (47).

6. A control method for the impact-cutting composite rock-breaking hydraulic system of a mine roadheader, characterized in that, Specifically, it includes the following steps: Step S1: Monitor the vibration of the cutting arm and the load pressure of the hydraulic cylinder in real time: The vibration signals of the cutting arm are collected in real time through vibration sensors installed on the cutting arm; meanwhile, the load pressure signals of the rodless chamber and the rod chamber of each hydraulic cylinder are obtained through the pressure sensors on the left lifting damping hydraulic cylinder (5), the right lifting damping hydraulic cylinder (6), the left swing damping hydraulic cylinder (23), and the right swing damping hydraulic cylinder (24). Step S2, Dynamically adjust the damping of the cutting arm and overload protection: Input the vibration signals and load pressure signals in step S1 into the controller (61), and generate control instructions for the first proportional overflow valve A (12), the first proportional overflow valve B (13), the second proportional overflow valve A (30), and the second proportional overflow valve B (31) based on the non-linear control algorithm; When the cutting arm is lifting or swinging, by adjusting the valve opening of the first proportional overflow valve A (12) or the first proportional overflow valve B (13), change the back pressure of the rodless chamber or the rod chamber of the lifting damping hydraulic cylinder; by adjusting the valve opening of the second proportional overflow valve A (30) or the second proportional overflow valve B (31), change the back pressure of the left chamber or the right chamber of the swing damping hydraulic cylinder to achieve vibration buffering of the cutting arm; When the load pressure of the hydraulic cylinder exceeds the threshold, control the valve opening of the first externally controlled overflow valve A (10), the first externally controlled overflow valve B (11), the second externally controlled overflow valve A (28), and the second externally controlled overflow valve B (29), and combine the oil draining or oil filling functions of the first pilot-operated check overflow valve A (8), the first pilot-operated check overflow valve B (9), the second pilot-operated check overflow valve A (26), and the second pilot-operated check overflow valve B (27) to perform double overload overflow protection; Step S3, Real-time monitor the impact parameters of the impact hammer: Through the pressure sensors installed on the impact hammer body (47), the oil pressure signals at ports A, B, C, D, and E of the impact hammer are obtained in real time; through the acceleration sensors on the drill rod, the impact acceleration and rebound acceleration signals of the drill rod are collected; Step S4, Closed-loop control of the impact frequency and impact work: Input the oil pressure signals and acceleration signals in step S3 into the controller (61), and generate control instructions for the first proportional pressure reducing valve (43), the second proportional pressure reducing valve (52), and the proportional reversing valve (44); When the drill rod is in the return stroke condition, control the reversing direction of the proportional reversing valve (44) to make the oil flow from the second power source (41) to port D of the impact hammer body (47) to drive the piston to move upward; When the drill rod enters the impact condition, trigger the spool of the hydraulic reversing valve (46) to move upward according to the oil pressure signal of port C communicating with port D, so that the high-pressure oil drives the piston to move downward to impact the drill rod through port A; When it is necessary to adjust the impact frequency, control the first pilot-operated switch valve (48) to connect the accumulator two (49) with port E, and adjust the energy storage pressure of the accumulator two (49) through the first proportional pressure reducing valve (43) to shorten the piston stroke time; When it is necessary to adjust the impact work, synchronously control the first pilot-operated switch valve (48) and the second pilot-operated switch valve (50) to connect the accumulator two (49) and the accumulator three (51) with port E, and adjust the energy storage pressure of the accumulator three (51) through the second proportional pressure reducing valve (52) to change the oil pressure at port E to adjust the impact work; Step S5: Perform adaptive compensation control: During the lifting or swinging process of the cutting arm, if the volumes of the two chambers of the hydraulic cylinder change instantaneously due to sudden changes in external loads, the hydraulic control one-way overflow valves of the first compensation oil circuit A (21), the first compensation oil circuit B (22), the second compensation oil circuit A (39), and the second compensation oil circuit B (40) are used to relieve or replenish oil, and at the same time, in combination with the real-time adjustment of the proportional overflow valve by the controller (61), the pressure difference of the hydraulic cylinder is maintained stable.

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