A grabbing and overturning system of a turnover mechanism and a grabbing and overturning control method thereof

Abstract

The application discloses a kind of overturning mechanism's grab, overturning system, comprising: detection feedback system, and with the detection feedback system interconnection's hydraulic control system and overturning mechanism execution device;The hydraulic control system includes: gripper oil cylinder and overturning motor, gripper oil cylinder and overturning motor are connected by hydraulic lock, electric proportional reversing valve, hydraulic pump and hydraulic oil tank respectively;The detection feedback system includes: controller, and the controller obtains the operating parameter of gripper oil cylinder and overturning motor by sensor group respectively, and the control end of the controller is respectively connected with the hydraulic control system and overturning mechanism execution device control by proportional electromagnet.The application discloses a kind of overturning mechanism's grab, overturning system and its grab, overturning control method, improves the precise grab of coal mining equipment propulsion material, stable placement, efficient continuous, safe and reliable function.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment technology, particularly the field of coal mining equipment, and specifically to a grabbing and unloading, and tilting system of a tilting mechanism, and a grabbing and unloading, and tilting control method thereof. Background Technology

[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 technologies have developed open-pit mine sidewall coal mining equipment. Developing sidewall mining technology helps improve resource recovery rates. However, as the depth of open-pit mining increases, the horizontal depth of coal buried under the sidewalls at the bottom of the pit also increases. At deeper depths, it is necessary to frequently increase the amount of material being fed to advance the cutting head.

[0003] This also increases the labor intensity of staff, leading to low efficiency in loading and unloading materials and difficulties in placing and positioning materials. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art and provides a grabbing and unloading, and flipping system of a flipping mechanism and its grabbing and unloading, and flipping control method, which improves the functions of precise grabbing and unloading, stable placement, high efficiency and continuity, and safety and reliability of coal mining equipment for advancing materials.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a gripping and flipping system for a flipping mechanism, comprising: a detection feedback system, and a hydraulic control system and a flipping mechanism execution device interconnected with the detection feedback system; The hydraulic control system includes: a gripper cylinder and a tilting motor, which are connected to the hydraulic oil tank via a hydraulic lock, an electro-proportional directional valve, and a hydraulic pump, respectively. The detection feedback system includes a controller, which acquires the operating parameters of the gripper cylinder and the tilting motor through a sensor group. The controller's control terminal is connected to the hydraulic control system and the tilting mechanism actuator through a proportional electromagnet. The tilting mechanism actuator is also connected to the tilting motor.

[0006] In a preferred embodiment of the present invention, the flipping mechanism actuator includes a flipping motor mounting base, a flipping boom, a hanger rotating shaft, a hanger, a gripper cylinder connecting shaft, and a gripper; The tilting motor is fixed to the tilting motor mounting base by bolts. The hanger is connected to the tilting boom pin through the hanger rotation shaft. The gripper cylinder is connected to the gripper pin through the gripper cylinder connecting shaft. The gripper is connected to the hanger through the pin.

[0007] In a preferred embodiment of the present invention, the electro-proportional directional valve includes: a gripper-controlled directional valve and a tilting motor-controlled directional valve, the gripper-controlled directional valve and the tilting motor-controlled directional valve being connected to a hydraulic pump via a shuttle valve; the gripper-controlled directional valve is connected to a gripper cylinder via a hydraulic lock, and the tilting motor-controlled directional valve is connected to a tilting motor; The reversing motor includes: a motor, and a balance valve connected to the forward oil circuit and the reverse oil circuit of the motor, wherein an overflow valve is also 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 and maintain the speed of the tilting boom when it falls after it has flipped over to the highest position in the middle, and the shuttle valve is used to feed back the load pressure signal to the hydraulic pump so that the hydraulic pump outputs the flow required by the gripper control directional valve and the tilting motor control directional 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 tilting motor. Pressure sensor 1 and pressure sensor 2 respectively measure the pressure values ​​P at different chambers in the gripper cylinder. A and P B The gripper is controlled by a proportional electromagnet, which controls the directional valve. The tilting motor controls the valve core displacement, which in turn controls gripper clamping, gripper release, and the forward and reverse flow regulation of the tilting motor. A speed sensor measures the angular velocity of the tilting boom. And angular displacement S.

[0009] In a preferred embodiment of the present invention, a control method for a gripping and flipping system of a flipping mechanism is provided, which is implemented using a gripping and flipping system of a flipping mechanism. The control method includes: The set pressure values ​​for different chambers of the gripper cylinder are P0 and P1, and the tilting motor's tilting speed under load is... No-load overturning speed 1. Rotate the boom swing angle S, the initial position angle S1, the intermediate position angle S2, the final position angle S3, the approach margin ΔS, and the waiting position S0. Setting the loading mode: The boom rotates from the initial position angle S1 to the end position angle S3 to perform the loading process, and rotates from the end position angle S3 to the initial position angle S1 to perform the no-load process. Set the unloading mode. The boom rotates from the end position angle S3 to the initial position angle S1 to unload the material, and rotates from the initial position angle S1 to the end position angle S3 to unload the no-load process. Both the loading and unloading processes are carried out under load.

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

[0011] In a preferred embodiment of the present invention, the control method during the no-load process in the loading mode is as follows: Y2 is energized, and P... A After P0, Y4 is energized, and the current of Y4 is controlled to cause the boom to rotate. The speed is reversed towards S1; during the loading process, Y1 is energized, waiting for P to... B After P1, Y3 is energized and its current is controlled, causing the boom to rotate. The speed is reversed towards S3; in unloading mode, during the no-load process, Y2 is energized, waiting for P A After P0, Y3 is energized, and the current in Y3 is controlled to cause the boom to rotate. The speed is reversed towards S3; during the loading process, Y1 is energized, waiting for P to... B After P1, Y4 is energized and its current is controlled, causing the boom to rotate. The speed flips towards 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 boom approaches S1 or S3 in the positive direction or approaches S2 in both directions, i.e., S-S1=ΔS, S-S2=ΔS, S-S3=ΔS, the controller outputs a control signal to control the proportional electromagnets Y3 and Y4, thereby adjusting the valve core opening of the tilting motor control directional valve (108) to control the hydraulic oil flow into the tilting motor and reduce the tilting speed of the tilting boom. This causes the tilting speed of the boom to change from a value of ΔS during the angular displacement. The concentration decreased evenly to 0.

[0013] In a preferred embodiment of the present invention, the forward proximity control method includes the following steps: When the proportional electromagnet Y3 is energized, the reversing motor rotates forward. At this time, the reversing arm rotates from S1 to S3. When S-S3=ΔS, it is called the forward approach to S3. When the proportional electromagnet D Y4 is energized, the reversing motor rotates in reverse. At this time, the reversing arm rotates from S3 to S1. When S-S1=ΔS, it is called the forward approach to S1.

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

[0016] This invention addresses the deficiencies in the technical background, and the beneficial technical effects of this invention are: The present invention discloses a gripping and unloading, and tilting system and its gripping and unloading, and tilting control method for a tilting mechanism. By detecting the pressure of the clamping cylinder and the tilting angular velocity and angular displacement of the tilting boom, the corresponding actions of the hydraulic control system are completed, which improves the functions of precise gripping and unloading, stable placement, high efficiency and continuity, and safety and reliability of coal mining equipment for pushing materials. Attached Figure Description

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

[0018] Figure 1 This is a logic diagram of the automatic flipping mechanism in a preferred embodiment of the present invention; Figure 2 This is a schematic diagram of the working principle of the hydraulic control system in a preferred embodiment of the present invention; Figure 3 This is a schematic diagram of the working principle of the detection feedback system in a preferred embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the flipping actuator in a preferred embodiment of the present invention; In the diagram: 1. Hydraulic control system; 2. Detection feedback system; 3. Tilting mechanism actuator; 101. Grip cylinder; 102. Hydraulic lock; 103. Electro-proportional directional valve; 104. Grip control directional valve; 105. Hydraulic pump; 106. Hydraulic oil tank; 107. Shuttle valve; 108. Tilting motor control directional valve; 109. Tilting motor; 110. Balance valve; 111. Relief valve; 112. Motor; 201. Pressure sensor one; 202. Pressure sensor two; 203. Controller; 204. Proportional electromagnet; 205. Speed ​​sensor; 301. Tilting motor mounting base; 302. Tilting boom; 303. Lifting frame rotation shaft; 304. Lifting frame; 305. Grip cylinder connecting shaft; 306. Grip; 307. Guide plate; 308. Positioning pin; 309. Bracket. Detailed Implementation

[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, which are only used to illustrate the basic structure of the present invention and therefore only show the components relevant to the present invention.

[0020] It should be noted that if directional indicators (such as up, down, bottom, top, etc.) are involved in the embodiments of the present invention, these directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of that feature. Unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in the present invention can be understood according to the specific circumstances.

[0021] In the description of this invention, it should be understood that the terms "middle", "between", "horizontal", "vertical", "positive", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Example 1

[0022] like Figure 1As shown, a gripping and flipping system for a flipping mechanism includes: a detection feedback system 2, a hydraulic control system 1 interconnected with the detection feedback system 2, and a flipping mechanism actuator 3; when an operation command is input, the hydraulic control system 1 starts to operate, and adjusts or operates continuously under the automatic control and correction of the detection feedback system 2, ultimately controlling the flipping mechanism actuator 3 to efficiently, continuously, safely and reliably complete the precise gripping and stable placement of the material being pushed.

[0023] like Figure 2 As shown, the hydraulic control system 1 includes a gripper cylinder 101, a hydraulic lock 102, an electro-proportional directional 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 electro-proportional directional valve 103, and the hydraulic pump 105, respectively. All components are connected via hydraulic pipelines. The electro-proportional directional valve 103 is a load-sensitive valve, including a gripper control directional valve 104 and a tilting motor control directional valve 108. The gripper control directional valve 104 and the tilting motor control directional valve 108 are connected to the hydraulic pump 105 via a shuttle valve 107. The gripper control directional valve 104 is connected to the gripper cylinder 101 via the hydraulic lock 102, and the tilting motor control directional valve 108 is connected to the tilting motor 109. Furthermore, the tilting motor 109 is a low-speed, high-torque motor, including a motor 112 and a balance valve 110 connected to the forward and reverse oil circuits of the motor 112. A relief valve 111 is also connected to the branch pipes of the forward and reverse oil circuits of the motor 112. The hydraulic pump 105 is a load-sensitive pump. The hydraulic lock 102 is used to stabilize the pressure of the gripper cylinder 101. The balance valve 110 is used to stabilize and maintain the speed of the tilting boom 302 when it falls after it has flipped past the 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 rate required by the gripper control directional valve 104 and the tilting motor control directional valve 108.

[0024] Specifically, such as Figure 3 As shown, the detection feedback system 2 includes a controller 203. The controller 203 acquires the operating parameters of the gripper cylinder 101 and the tilting motor 109 through a sensor group. The control terminal of the controller 203 is connected to the hydraulic control system 1 and the tilting mechanism actuator 3 through a proportional electromagnet 204. The sensor group includes a pressure sensor 201 and a pressure sensor 202 installed on the gripper cylinder 101, and a speed sensor 205 for acquiring the operating parameters of the tilting motor 109. All components are electrically connected. The controller 203 compares the internal set value with the data measured by the pressure sensor 201, pressure sensor 202, and speed sensor 205, and controls the proportional electromagnet 204 to complete the corresponding action according to the following logic.

[0025] Specifically, the tilting mechanism actuator 3 includes a tilting motor mounting base 301, a tilting boom 302, a hanger rotation 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 tilting motor 109 is fixed to the tilting motor mounting base 301 by bolts. The hanger 304 is connected to the tilting boom 302 by a pin through the hanger rotation shaft 303. The gripper cylinder 101 is connected to the gripper 306 by a pin through the gripper cylinder connecting shaft 305. The gripper 306 is connected to the hanger 304 by a pin.

[0026] In this embodiment, the gripper control directional valve 104 and the tilting motor control directional valve 108 are electrically connected to the controller 203 via electromagnets Y1, Y2, Y3, and Y4. The hydraulic lock 102 maintains stable pressure in both the large and small chambers of the gripper cylinder 101 when gripping or releasing material. The balance valve 110 maintains stable speed when the tilting boom 302 falls after passing its highest intermediate position. The shuttle valve 107 feeds back the load pressure signal to the hydraulic pump 105, enabling it to output the required flow rate from the gripper control directional valve 104 and the tilting motor control directional valve 108, thereby achieving stable control of the tilting speed of the tilting boom 302. Furthermore, the gripper control directional valve 104 and the tilting motor control directional valve 108 compare the load pressure at both ends of the shuttle valve 107 via the internal oil circuit of the electro-proportional directional valve 103, and finally lead out high-pressure oil through the Ls port of the electro-proportional directional valve 103 and feed it back to the X port of the hydraulic pump 105.

[0027] In this embodiment, pressure sensor 201 and pressure sensor 202 respectively measure the pressure values ​​P at different chambers in the gripper cylinder 101. A and P B The proportional electromagnet 204 controls the gripper to control the reversing valve 104, and the tilting motor controls the valve core displacement of the reversing valve 108, which in turn controls the gripper 306 to clamp, the gripper 306 to release, and the tilting motor 109 to adjust the flow rate in both forward and reverse directions. The speed sensor 205 is used to measure the angular velocity of the tilting boom 302. And angular displacement S. Example 2

[0028] Based on Embodiment 1, the electro-proportional directional valve 103 can be any existing electro-proportional directional valve. Specific models will not be detailed or listed here, as long as they can basically achieve the basic functions required by the electro-proportional directional valve 103 in this embodiment. Specifically, the load oil of the gripper control directional valve 104 and the tilting motor control directional valve 108 is compared through corresponding shuttle valves 107, and the load oil pressure signal is finally fed back to the hydraulic pump 105. The gripper control directional valve 104 and the tilting motor control directional valve 108 each include a working port, which is connected to the corresponding port of the shuttle valve 107. The inner cavities of the two working ports of the control directional valves of the gripper control directional valve 104 and the tilting motor control directional valve 108 are respectively connected to the inner cavities on both sides of the valve core inside the valve seat of the corresponding shuttle valve 107. When the gripper control directional valve 104 and the tilting motor control directional valve 108 are working, the pressure oil at their ports can be transmitted to both sides of the valve core of the shuttle valve 107, thus affecting the working state of the shuttle valve 107. In the electro-proportional directional valve 103, the shuttle valve 107 compares the pressure from the working ports of the two control directional valves. When one of the control directional valves, the gripper control directional valve 104 and the tilting motor control directional valve 108, is working, causing the pressure at the corresponding working port to increase, the corresponding shuttle valve 107 will connect the higher-pressure oil circuit to the load feedback oil circuit, feeding back the load pressure signal to the hydraulic control system 1 to achieve load-sensitive control. Load changes are transmitted to the corresponding shuttle valve 107 through the pressure changes at the working ports of the gripper control directional valve 104 and the tilting motor control directional valve 108. The shuttle valve 107 then transmits the corresponding pressure signal to the load feedback oil circuit, enabling the hydraulic control system 1 to adjust the oil supply pressure and flow according to the load conditions, improving the system's efficiency and performance. Example 3

[0029] A bracket 309 is also provided on one side of the flipping mechanism actuator 3. The bracket 309 is equipped with a guide plate 307 and a positioning pin 308. The bracket 309 supports the material being pushed. The guide plate 307 has a wide-opening structure that expands outwards from the top, facilitating the guidance and placement of the pallet loaded with material onto the bracket 309. The bottom of the pallet has a pin hole for interlocking with the positioning pin 308. The guide plate 307 and the positioning pin 308 guide and fix the material during placement, ensuring more accurate and stable placement and facilitating precise gripping by the flipping mechanism actuator's gripper. Example 4

[0030] A control method for a gripping and tilting system of a tilting mechanism, implemented using the gripping and tilting system of the tilting mechanism in Embodiment 1 or Embodiment 2, includes: setting the set pressure values ​​of different chambers of the gripper cylinder to P0 and P1, and the tilting speed of the tilting motor under load. No-load overturning speed 1. Rotate the boom swing angle S, the initial position angle S1, the intermediate position angle S2, the final position angle S3, the approach margin ΔS, and the waiting position S0. Setting the loading mode: The boom rotates from the initial position angle S1 to the end position angle S3 to perform the loading process, and rotates from the end position angle S3 to the initial position angle S1 to perform the no-load process. Set the unloading mode. The boom rotates from the end position angle S3 to the initial position angle S1 to unload the material, and rotates from the initial position angle S1 to the end position angle S3 to unload the no-load process. Both the loading and unloading processes are carried out under load.

[0031] Specifically, in the initial state, the tilting arm is in the waiting position S0, which is between S1 and S3. When the working mode is loading mode, electromagnets Y2 and Y4 of the proportional electromagnet are energized, and the tilting arm tilts from S0 to S1. When S=S1, electromagnets Y1 and Y3 of the proportional electromagnet are energized, and the tilting arm tilts from S1 to S3. When S=S3, electromagnets Y2 and Y4 of the proportional electromagnet are energized again, and the tilting arm tilts from S3 to S0. When S=S0, the tilting arm tilts... The boom returns to the waiting position, completing the loading process. When the working mode is unloading mode, electromagnets Y2 and Y3 of the proportional electromagnet are energized, and the boom rotates from S0 to S3. When S=S3, electromagnets Y1 and Y4 of the proportional electromagnet are energized, and the boom rotates from S3 to S1. When S=S1, electromagnets Y2 and Y3 of the proportional electromagnet are energized again, and the boom rotates from S1 to S0. When S=S0, the boom returns to the waiting position, completing the unloading process.

[0032] Specifically, the control method during the no-load process in the loading mode is as follows: Y2 is energized, and P... A After P0, electromagnet Y4 is energized, and the current to electromagnet Y4 is controlled, causing the boom to rotate. The speed is reversed towards S1; during the loading process, electromagnet Y1 is energized, waiting for P to... B After P1, electromagnet Y3 is energized, and the current in electromagnet Y3 is controlled, causing the boom to rotate. The speed is reversed towards S3; in unloading mode, during the no-load process, electromagnet Y2 is energized, waiting for P to... A After P0, electromagnet Y3 is energized, and the current in electromagnet Y3 is controlled, causing the boom to rotate. The speed is reversed towards S3; during the loading process, electromagnet Y1 is energized, waiting for P to... B After P1, electromagnet Y4 is energized, and the current in electromagnet Y4 is controlled, causing the boom to rotate. The speed flips towards S3, .

[0033] Specifically, the control methods for speed control logic include: When the swing angle S of the tilting boom approaches S1 or S3 in the positive direction or approaches S2 in both directions, i.e., S-S1=ΔS, S-S2=ΔS, S-S3=ΔS, the controller outputs a control signal to control the proportional electromagnets Y3 and Y4, which in turn adjusts the valve core opening of the tilting motor control directional valve, thereby controlling the hydraulic oil flow into the tilting motor and reducing the tilting speed of the tilting boom. This causes the tilting speed of the boom to change from a value of ΔS during the angular displacement. The concentration decreased evenly to 0.

[0034] Specifically, the forward proximity control method includes the following steps: When the electromagnet Y3 of the proportional electromagnet is energized, the reversing motor rotates in the forward direction. At this time, the reversing arm rotates from S1 to S3. When S-S3=ΔS, it is called the forward approach to S3. When the electromagnet Y4 of the proportional electromagnet D is energized, the reversing motor rotates in the reverse direction. At this time, the reversing arm rotates from S3 to S1. When S-S1=ΔS, it is called the forward approach to S1.

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

[0036] A control method for a gripping and flipping system of a flipping mechanism, implemented using the gripping and flipping system of the flipping mechanism in Embodiment 1 or Embodiment 2, includes the following control method: Logic 1: The controller 203 defines the proportional electromagnets 204 as follows: when electromagnet Y1 is energized, gripper 306 clamps; when electromagnet Y2 is energized, gripper 306 releases; when electromagnet Y3 is energized, the flip motor 109 rotates forward; when electromagnet Y4 is energized, the flip motor 109 rotates in reverse.

[0037] Logic 2: The controller 203 can set and store the pressures P0 and P1 at ports A and B of the gripper cylinder 101, and the load-bearing tilting speed of the tilting motor 109. No-load overturning speed The tilting arm 302 can be tilted at an angle S, and the initial position angle S1, intermediate position angle S2, final position angle S3, approach margin ΔS, and waiting position S0 of the tilting arm 302 can be set and stored.

[0038] Logic 3: Controller 203 can store two operating modes: loading mode and unloading mode. In loading mode, the tilting boom 302 tilts from the initial position angle S1 to the end position angle S3 for the loading process, and from the end position angle S3 to the initial position angle S1 for the unloading process; in unloading mode, the tilting boom 302 tilts from the end position angle S3 to the initial position angle S1 for the unloading process, and from the initial position angle S1 to the end position angle S3 for the unloading process; both the loading and unloading processes are loaded processes.

[0039] Logic 4: Initially, the tilting boom 302 is in the waiting position S0, which is between S1 and S3. When the working mode is loading mode, electromagnets Y2 and Y4 of proportional electromagnet 204 are energized, and the tilting boom 302 tilts from S0 to S1. When S=S1, electromagnets Y1 and Y3 of proportional electromagnet 204 are energized, and the tilting boom 302 tilts from S1 to S3. When S=S3, electromagnets Y2 and Y4 of proportional electromagnet 204 are energized again, and the tilting boom 302 tilts from S3 to S0. When S=S0, the tilting boom 302... 02. Return to the waiting position to complete one loading process; When the working mode is unloading mode, electromagnets Y2 and Y3 of proportional electromagnet 204 are energized, and the tilting arm 302 tilts from S0 to S3. When S=S3, electromagnets Y1 and Y4 of proportional electromagnet 204 are energized, and the tilting arm 302 tilts from S3 to S1. When S=S1, electromagnets Y2 and Y3 of proportional electromagnet 204 are energized again, and the tilting arm 302 tilts from S1 to S0. When S=S0, the tilting arm 302 returns to the waiting position to complete one unloading process.

[0040] Logic 5: In the loading mode, during the no-load process, electromagnet Y2 is energized, waiting... Then, electromagnet Y4 is energized, and the current to electromagnet Y4 is controlled, causing the tilting arm 302 to... The speed is reversed towards S1; during the loading process, electromagnet Y1 is energized, waiting... Then, electromagnet Y3 is energized and its current is controlled, causing the tilting arm 302 to... The speed is reversed towards S3; in unloading mode, during the no-load process, electromagnet Y2 is energized, waiting... Then, electromagnet Y3 is energized, and the current to electromagnet Y3 is controlled, causing the tilting arm 302 to... The speed is reversed towards S3; during the loading process, electromagnet Y1 is energized, waiting... Then, electromagnet Y4 is energized, and the current to electromagnet Y4 is controlled, causing the tilting arm 302 to... The speed flips towards S3, .

[0041] Logic 6: When the swing angle S of the tilting boom 302 approaches S1 or S3 in the positive direction or approaches S2 in both directions, i.e., 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 tilting motor control reversing valve 108, thus controlling the hydraulic oil flow into the tilting motor 109 and reducing the tilting speed of the tilting boom 302. This causes the tilting speed of the tilting boom 302 to change during the angular displacement ΔS. The concentration decreased evenly to 0.

[0042] Logic 7: When electromagnet Y3 of proportional electromagnet 204 is energized, the reversing motor 109 rotates forward. At this time, the reversing arm 302 rotates from S1 to S3. When S-S3=ΔS, it is called a forward approach to S3. When electromagnet Y4 of proportional electromagnet 204 is energized, the reversing motor 109 rotates in reverse. At this time, the reversing arm 302 rotates from S3 to S1. When S-S1=ΔS, it is called a forward approach to S1.

[0043] Logic 8: When the flipping mechanism actuator 3 completes the placement or grabbing of the material and returns to the waiting position S0, a delay time t0 is set so that the flipping mechanism actuator 3 will automatically flip again after time t0.

[0044] like Figure 4 As shown, the tilting motor mounting base 301 in the tilting mechanism actuator 3 is used to fix the tilting motor 109. The tilting motor 109 tilts and drives the tilting arm 302 to tilt. The hanger 304 follows the tilting arm 302 to tilt via the hanger rotation shaft 303 and always remains vertically downward. The gripper cylinder 101 is connected to the gripper 306 pin via the gripper cylinder connecting shaft 305. When the gripper cylinder 101 extends and retracts, the gripper 306 swings around the fixed shaft connected to the hanger 304, thereby completing the gripping and releasing of the pushed material. The bracket 309 has a structural design with a guide plate 307 and a positioning pin 308 to achieve precise positioning when the pushed material is placed.

[0045] Working principle: The present invention discloses a gripping and unloading, and tilting system and its gripping and unloading, and tilting control method for a tilting mechanism. By detecting the pressure of the clamping cylinder and the tilting angular velocity and angular displacement of the tilting boom, the corresponding actions of the hydraulic control system are completed, which improves the functions of precise gripping and unloading, stable placement, high efficiency and continuity, and safety and reliability of coal mining equipment for pushing materials.

[0046] The above specific embodiments are specific support for the concept proposed in this invention, and should not be used to limit the scope of protection of this invention. Any equivalent changes or modifications made on the basis of this technical solution in accordance with the technical concept proposed in this invention shall still fall within the scope of protection of this invention.

Claims

1. A gripping and flipping system for a flipping mechanism, characterized in that, include: The detection feedback system (2), and the hydraulic control system (1) and the overturning mechanism actuator (3) interconnected with the detection feedback system (2); The hydraulic control system (1) includes: a gripper cylinder (101) and a tilting motor (109), the gripper cylinder (101) and the tilting motor (109) being connected to the hydraulic oil tank (106) via a hydraulic lock (102), an electro-proportional directional valve (103), and a hydraulic pump (105), respectively; The detection feedback system (2) includes: a controller (203), which acquires the operating parameters of the gripper cylinder (101) and the tilting motor (109) through a sensor group. The controller (203) is connected to the hydraulic control system (1) and the tilting mechanism actuator (3) through a proportional electromagnet (204). The tilting mechanism actuator (3) is also connected to the tilting motor (109). The flipping mechanism actuator (3) includes a flipping motor mounting base (301), a flipping boom (302), a hanger rotating shaft (303), a hanger (304), a gripper cylinder connecting shaft (305), and a gripper (306); The tilting motor (109) is fixed to the tilting motor mounting base (301) by bolts. The hanger (304) is connected to the tilting boom (302) pin by the hanger rotating shaft (303). The gripper cylinder (101) is connected to the gripper (306) pin by the gripper cylinder connecting shaft (305). The gripper (306) is connected to the hanger (304) by the pin. The electro-proportional directional valve (103) includes: a gripper control directional valve (104) and a tilting motor control directional valve (108). The gripper control directional valve (104) and the tilting motor control directional valve (108) are connected to a hydraulic pump (105) via a shuttle valve (107). The gripper control directional valve (104) is connected to a gripper cylinder (101) via a hydraulic lock (102), and the tilting motor control directional valve (108) is connected to a tilting motor (109). The sensor group includes pressure sensor one (201) and pressure sensor two (202) installed on the gripper cylinder (101), and speed sensor (205) for collecting the operating parameters of the tilting motor (109); Pressure sensor 1 (201) and pressure sensor 2 (202) respectively measure the pressure values ​​P at different ports in the gripper cylinder (101). A and P B The rotation speed sensor (205) is used to measure the angular velocity of the tilting boom (302). And angular displacement S.

2. The gripping and flipping system of the flipping mechanism according to claim 1, characterized in that: The reversing motor (109) includes: a motor (112), and a balance valve (110) connected to the forward oil passage and the reverse oil passage of the motor (112). An overflow valve (111) is also connected to the branch pipes of the forward oil passage and the reverse oil passage 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 and maintain the speed of the tilting boom (302) when it falls after it has flipped over the highest position in the middle, 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 directional valve (104) and the tilting motor control directional valve (108).

3. The gripping and flipping system of the flipping mechanism according to claim 2, characterized in that: The proportional electromagnet (204) controls the gripper to control the reversing valve (104), and the tilting motor controls the valve core displacement of the reversing valve (108) to control the gripper (306) to clamp, the gripper (306) to release, the tilting motor (109) to adjust the flow rate in the forward direction, and the tilting motor (109) to adjust the flow rate in the reverse direction.

4. A control method for a gripping and flipping system of a flipping mechanism, characterized in that, The system employs the gripping and flipping mechanism described in any one of claims 1-3, and the control method includes: The set pressure values ​​of different chambers of the gripper cylinder (101) are P0 and P1, and the load-bearing tilting speed of the tilting motor (109) is set. No-load overturning speed The swing angle S of the rotating boom (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 rotating boom (302); Setting the loading mode: The tilting boom (302) tilts from the initial position angle S1 to the end position angle S3 for the loading process, and tilts from the end position angle S3 to the initial position angle S1 for the no-load process; Set the unloading mode, the boom (302) rotates from the end position angle S3 to the initial position angle S1 for the unloading process, and rotates from the initial position angle S1 to the end position angle S3 for the no-load process. Both the loading and unloading processes are carried out under load.

5. The control method for the gripping and flipping system of the flipping mechanism according to claim 4, characterized in that: Initially, the tilting boom (302) is in the waiting position S0, which is between S1 and S3. When the working mode is loading mode, Y2 and Y4 of the proportional electromagnet (204) are energized, and the tilting boom (302) tilts from S0 to S1. When S=S1, Y1 and Y3 of the proportional electromagnet (204) are energized, and the tilting boom (302) tilts from S1 to S3. When S=S3, Y2 and Y4 of the proportional electromagnet (204) are energized again, and the tilting boom (302) tilts from S3 to S0. When S=S0, the tilting boom (302) tilts from S1 to S0. 02) Return to the waiting position and complete the loading process; When the working mode is unloading mode, Y2 and Y3 of the proportional electromagnet (204) are energized, and the tilting arm (302) flips from S0 to S3. When S=S3, Y1 and Y4 of the proportional electromagnet (204) are energized, and the tilting arm (302) flips from S3 to S1. When S=S1, Y2 and Y3 of the proportional electromagnet (204) are energized again, and the tilting arm (302) flips from S1 to S0. When S=S0, the tilting arm (302) returns to the waiting position and completes the unloading process.

6. The control method for the gripping and flipping system of the flipping mechanism according to claim 5, characterized in that: In the no-load process of the loading mode, the control method is as follows: Y2 is energized, and P waits... A After P0, Y4 is energized, and the current of Y4 is controlled to cause the tilting boom (302) to... The speed is reversed towards S1; during the loading process, Y1 is energized, waiting for P to... B After P1, Y3 is energized and its current is controlled, causing the boom (302) to tilt. The speed is reversed towards S3; in unloading mode, during the no-load process, Y2 is energized, waiting for P A After P0, Y3 is energized, and the current of Y3 is controlled to cause the tilting arm (302) to... The speed is reversed towards S3; during the loading process, Y1 is energized, waiting for P to... B After P1, Y4 is energized and its current is controlled, causing the tilting arm (302) to... The speed flips towards S3, .

7. The control method for the gripping and flipping system of the flipping mechanism according to claim 6, characterized in that: The control methods for speed control logic include: When the swing angle S of the tilting boom (302) approaches S1 or S3 in the positive direction or S2 in both directions, i.e. S-S1=ΔS, S-S2=ΔS, S-S3=ΔS, the controller (203) outputs a control signal to control the Y3 and Y4 of the proportional electromagnet (204), thereby adjusting the valve core opening of the tilting motor control reversing valve (108) to control the hydraulic oil flow into the tilting motor (109) and reduce the tilting speed of the tilting boom (302). This causes the tilting speed of the tilting boom (302) to change during the angular displacement of ΔS. The concentration decreased evenly to 0.

8. The control method for the gripping and flipping system of the flipping mechanism according to claim 7, characterized in that: The forward approach control method includes the following steps: When the proportional electromagnet (204) is energized by Y3, the reversing motor (109) rotates forward. At this time, the reversing arm (302) rotates from S1 to S3. When S-S3=ΔS, it is called the forward approach to S3. When the proportional electromagnet (204)D is energized by Y4, the reversing motor (109) rotates in reverse. At this time, the reversing arm (302) rotates from S3 to S1. When S-S1=ΔS, it is called the forward approach to S1.

9. The control method for the gripping and flipping system of the flipping mechanism according to claim 8, characterized in that: In the detection feedback system (2), when the flipping mechanism execution device (3) completes the material placement or material grabbing and returns to the waiting position S0, a delay time t0 is set so that the flipping mechanism execution device (3) will automatically flip again after time t0.

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