Grabbing, unloading and overturning system of overturning mechanism and grabbing, unloading and overturning control method of grabbing, unloading and overturning system

Abstract

The invention discloses a grabbing, unloading and overturning system of an overturning mechanism. The grabbing, unloading and overturning system comprises a detection feedback system, a hydraulic control system and an overturning mechanism execution device, wherein the hydraulic control system and the overturning mechanism execution device are interconnected with the detection feedback system; the hydraulic control system comprises a gripper oil cylinder and a turnover motor, and the gripper oil cylinder and the turnover motor are connected with a hydraulic oil tank through a hydraulic lock, an electric proportional reversing valve and a hydraulic pump respectively. The detection feedback system comprises a controller, the controller obtains operation parameters of the gripper oil cylinder and the turnover motor through a sensor set, and the control end of the controller is in control connection with the hydraulic control system and the turnover mechanism execution device through a proportional electromagnet. The invention discloses a grabbing, unloading and overturning system of an overturning mechanism and a grabbing, unloading and overturning control method of the grabbing, unloading and overturning system. The functions of accurate grabbing, unloading, stable placement, high efficiency, continuity, safety and reliability of materials pushed by coal mining equipment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation equipment, in particular to the field of coal mining equipment, and specifically to a grabbing, unloading and turning system of a turning mechanism and a grabbing, unloading and turning control method thereof. Background Art

[0002] To recover the large amount of coal resources buried under the sidewalls during open-pit mining, improve coal resource utilization, and reduce resource waste, existing open-pit mine sidewall coal mining equipment has been developed. The development of sidewall mining technology has helped improve resource recovery rates. However, as open-pit mining depths continue to increase, the horizontal depth of the sidewall coal at the bottom of the mine is also increasing. Deep mining requires frequent additions of propulsion materials to complete the forward movement of the cutting head.

[0003] Therefore, the labor intensity of the staff is increased, resulting in low efficiency in loading and unloading of propelled materials, and difficulty in placing and positioning propelled materials. Summary of the Invention

[0004] The present invention overcomes the shortcomings of the existing technology and provides a grabbing and unloading, flipping system of a flipping mechanism and a grabbing and unloading, flipping control method thereof, thereby improving the functions of coal mining equipment in accurately grabbing and unloading, stably placing, efficiently and continuously, and safely and reliably pushing materials.

[0005] To achieve the above-mentioned object, the technical solution adopted by the present invention is: a grabbing, unloading and flipping system of a flipping mechanism, comprising: a detection and feedback system, and a hydraulic control system and a flipping mechanism execution device interconnected with the detection and feedback system; The hydraulic control system includes: a gripper cylinder and a tilting motor, which are respectively connected to the hydraulic oil tank through a hydraulic lock, an electric proportional reversing valve, and a hydraulic pump; The detection feedback system includes: a controller, which obtains the operating parameters of the gripper cylinder and the flip motor respectively through a sensor group. The control end of the controller is controlled and connected to the hydraulic control system and the flip mechanism actuator respectively through a proportional electromagnet. The flip mechanism actuator is also connected to the flip motor.

[0006] In a preferred embodiment of the present invention, the flip mechanism execution device includes a flip motor mounting base, a flip arm, a hanger rotating shaft, a hanger, a gripper cylinder connecting shaft, and a gripper; The flip motor is fixed to the flip motor mounting seat by bolts, the hanger is connected to the flip arm pin through the hanger rotating shaft, the grab cylinder is connected to the grab pin through the grab cylinder connecting shaft, and the grab is connected to the hanger through the pin.

[0007] In a preferred embodiment of the present invention, the electric proportional reversing valve includes: a gripper control reversing valve and a tilting motor control reversing valve, the gripper control reversing valve and the tilting motor control reversing valve being connected to a hydraulic pump via a shuttle valve; the gripper control reversing valve being connected to a gripper cylinder via a hydraulic lock, and the tilting motor control reversing valve being connected to a tilting motor; The tilting motor includes: a motor, and a balancing valve connected to the forward oil circuit and the reverse oil circuit of the motor, and a relief valve is further connected to the branch pipes of the forward oil circuit and the reverse oil circuit of the motor; The hydraulic lock is used to stabilize the pressure of the gripper cylinder, the balance valve is used to stabilize the speed of the flip arm when it falls after turning over the middle highest position, and the shuttle valve is used to feed back the load pressure signal to the hydraulic pump so that the hydraulic pump output meets the flow required by the gripper control reversing valve and the flip motor control reversing valve.

[0008] In a preferred embodiment of the present invention, the sensor group includes a pressure sensor 1 and a pressure sensor 2 mounted on the gripper cylinder, and a speed sensor for collecting operating parameters of the flip motor; Pressure sensor 1 and pressure sensor 2 measure the pressure values ​​of different cavities in the gripper cylinder respectively. A and P B The proportional solenoid controls the reversing valve of the gripper and the valve core displacement of the reversing valve of the flip motor to respectively control the gripper clamping, gripper release, flip motor forward flow regulation, and flip motor reverse flow regulation; the speed sensor is used to measure the angular velocity of the flip arm and angular displacement S.

[0009] In a preferred embodiment of the present invention, a method for controlling a grabbing, unloading, and flipping system of a flipping mechanism is implemented using the grabbing, unloading, and flipping system of the flipping mechanism, and the control method includes: Set the pressure values ​​of different ports of the gripper cylinder to P0 and P1, and the load-bearing flip speed of the flip motor , no-load flip speed , flip arm swing angle S, flip arm initial position angle S1, intermediate position angle S2, end position angle S3, approach margin ΔS, waiting position S0; Set the loading mode: Flipping the arm from the initial position angle S1 to the final position angle S3 is the loading process, and flipping from the final position angle S3 to the initial position angle S1 is the no-load process; Set the unloading mode, flip the arm from the end position angle S3 to the initial position angle S1 for the unloading process, and flip from the initial position angle S1 to the end position angle S3 for the no-load process; The loading process and the unloading process are both loaded processes.

[0010] In a preferred embodiment of the present invention, the initial state of the flip arm is in the waiting position S0, which is between S1 and S3; when the working mode is the loading mode, Y2 and Y4 of the proportional electromagnet are energized, and the flip arm flips from S0 to S1. When S=S1, Y1 and Y3 of the proportional electromagnet are energized and the flip arm flips from S1 to S3. When S=S3, Y2 and Y4 of the proportional electromagnet are energized again, and the flip arm flips from S3 to S0. When S=S When S=0, the flip arm returns to the waiting position to complete the loading process; when the working mode is the unloading mode, Y2 and Y3 of the proportional electromagnet are energized, and the flip arm flips from S0 to S3. When S=S3, Y1 and Y4 of the proportional electromagnet are energized, and the flip arm flips from S3 to S1. When S=S1, Y2 and Y3 of the proportional electromagnet are energized again, and the flip arm flips from S1 to S0. When S=S0, the flip arm returns to the waiting position to complete the unloading process.

[0011] In a preferred embodiment of the present invention, in the control method of the no-load process in the charging mode, Y2 is energized, and P A >P0, Y4 is energized and controls the current of Y4, so that the flip arm The speed turns to S1; during the loading process, Y1 is energized and waits for P B > P1, Y3 is energized and controls the current of Y3, causing the flip arm to The speed turns to S3; in the unloading mode, when the load is not in use, Y2 is energized and P A >P0, Y3 is energized and controls the current of Y3, so that the flip arm The speed turns to S3; during the loading process, Y1 is energized and waits for P B > P1, Y4 is energized and controls the current of Y4, causing the flip arm to The speed flips to S3, .

[0012] In a preferred embodiment of the present invention, the control method of the speed control logic includes: When the swing angle S of the tilting arm approaches S1, S3 in the positive direction or approaches S2 in both directions, that is, S-S1=ΔS, S-S2=ΔS, S-S3=ΔS, the controller outputs a control signal to control Y3 and Y4 of the proportional electromagnet and thereby adjusts the valve core opening of the tilting motor control reversing valve (108) to control the hydraulic oil flow input to the tilting motor and reduce the tilting speed of the tilting arm. , so that in the angular displacement of ΔS, the flipping speed of the flip arm is given by Reduce evenly to 0.

[0013] In a preferred embodiment of the present invention, the control method for forward approach comprises the following steps: When Y3 of the proportional electromagnet is energized, the flip motor rotates forward. At this time, the flip arm flips from S1 to S3. When S-S3=ΔS, it is called positive approach to S3; when Y4 of the proportional electromagnet D is energized, the flip motor rotates reversely. At this time, the flip arm flips from S3 to S1. When S-S1=ΔS, it is called positive approach to S1.

[0014] In a preferred embodiment of the present invention, in the detection feedback system, when the flipping mechanism actuator completes material placement or material grabbing and returns to the waiting position S0, a delay time t0 is set so that the flipping mechanism actuator automatically flips again after time t0.

[0015] In the detection feedback system, when the flipping mechanism actuator completes material placement or material grabbing and returns to the waiting position S0, a delay time t0 is set so that the flipping mechanism actuator automatically flips again after time t0.

[0016] The present invention solves the defects existing in the technical background, and the beneficial technical effects of the present invention are: The present invention provides a grabbing and unloading, turning system and grabbing and unloading, turning control method of a turning mechanism, which completes the corresponding action of the hydraulic control system by detecting the pressure of the clamping cylinder and the turning angular velocity and angular displacement of the turning arm, thereby improving the precise grabbing and unloading, stable placement, efficient and continuous, safe and reliable functions of the coal mining equipment in pushing materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and examples.

[0018] Figure 1 It is a logical diagram of the automatic flipping mechanism in a preferred embodiment of the present invention; Figure 2 This is a working principle diagram of the hydraulic control system in a preferred embodiment of the present invention; Figure 3 This is a working principle diagram of the detection feedback system in a preferred embodiment of the present invention; Figure 4 2 is a schematic structural diagram of a flip execution device in a preferred embodiment of the present invention; In the figure: 1. Hydraulic control system; 2. Detection and feedback system; 3. Flipping mechanism actuator; 101. Gripper cylinder; 102. Hydraulic lock; 103. Electric proportional reversing valve; 104. Gripper control reversing valve; 105. Hydraulic pump; 106. Hydraulic oil tank; 107. Shuttle valve; 108. Flipping motor control reversing valve; 109. Flipping motor; 110. Balance valve; 111. Overflow valve; 112. Motor; 201. Pressure sensor 1; 202. Pressure sensor 2; 203. Controller; 204. Proportional solenoid; 205. Speed ​​sensor; 301. Flipping motor mounting base; 302. Flipping arm; 303. Hanger rotating shaft; 304. Hanger; 305. Gripper cylinder connecting shaft; 306. Gripper; 307. Guide plate; 308. Positioning pin; 309. Bracket. DETAILED DESCRIPTION

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0020] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, bottom, top, etc.), the directional indications are only used to explain the relative positional relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. Unless otherwise clearly specified and defined, the terms "set", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a communication between the internal parts of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In the description of the present invention, it should be understood that the terms "middle", "between", "horizontal", "vertical", "positive", "upper", "lower", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Example 1

[0022] like Figure 1As shown, a grabbing, unloading and flipping system of a flipping mechanism includes: a detection and feedback system 2, and a hydraulic control system 1 and a flipping mechanism actuator 3 interconnected with the detection and feedback system 2; when an operation instruction is input, the hydraulic control system 1 starts to act, and adjusts or acts continuously under the automatic control and correction of the detection and feedback system 2, and finally controls the flipping mechanism actuator 3 to efficiently, continuously, safely and reliably complete the precise grabbing and stable placement of the propelled material.

[0023] like Figure 2 As shown, the hydraulic control system 1 includes a gripper cylinder 101, a hydraulic lock 102, an electric proportional directional control valve 103, a hydraulic pump 105, a hydraulic oil tank 106, and a tilting motor 109. The gripper cylinder 101 and the tilting motor 109 are connected to the hydraulic oil tank 106 via the hydraulic lock 102, the electric proportional directional control valve 103, and the hydraulic pump 105, respectively. Each component is connected via hydraulic piping. The electric proportional directional control valve 103 is a load-sensing valve and includes a gripper control directional control valve 104 and a tilting motor control directional control valve 108. The gripper control directional control valve 104 and the tilting motor control directional control valve 108 are connected to the hydraulic pump 105 via a shuttle valve 107. The gripper control directional control valve 104 is connected to the gripper cylinder 101 via the hydraulic lock 102, and the tilting motor control directional control valve 108 is connected to the tilting motor 109. Furthermore, the flipping motor 109 is a low-speed, high-torque motor, including a motor 112, and a balancing valve 110 connected to the forward oil circuit and reverse oil circuit of the motor 112. The branch pipes of the forward oil circuit and reverse oil circuit of the motor 112 are also connected to an overflow valve 111; wherein, the hydraulic pump 105 is a load-sensitive pump; the hydraulic lock 102 is used to stabilize the pressure of the gripper cylinder 101, and the balancing valve 110 is used to stabilize the speed of the flipping arm 302 when it falls after flipping over the middle highest position. The shuttle valve 107 is used to feed back the load pressure signal to the hydraulic pump 105, so that the hydraulic pump 105 outputs the flow required by the gripper control reversing valve 104 and the flipping motor control reversing valve 108.

[0024] Specifically, such as Figure 3 As shown, the detection and feedback system 2 includes a controller 203, which uses a sensor group to obtain the operating parameters of the gripper cylinder 101 and the tilting motor 109. The control end of the controller 203 is connected to the hydraulic control system 1 and the tilting mechanism actuator 3 via a proportional electromagnet 204. The sensor group includes pressure sensor 1 201 and pressure sensor 2 202 mounted on the gripper cylinder 101, as well as a speed sensor 205 for collecting the operating parameters of the tilting motor 109. These components are electrically connected. The controller 203 compares its internal set value with the data measured by pressure sensor 1 201, pressure sensor 2 202, and speed sensor 205, and controls the proportional electromagnet 204 to perform the corresponding action according to the following logic.

[0025] Specifically, the flip mechanism actuator 3 includes a flip motor mounting base 301, a flip arm 302, a hanger rotating shaft 303, a hanger 304, a gripper cylinder connecting shaft 305, a gripper 306, a guide plate 307, a positioning pin 308, and a bracket 309. The flip motor 109 is bolted to the flip motor mounting base 301. The hanger 304 is pin-connected to the flip arm 302 via the hanger rotating shaft 303. The gripper cylinder 101 is pin-connected to the gripper 306 via the gripper cylinder connecting shaft 305. The gripper 306 is pin-connected to the hanger 304.

[0026] In this embodiment, the gripper control reversing valve 104 and the tilting motor control reversing valve 108 are electrically connected to the controller 203 via electromagnets Y1, Y2, Y3, and Y4. The hydraulic lock 102 maintains stable pressure in the large and small chambers of the gripper cylinder 101 when gripping or releasing materials. The balancing valve 110 maintains a stable speed when the tilting boom 302 descends after passing the intermediate highest position. The shuttle valve 107 feeds back the load pressure signal to the hydraulic pump 105, enabling it to output the required flow rate of the gripper control reversing valve 104 and the tilting motor control reversing valve 108, thereby achieving stable control of the tilting speed of the tilting boom 302. Furthermore, the gripper control reversing valve 104 and the tilting motor control reversing valve 108 compare the load pressure across the shuttle valve 107 through the internal oil circuit of the electric proportional reversing valve 103, ultimately drawing high-pressure oil through the Ls port of the electric proportional reversing valve 103 and feeding it back to the X port of the hydraulic pump 105.

[0027] In this embodiment, the pressure sensor 1 201 and the pressure sensor 2 202 respectively measure the pressure values ​​of different cavities in the gripper cylinder 101, which are P and A and P B The proportional solenoid 204 controls the gripper control reversing valve 104 and the flip motor controls the valve core displacement of the reversing valve 108 to respectively control the gripper 306 clamping, the gripper 306 release, the flip motor 109 forward flow regulation, and the flip motor 109 reverse flow regulation; the speed sensor 205 is used to measure the angular velocity of the flip arm 302 and angular displacement S. Example 2

[0028] Based on the first embodiment, the electric proportional reversing valve 103 can be a conventional electric proportional reversing valve. The specific models selected are not detailed here. As long as the basic functions of the electric proportional reversing valve 103 in this embodiment are basically achieved, it is sufficient. Specifically, the load oil of the gripper control reversing valve 104 and the tilting motor control reversing valve 108 are compared through the corresponding shuttle valves 107, and the load oil pressure signal is finally fed back to the hydraulic pump 105. The gripper control reversing valve 104 and the tilting motor control reversing valve 108 each include a working oil port, which is connected to the corresponding port of the corresponding shuttle valve 107. The inner cavities of the two working oil ports of the control reversing valves of the gripper control reversing valve 104 and the tilting motor control reversing valve 108 are respectively connected to the inner cavities on both sides of the valve core in the valve seat of the corresponding shuttle valve 107. When the gripper control reversing valve 104 and the tilt motor control reversing valve 108 operate, the pressure oil at their oil ports can be transferred to both sides of the shuttle valve 107 spool, thereby affecting the operating state of the shuttle valve 107. In the electro-proportional reversing valve 103, the shuttle valve 107 compares the pressures from the working oil ports of the two control reversing valves. When one of the gripper control reversing valve 104 or the tilt motor control reversing valve 108 operates, causing the pressure in the corresponding working oil port to increase, the corresponding shuttle valve 107 connects the higher-pressure oil circuit to the load feedback circuit, feeding the load pressure signal back to the hydraulic control system 1, thereby implementing load-sensitive control. Load changes are transmitted to the corresponding shuttle valve 107 through the pressure changes in the working oil ports of the gripper control reversing valve 104 or the tilt motor control reversing valve 108. The shuttle valve 107 then transmits the corresponding pressure signal to the load feedback circuit, enabling the hydraulic control system 1 to adjust the oil supply pressure and flow rate according to the load conditions, improving system efficiency and performance. Example 3

[0029] A bracket 309 is also mounted on one side of the flipping mechanism actuator 3. A guide plate 307 and a positioning pin 308 are mounted on the bracket 309. The bracket 309 carries the propelled material. The guide plate 307 has a wide, outward-expanding opening, facilitating the placement of a loaded pallet onto the bracket 309. The pallet's bottom is provided with a pinhole that mates with the positioning pin 308. The guide plate 307 and positioning pin 308 guide and secure the propelled material during placement, ensuring a more accurate and stable placement of the material, facilitating precise grasping by the gripper of the flipping mechanism actuator. Example 4

[0030] A method for controlling a gripping and unloading system of a flipping mechanism is implemented by using the gripping and unloading system of the flipping mechanism of embodiment 1 or embodiment 2. The control method includes: setting the set pressure values ​​of different cavities of the gripper cylinder to P0 and P1, and the flipping speed of the flipping motor under load to , no-load flip speed , flip arm swing angle S, flip arm initial position angle S1, intermediate position angle S2, end position angle S3, approach margin ΔS, waiting position S0; Set the loading mode: Flipping the arm from the initial position angle S1 to the final position angle S3 is the loading process, and flipping from the final position angle S3 to the initial position angle S1 is the no-load process; Set the unloading mode, flip the arm from the end position angle S3 to the initial position angle S1 for the unloading process, and flip from the initial position angle S1 to the end position angle S3 for the no-load process; The loading process and the unloading process are both loaded processes.

[0031] Specifically, in the initial state, the flip arm is in the waiting position S0, which is between S1 and S3; when the working mode is the loading mode, the electromagnet Y2 and the electromagnet Y4 of the proportional electromagnet are energized, and the flip arm flips from S0 to S1. When S=S1, the electromagnet Y1 and the electromagnet Y3 of the proportional electromagnet are energized and the flip arm flips from S1 to S3. When S=S3, the electromagnet Y2 and the electromagnet Y4 of the proportional electromagnet are energized again, and the flip arm flips from S3 to S0. When S=S0, the flip arm The arm returns to the waiting position to complete the loading process; when the working mode is the unloading mode, the electromagnet Y2 and electromagnet Y3 of the proportional electromagnet are energized, and the flip arm flips from S0 to S3. When S=S3, the electromagnet Y1 and electromagnet Y4 of the proportional electromagnet are energized, and the flip arm flips from S3 to S1. When S=S1, the electromagnet Y2 and electromagnet Y3 of the proportional electromagnet are energized again, and the flip arm flips from S1 to S0. When S=S0, the flip arm returns to the waiting position to complete the unloading process.

[0032] Specifically, in the control method of the no-load process in the charging mode, Y2 is energized and waits for P A >P0, the electromagnet Y4 is energized and the current of the electromagnet Y4 is controlled to flip the arm to The speed turns to S1; during the loading process, the electromagnet Y1 is energized and waits for P B > P1, the electromagnet Y3 is energized and controls the current of the electromagnet Y3, causing the arm to flip. The speed turns to S3; in the unloading mode, during the no-load process, the electromagnet Y2 is energized, and P A >P0, the electromagnet Y3 is energized and the current of the electromagnet Y3 is controlled to make the arm flip. The speed turns to S3; during the loading process, the electromagnet Y1 is energized and waits for P B >P1, the electromagnet Y4 is energized and controls the current of the electromagnet Y4, causing the arm to flip. The speed flips to S3, .

[0033] Specifically, the control method of the speed control logic includes: When the swing angle S of the flip arm approaches S1, S3 in the positive direction or approaches S2 in both directions, that is, S-S1=ΔS, S-S2=ΔS, S-S3=ΔS, the controller outputs a control signal to control the electromagnet Y3 and electromagnet Y4 of the proportional electromagnet, thereby adjusting the valve core opening of the flip motor control reversing valve to control the hydraulic oil flow input to the flip motor and reduce the flip speed of the flip arm. , so that in the angular displacement of ΔS, the flipping speed of the flip arm is given by Reduce evenly to 0.

[0034] Specifically, the forward approach control method includes the following steps: When electromagnet Y3 of the proportional electromagnet is energized, the flip motor rotates forward. At this time, the flip arm flips from S1 to S3. When S-S3=ΔS, it is called positive approach to S3; when electromagnet Y4 of the proportional electromagnet D is energized, the flip motor rotates reversely. At this time, the flip arm flips from S3 to S1. When S-S1=ΔS, it is called positive approach to S1.

[0035] Specifically, in the detection feedback system, when the flip mechanism execution device completes material placement or material grabbing and returns to the waiting position S0, a delay time t0 is set so that the flip mechanism execution device automatically flips again after time t0. Example 5

[0036] A control method for a grabbing, unloading, and flipping system of a flipping mechanism is implemented using the grabbing, unloading, and flipping system of the flipping mechanism of embodiment 1 or embodiment 2. The control method includes: Logic 1, the controller 203 defines the electromagnet Y1, electromagnet Y2, electromagnet Y3, and electromagnet Y4 of the proportional electromagnet 204 as follows: when electromagnet Y1 is energized, the gripper 306 is clamped; when electromagnet Y2 is energized, the gripper 306 is released; when electromagnet Y3 is energized, the flip motor 109 rotates forward; when electromagnet Y4 is energized, the flip motor 109 rotates reversely.

[0037] Logic 2: The controller 203 can set the pressure P0 and P1 of the A and B ports of the gripper cylinder 101 and the load turning speed of the turning motor 109. , no-load flip speed , the swing angle S of the flip arm 302, and the initial position angle S1, intermediate position angle S2, terminal position angle S3, approach margin ΔS, and waiting position S0 of the flip arm 302 can be set and stored.

[0038] Logic three: The controller 203 can store two operating modes, namely, loading mode and unloading mode. In loading mode, the tilting arm 302 tilts from the initial position angle S1 to the final position angle S3 for loading, and from the final position angle S3 to the initial position angle S1 for unloading. In unloading mode, the tilting arm 302 tilts from the final position angle S3 to the initial position angle S1 for unloading, and from the initial position angle S1 to the final position angle S3 for unloading. Both loading and unloading processes are loaded processes.

[0039] Logic 4: In the initial state, the flip arm 302 is in the waiting position S0, which is between S1 and S3; when the working mode is the loading mode, the electromagnet Y2 and the electromagnet Y4 of the proportional electromagnet 204 are energized, and the flip arm 302 flips from S0 to S1. When S=S1, the electromagnet Y1 and the electromagnet Y3 of the proportional electromagnet 204 are energized, and the flip arm 302 flips from S1 to S3. When S=S3, the electromagnet Y2 and the electromagnet Y4 of the proportional electromagnet 204 are energized again, and the flip arm 302 flips from S3 to S0. When S=S0, the flip arm 3 02 returns to the waiting position to complete a loading process; when the working mode is the unloading mode, the electromagnet Y2 and electromagnet Y3 of the proportional electromagnet 204 are energized, and the flip arm 302 flips from S0 to S3. When S=S3, the electromagnet Y1 and electromagnet Y4 of the proportional electromagnet 204 are energized, and the flip arm 302 flips from S3 to S1. When S=S1, the electromagnet Y2 and electromagnet Y3 of the proportional electromagnet 204 are energized again, and the flip arm 302 flips from S1 to S0. When S=S0, the flip arm 302 returns to the waiting position to complete a unloading process.

[0040] Logic 5: In the loading mode, during the no-load process, the electromagnet Y2 is energized and waits for After that, the electromagnet Y4 is energized and the current of the electromagnet Y4 is controlled to turn the arm 302 to The speed turns to S1; during the loading process, the electromagnet Y1 is energized and waits After that, the electromagnet Y3 is energized and controls the current of the electromagnet Y3, so that the arm 302 is turned over. The speed turns to S3; in the unloading mode, during the no-load process, the electromagnet Y2 is energized and waits After that, the electromagnet Y3 is energized and the current of the electromagnet Y3 is controlled to turn the arm 302 to The speed turns to S3; during the loading process, the electromagnet Y1 is energized and waits After that, the electromagnet Y4 is energized and controls the current of the electromagnet Y4, so that the arm 302 is turned over. The speed flips to S3, .

[0041] Logic 6: When the swing angle S of the tilt arm 302 approaches S1, S3 in the positive direction or approaches S2 in both directions, that is, S-S1=ΔS, S-S2=ΔS, S-S3=ΔS, the controller 203 outputs a control signal to control the electromagnets Y3 and Y4 of the proportional electromagnet 204, thereby adjusting the valve core opening of the tilt motor control reversing valve 108, thereby controlling the hydraulic oil flow input to the tilt motor 109, and reducing the tilting speed of the tilt arm 302. , so that in the angular displacement of ΔS, the flipping speed of the flip arm 302 is Reduce evenly to 0.

[0042] Logic seven, when electromagnet Y3 of proportional electromagnet 204 is energized, flip motor 109 rotates forward, and at this time, flip arm 302 flips from S1 to S3. When S-S3=ΔS, it is called forward approach to S3; when electromagnet Y4 of proportional electromagnet 204 is energized, flip motor 109 rotates reversely. At this time, flip arm 302 flips from S3 to S1. When S-S1=ΔS, it is called forward approach to S1.

[0043] Logic eight: when the flipping mechanism execution device 3 completes pushing the material placement or pushing the material grabbing and returns to the waiting position S0, a delay time t0 is set so that the flipping mechanism execution device 3 automatically flips again after time t0.

[0044] like Figure 4 As shown, the flip motor mounting base 301 in the flip mechanism actuator 3 is used to fix the flip motor 109. The flipping of the flip motor 109 drives the flip arm 302 to flip. The hanger 304 follows the flip arm 302 to flip through the hanger rotating shaft 303, and always remains vertically downward. The gripper cylinder 101 is connected to the gripper 306 pin shaft through the gripper cylinder connecting shaft 305. When the gripper cylinder 101 is extended or retracted, the gripper 306 swings around the fixed shaft connected to the hanger 304, thereby completing the grabbing and releasing of the propelled material; wherein the bracket 309 has a structural design of a guide plate 307 and a positioning pin 308, which can realize precise positioning when the propelled material is placed.

[0045] Working principle: The present invention provides a grabbing and unloading, turning system and grabbing and unloading, turning control method of a turning mechanism, which completes the corresponding action of the hydraulic control system by detecting the pressure of the clamping cylinder and the turning angular velocity and angular displacement of the turning arm, thereby improving the precise grabbing and unloading, stable placement, efficient and continuous, safe and reliable functions of the coal mining equipment in pushing materials.

[0046] The above specific implementation methods are specific support for the scheme ideas proposed in the present invention, and cannot be used to limit the scope of protection of the present invention. Any equivalent changes or equivalent modifications made on the basis of this technical scheme in accordance with the technical ideas proposed in the present invention still fall within the scope of protection of the technical scheme of the present invention.

Claims

1. A grabbing, unloading and turning system of a turning mechanism, characterized in that: include: A detection and feedback system (2), and a hydraulic control system (1) and a turning mechanism actuator (3) interconnected with the detection and feedback system (2); The hydraulic control system (1) comprises: a gripper cylinder (101) and a tilting motor (109); the gripper cylinder (101) and the tilting motor (109) are respectively connected to a hydraulic oil tank (106) via a hydraulic lock (102), an electric proportional reversing valve (103), and a hydraulic pump (105); The detection feedback system (2) includes: a controller (203), wherein the controller (203) obtains the operating parameters of the gripper cylinder (101) and the flip motor (109) respectively through a sensor group, and the control end of the controller (203) is respectively connected to the hydraulic control system (1) and the flip mechanism actuator (3) through a proportional electromagnet (204), and the flip mechanism actuator (3) is also connected to the flip motor (109).

2. The grabbing, unloading and turning system of the turning mechanism according to claim 1, characterized in that: The flip mechanism execution device (3) includes a flip motor mounting seat (301), a flip arm (302), a hanger rotating shaft (303), a hanger (304), a gripper oil cylinder connecting shaft (305), and a gripper (306); The turning motor (109) is fixed to the turning motor mounting base (301) by bolts, the hanger (304) is connected to the turning arm (302) by a pin through the hanger rotating shaft (303), the gripper cylinder (101) is connected to the gripper (306) by a pin through the gripper cylinder connecting shaft (305), and the gripper (306) is connected to the hanger (304) by a pin.

3. The grabbing, unloading and turning system of the turning mechanism according to claim 2, characterized in that: The electric proportional reversing valve (103) includes: a gripper control reversing valve (104) and a reversing motor control reversing valve (108); the gripper control reversing valve (104) and the reversing motor control reversing valve (108) are connected to a hydraulic pump (105) via a shuttle valve (107); the gripper control reversing valve (104) is connected to a gripper oil cylinder (101) via a hydraulic lock (102); and the reversing motor control reversing valve (108) is connected to a reversing motor (109); The tilting motor (109) includes: a motor (112), and a balancing valve (110) connected to the forward oil circuit and the reverse oil circuit of the motor (112); and a relief valve (111) is further connected to the branch pipes of the forward oil circuit and the reverse oil circuit of the motor (112); The hydraulic lock (102) is used to stabilize the pressure of the gripper cylinder (101), the balance valve (110) is used to stabilize the speed of the flip arm (302) when it falls after flipping over the middle highest position, and the shuttle valve (107) is used to feed back the load pressure signal to the hydraulic pump (105), so that the hydraulic pump (105) outputs the flow rate required by the gripper control reversing valve (104) and the flip motor control reversing valve (108).

4. The grabbing, unloading and turning system of the turning mechanism according to claim 3, characterized in that: The sensor group includes a pressure sensor 1 (201) and a pressure sensor 2 (202) installed on the gripper cylinder (101), and a speed sensor (205) for collecting operating parameters of the flip motor (109); Pressure sensor 1 (201) and pressure sensor 2 (202) respectively measure the pressure values ​​of different cavities in the gripper cylinder (101) as P A and P B The proportional electromagnet (204) controls the displacement of the valve core of the reversing valve (104) and the reversing valve (108) to control the gripper (306) clamping, the gripper (306) loosening, the forward flow regulation of the reversing motor (109), and the reverse flow regulation of the reversing motor (109); the speed sensor (205) is used to measure the angular velocity of the reversing arm (302). and angular displacement S.

5. A method for controlling the grabbing, unloading and turning system of a turning mechanism, characterized in that: The grabbing, unloading and flipping system of the flipping mechanism according to any one of claims 1 to 4 is implemented, and the control method includes: The setting pressure values ​​of different cavities of the gripper oil cylinder (101) are set to P0 and P1, and the load turning speed of the turning motor (109) is set to , no-load flip speed , the swing angle S of the flip arm (302), the initial position angle S1, the intermediate position angle S2, the final position angle S3, the approach margin ΔS, and the waiting position S0 of the flip arm (302); Setting the loading mode: the arm (302) is turned from the initial position angle S1 to the final position angle S3 for the loading process, and from the final position angle S3 to the initial position angle S1 for the unloading process; Setting the unloading mode, the turning arm (302) turns from the end position angle S3 to the initial position angle S1 for the unloading process, and turns from the initial position angle S1 to the end position angle S3 for the no-load process; The loading process and the unloading process are both loaded processes.

6. The control method of the grabbing, unloading and turning system of the turning mechanism according to claim 5, characterized in that: In the initial state, the flip arm (302) is in the waiting position S0, which is between S1 and S3; when the working mode is the loading mode, Y2 and Y4 of the proportional electromagnet (204) are energized, and the flip arm (302) flips from S0 to S1. When S=S1, Y1 and Y3 of the proportional electromagnet (204) are energized, and the flip arm (302) flips from S1 to S3. When S=S3, Y2 and Y4 of the proportional electromagnet (204) are energized again, and the flip arm (302) flips from S3 to S0. When S=S0, the flip arm (3 02) returns to the waiting position to complete the loading process; when the working mode is the unloading mode, Y2 and Y3 of the proportional electromagnet (204) are energized, and the flip arm (302) flips from S0 to S3. When S=S3, Y1 and Y4 of the proportional electromagnet (204) are energized, and the flip arm (302) flips from S3 to S1. When S=S1, Y2 and Y3 of the proportional electromagnet (204) are energized again, and the flip arm (302) flips from S1 to S0. When S=S0, the flip arm (302) returns to the waiting position to complete the unloading process.

7. The control method of the grabbing, unloading and turning system of the turning mechanism according to claim 6, characterized in that: In the control method of no-load process in the loading mode, Y2 is energized and waits for P A After P0, Y4 is powered and the current of Y4 is controlled to turn the upper arm (302) to The speed turns to S1; during the loading process, Y1 is energized and waits for P B >P1, Y3 is energized and controls the current of Y3, so that the flip arm (302) The speed turns to S3; in the unloading mode, when the load is not in use, Y2 is energized and P A After P0, Y3 is powered and the current of Y3 is controlled to turn the upper arm (302) to The speed turns to S3; during the loading process, Y1 is energized and waits for P B >P1, Y4 is energized and controls the current of Y4, so that the flip arm (302) The speed flips to S3, .

8. The control method of the grabbing, unloading and turning system of the turning mechanism according to claim 7, characterized in that: The control methods of speed control logic include: When the swing angle S of the tilting arm (302) approaches S1, S3 in the positive direction or approaches S2 in both directions, that is, S-S1=ΔS, S-S2=ΔS, S-S3=ΔS, the controller (203) outputs a control signal to control Y3 and Y4 of the proportional electromagnet (204) and thereby adjusts the valve core opening of the tilting motor control reversing valve (108) to control the hydraulic oil flow input to the tilting motor (109), thereby reducing the tilting speed of the tilting arm (302). , so that in the angular displacement of ΔS, the flipping speed of the flip arm (302) is given by Reduce evenly to 0.

9. The control method of the grabbing, unloading and turning system of the turning mechanism according to claim 8, characterized in that: The control method of forward approach includes the following steps: When Y3 of the proportional electromagnet (204) is energized, the flip motor (109) rotates forward, and the flip arm (302) flips from S1 to S3. When S-S3=ΔS, it is called positive approach to S3. When Y4 of the proportional electromagnet (204) D is energized, the flip motor (109) rotates reversely. When the flip arm (302) flips from S3 to S1, and when S-S1=ΔS, it is called positive approach to S1.

10. The control method of the grabbing, unloading and turning system of the turning mechanism according to claim 9, characterized in that: In the detection feedback system (2), when the flip mechanism execution device (3) completes material placement or material grabbing and returns to the waiting position S0, a delay time t0 is set so that the flip mechanism execution device (3) automatically flips again after time t0.

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