Electromechanical actuator system and hydraulic support with same

Abstract

The invention relates to the technical field of hydraulic supports and discloses an electromechanical actuator system and a hydraulic support with the electromechanical actuator system.The hydraulic support comprises a support body and the electromechanical actuator system.The support body comprises a telescopic beam, a first protection side, a second protection side and a third protection side, a driving unit is connected between every two adjacent ones of the telescopic beam, the first protection side, the second protection side and the third protection side, a shell in the driving unit is connected with one of the telescopic beam, the first protection side, the second protection side and the third protection side, and one end, arranged outside the shell, of an execution component in the driving unit is connected with the other one. The second controllers in the multiple driving units are connected to the same first controller so that the first protection side, the second protection side and the third protection side can move cooperatively. According to the hydraulic support, a pump station and pipeline arrangement are not needed, accurate control and quick response are achieved through electric drive, and millisecond-level synchronous movement can be achieved among multiple hydraulic pressures.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of hydraulic support, and particularly relates to a mechatronic actuator system and a hydraulic support with the same. BACKGROUND

[0002] The support plate of the hydraulic support is used for supporting the coal wall to prevent spalling. For a large mining height working face, a three-stage support mechanism needs to be used to fully support the height of the coal wall. In the related art, the three-stage support mechanism generally uses hydraulic driving, that is, three hydraulic jacks are used to drive the three-stage support plate respectively, and a centralized emulsion pump station is used to provide power. This traditional hydraulic driving method has many inherent defects, for example: 1. poor synchronism: due to the difference in hydraulic pipeline characteristics and the compressibility of the liquid, it is difficult to achieve precise synchronous action of the three jacks, and the phenomenon of "stuttering" often occurs, which affects the support effect and easily damages the mechanism. 2. slow response speed: the transmission delay of the hydraulic signal in the long pipeline is large, which leads to slow action response of the support plate and cannot meet the rapid following automation demand. 3. low control precision: it is difficult to accurately control the extension position and supporting force of the support plate, and self-adaptive support cannot be achieved. 4. poor reliability: the hydraulic system has many seals and joints, and leakage easily occurs, the failure rate is high, and the maintenance workload is large. 5. low energy efficiency: the centralized pump station needs to be continuously operated, the pressure loss of the long pipeline is large, and the energy utilization efficiency is low. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, the embodiments of the present application propose a mechatronic actuator system which uses a motor as a power source and has fast response speed and high control precision.

[0004] The embodiments of the present application also propose a hydraulic support which uses a mechatronic actuator system as a drive instead of a traditional jack, does not need a pump station and a hydraulic pipeline, has high control precision and fast response speed. The mechatronic actuator system of the embodiments of the present application comprises a first controller and a driving unit, the driving unit comprises a motor, an execution assembly, a speed reduction assembly and a second controller. The execution assembly has an execution component, the execution assembly is connected with the motor, and the execution assembly is used for converting the rotary motion of the motor into the linear motion of the execution component. The speed reduction assembly is arranged between the motor and the execution assembly and is used for connecting the motor with the execution assembly after reducing the speed of the motor. The second controller is connected with the motor and is used for controlling the rotation of the motor. The first controller is connected with the second controller, and the first controller is used for controlling the second controller.

[0005] The mechatronic actuator system of the embodiments of the present application uses the first controller as a master controller to coordinate the whole system and uses the second controller as a local controller to execute simple instructions, thereby realizing distributed control and improving the running stability.

[0006] In some embodiments, the executing component comprises a screw rod, the motor comprises an output shaft, and the speed reduction component is arranged between the screw rod and the output shaft to make the rotating speed of the screw rod less than the rotating speed of the output shaft.

[0007] In some embodiments, the speed reduction component comprises at least one of a planetary gear or a worm gear.

[0008] In some embodiments, the executing component comprises a housing, a moving part is connected to the screw rod, the moving part is movable along the axial direction of the screw rod, and the executing part is a push rod, one end of the push rod is arranged in the housing and connected to the moving part.

[0009] In some embodiments, the driving unit comprises a brake arranged between the housing and the output shaft, and the brake is used to limit the rotation of the output shaft when the motor is powered off or at rest.

[0010] In some embodiments, the driving unit is multiple, and the second controller of multiple driving units is connected to the same first controller.

[0011] In some embodiments, the driving unit comprises a current sensor and a displacement sensor, the current sensor is arranged on the motor and connected to the second controller, the current sensor is used to detect the current value of the motor and feed back the current value to the second controller, and the displacement sensor is arranged on the executing part and connected to the second controller, the displacement sensor is used to detect the displacement value of the executing part and feed back the displacement value to the second controller.

[0012] In some embodiments, the first controller identifies the working state of the driving unit according to the current value and the displacement value fed back by the second controller and can issue an alarm.

[0013] The electromechanical actuator system of the embodiments of the present application not only can realize distributed control and improve operation stability, but also can realize collaborative action of multiple driving units, and can realize closed-loop control by using various sensors, and realizes precise movement.

[0014] The hydraulic support of the embodiments of the present application comprises a support body and an electromechanical actuator system, the electromechanical actuator system is the electromechanical actuator system of any of the above embodiments, wherein the driving unit is arranged between at least part of components of the support body to drive the support body to perform at least one action including lifting, lowering, pushing, moving, lifting the bottom, moving the top beam, moving the telescopic beam, and moving the support.

[0015] The hydraulic support of the embodiment replaces the traditional jack drive by using the execution assembly in the electromechanical actuator system, does not need pump station and pipeline arrangement, the electric execution is easy to accurately control and has fast action response speed, and there is no jamming phenomenon, and millisecond-level synchronous movement can be realized for multiple hydraulic supports.

[0016] In some embodiments, the support body comprises a telescopic beam, a first guard, a second guard and a third guard, wherein two adjacent ones of the telescopic beam, the first guard, the second guard and the third guard are connected with the driving unit, the housing of the driving unit is connected with one of the two adjacent ones, one end of the execution component outside the housing of the driving unit is connected with the other of the two adjacent ones, and the second controllers of the multiple driving units are connected to the same first controller to enable the first guard, the second guard and the third guard to move coordinately.

[0017] In the hydraulic support of the embodiment, the three guards simultaneously use the electromechanical actuator system, the first control in the electromechanical actuator system is used to realize coordinated control among the three guards, the second controller is used to control the specific swing of a single guard, distributed control is used, the stability of control is improved, fast and accurate action is realized, and the hydraulic support is stable, reliable and energy-efficient. BRIEF DESCRIPTION OF DRAWINGS Fig. 1 is a schematic diagram of the overall structure of the hydraulic support of the embodiment of the application.

[0018] Fig. 2 is a schematic diagram of the overall structure of the driving unit in the application.

[0019] Fig. 3 is a control flow block diagram of the electromechanical actuator system of the embodiment of the application.

[0020] REFERENCE SIGNS 1. first controller; 2. driving unit; 21. motor; 22. execution assembly; 221. execution component; 222. housing; 23. speed reduction assembly; 24. second controller; 25. displacement sensor; 3. support body; 4. telescopic beam; 5. first guard; 6. second guard; 7. third guard. DETAILED DESCRIPTION

[0021] The embodiments of the application are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the application, and cannot be understood as a limitation of the application.

[0022] AsFigs. 1-3 As shown, the embodiment of the present application comprises a first controller 1 and a driving unit 2, the driving unit 2 comprises a motor 21, an execution assembly 22, a deceleration assembly 23 and a second controller 24. The execution assembly 22 has an execution component 221, the execution assembly 22 is connected with the motor 21, and the execution assembly 22 is used for converting the rotary motion of the motor 21 into the linear motion of the execution component 221. The deceleration assembly 23 is arranged between the motor 21 and the execution assembly 22, and is used for connecting the execution assembly 22 after the motor 21 is decelerated. The second controller 24 is connected with the motor 21 and is used for controlling the rotation of the motor 21. Wherein, the first controller 1 is connected with the second controller 24, and the first controller 1 is used for controlling the second controller 24.

[0023] In the embodiment of the present application, the first control can read and analyze the data fed back by the second controller 24, and after analysis and processing, specific control instructions are conveyed to the second controller 24, so as to ensure that the execution assembly 22 can operate according to the predetermined target and requirements. The second controller 24 is responsible for supplying power to the motor 21, and according to the control instructions transmitted by the first controller 1, the running parameters such as start, stop, rotation speed and rotation direction of the motor 21 are real-time regulated, so as to ensure that the action of the final execution assembly 22 meets the work requirements. The first controller 1 of the embodiment of the present application serves as the master controller to coordinate the whole, and the second controller 24 serves as the local controller to execute simple instructions, so as to realize distributed control and improve the running stability. At the same time, it has high expansibility, and the number of driving units 2 can be freely expanded to adapt to different work requirements. Even if one driving unit 2 fails, it will not affect the normal operation of other driving units 2.

[0024] In the embodiment, the execution assembly 22 converts the rotary motion of the motor 21 into the linear motion of the execution component 221, so as to complete various actual work tasks, for example, in the industrial automatic production line, the execution assembly 22 can accurately grasp and transport articles, or in the field of aerospace, the rudder surface of the aircraft is driven to make accurate angle adjustment, so as to realize the control of flight attitude, or the action of each component in the field.

[0025] In the embodiment, the deceleration assembly 23 converts the high-speed low-torque rotary motion output by the motor 21 into low-speed high-torque motion suitable for the work of the execution assembly 22 through various deceleration mechanisms such as gear set, worm and gear, etc. and reasonable transmission ratio. The output force of the execution assembly 22 is improved, and the motor 21 and other components in the driving unit 2 can be effectively protected.

[0026] The execution assembly 22 comprises, the motor 21 comprises, the deceleration assembly 23 is arranged between the execution assembly 22 and the motor 21 to make the rotation speed of the execution assembly 22 less than the rotation speed of the motor 21.

[0027] The deceleration assembly 23 comprises at least one of a planetary gear, a worm and a gear.

[0028] In the specific setting, according to the load requirement of the execution assembly 22, the reduction ratio of the reduction assembly 23 can be selected to meet the torsion conversion requirement. Taking the planetary gear as an example, the input shaft of the planetary gear is connected with the motor 21, and the outer gear ring of the planetary gear is fixed. The motor 21 drives the sun gear of the planetary gear to rotate, and the planet carrier of the planetary gear is output and driven to rotate to achieve the purpose of reducing speed and increasing torque.

[0029] The execution assembly 22 includes a housing 222, which is connected with an execution component 221 that can move in the axial direction. One end of the execution component 221 is arranged in the housing 222 and connected with the motor 21.

[0030] In this embodiment, a nut can be directly connected with the screw thread, or a ball structure can be used for connection. The nut is connected to the housing 222 through a clamping groove, and after being rotated forward and backward, it can move back and forth in the axial direction or a direction parallel to the axial direction. The execution component 221 is arranged in one end of the housing 222 and connected with the motor 21, so as to finally realize the back-and-forth movement and perform work.

[0031] The interior of the housing 222 is provided with a chamber, and the nut is sleeved on the chamber to reduce the size of the housing 222 and realize the guiding.

[0032] The housing 222 is provided with a connecting lug at one end arranged in the housing 222 and a connecting lug at the other end arranged outside the housing 222. The connecting lug on the housing 222 and the connecting lug on the nut are respectively fixed on a part to support and move the parts at both ends by extending out of the housing 222.

[0033] The drive unit 2 includes a brake arranged between the housing 222 and the motor 21 for limiting rotation when the motor 21 is powered off or stationary.

[0034] In the embodiment, one of electromagnetic rotation and mechanical braking can be used, and braking by power-off or braking by power-on can be used to continue to limit the position and prevent the execution assembly 22 from moving in the reverse direction when the motor 21 is suddenly powered off and the motor and the execution assembly 22 remain stationary.

[0035] The drive unit 2 is multiple, and the second controller 24 of the multiple drive units 2 is connected with the same first controller 1.

[0036] In this embodiment, the drive unit 2 can be arranged in multiple and can be dispersedly arranged. For example, when multiple elements are driven to perform actions simultaneously or sequentially, the distributed control of the second controller 24 can be controlled by the first controller 1 to improve stability. When one of the drive units 2 fails, it will not affect the normal work of the other drive units 2.

[0037] The driving unit 2 comprises a displacement sensor 25 arranged on the motor 21 and connected with the second controller 24, for detecting the current value of the motor 21 and feeding back the current value to the second controller 24, and the displacement sensor 25 is arranged on the executing component 221 and connected with the second controller 24, for detecting the displacement value of the executing component 221 and feeding back the displacement value to the second controller 24.

[0038] The first controller 1 identifies the working state of the driving unit 2 according to the current value and the displacement value fed back by the second controller 24 and can issue an alarm.

[0039] In the embodiment, the displacement sensor 25 adopts a magnetic displacement expansion sensor, for measuring the expansion position, and provides accurate position feedback for the executing component 22 to perform a task. The first controller 1 generates a plurality of cooperative control instructions of the second controller 24 according to a target position / power. The second controller 24 of each driving unit 2 performs local closed-loop control (position loop, speed loop, current loop), and feeds back real-time states (position, current) to the first controller 1. The first controller 1 performs data fusion and monitoring, realizes force-position adaptive control and fault diagnosis.

[0040] One of the embodiments of the application is described below, comprising a support body 3 and being any one of the above embodiments, wherein the driving unit 2 is arranged between at least part of components of the support body 3 to drive the support body 3 to perform at least one action including lifting, lowering, pushing, moving, lifting the bottom, moving the roof beam, moving the telescopic beam 4, and moving the guard.

[0041] The embodiment of the application replaces the traditional hydraulic jack responsible for execution with the driving unit 2 in the above embodiment, realizing the electric drive mode to drive movement. Compared with the traditional hydraulic drive mode, the electric drive control is more accurate, and the pump station and the redundant high-pressure pipeline, valve and other components are not needed. The probability of failure is reduced, and the installation and maintenance are easy. At the same time, the electric drive mode can realize the millisecond-level synchronous movement of multiple devices in cooperative movement, has strong synchronism, and the action execution is accurate.

[0042] The support body 3 comprises a telescopic beam 4, a first guard 5, a second guard 6, and a third guard 7. Among them, the adjacent two of the telescopic beam 4, the first guard 5, the second guard 6, and the third guard 7 are connected with the driving unit 2, the housing 222 in the driving unit 2 is connected with one of them, one end of the executing component 221 in the driving unit 2 which is placed outside the housing 222 is connected with the other one, and the second controllers 24 in the plurality of driving units 2 are connected to the same first controller 1, so that the first guard 5, the second guard 6, and the third guard 7 can move cooperatively.

[0043] The third support of the embodiment is realized by any of the above-mentioned embodiments, wherein the shell 222 in the execution assembly 22 is connected with one of the parts, for example, the connecting lug of the shell 222 is hinged with the telescopic beam 4, and the connecting lug is hinged with the first support 5, so as to realize the adjustment of the swing position of the first support 5 when the telescopic beam 4 is extended or retracted. The second controller 24 in each of the three drive units 2 is connected with the first controller 1, so as to realize the cooperative action among the three second controllers 24. For example, in the support stage, the first support 5 is first extended and turned to the vertical position against the coal wall, then the second support 6 is extended and turned to fit the gap between the rear end of the first support 5 and the coal wall, and finally the third support 7 is turned to the inclined state with an angle of 45-60° with the coal wall to support the roof coal behind.

[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0045] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features referred to. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0046] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication or interaction relationship of two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] In the present application, unless specifically stated and limited otherwise, a first feature "on" or "under" a second feature can be directly in contact with the second feature, or indirectly in contact with the second feature through an intermediate medium. Also, a first feature "over", "above" and "on top of" a second feature can be directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. A first feature "under", "below" and "underneath" a second feature can be directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0048] In the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, the terms "first", "second", "third", etc. are used herein merely as identifiers for different elements, regions, layers, or sections, and are not intended to denote a spatial or chronological priority or order except if explicitly so defined. Also, the terms "comprises", "comprising", "includes", "including", or the like are used herein to generally mean comprising, including, or consisting of, unless otherwise indicated.

[0049] Although the above-mentioned embodiments have been shown and described, it is to be understood that the above-mentioned embodiments are exemplary, and are not to be construed as limiting the present application, and any changes, modifications, replacements, and variations of the above-mentioned embodiments made by those skilled in the art are within the scope of the present application.

Claims

1. An electromechanical actuator system, characterized in that, It includes a first controller (1) and a drive unit (2), the drive unit (2) comprising: Motor (21); An execution component (22) has an execution part (221), the execution component (22) is connected to the motor (21), and the execution component (22) is used to convert the rotational motion of the motor (21) into the linear motion of the execution part (221); A deceleration assembly (23) is disposed between the motor (21) and the actuation assembly (22) for decelerating the motor (21) and connecting it to the actuation assembly (22); The second controller (24) is connected to the motor (21) and is used to control the rotation of the motor (21); The first controller (1) is connected to the second controller (24), and the first controller (1) is used to control the second controller (24).

2. The electromechanical actuator system according to claim 1, characterized in that, The actuation component (22) includes a lead screw, the motor (21) includes an output shaft, and the reduction component (23) is disposed between the lead screw and the output shaft so that the rotational speed of the lead screw is less than the rotational speed of the output shaft.

3. The electromechanical actuator system according to claim 1, characterized in that, The reduction assembly (23) includes at least one of planetary gears and worm gears.

4. The electromechanical actuator system according to claim 1, characterized in that, The actuating component (22) includes a housing (222), a movable part is connected to the lead screw, the movable part can move along the axial direction of the lead screw, and the actuating element (221) is a push rod, one end of which is placed inside the housing (222) and connected to the movable part.

5. The electromechanical actuator system according to claim 1, characterized in that, The drive unit (2) includes a brake located between the housing (222) and the output shaft. The brake is used to restrict the rotation of the output shaft when the motor (21) is de-energized or stationary.

6. The electromechanical actuator system according to any one of claims 1-5, characterized in that, There are multiple drive units (2), and the second controller (24) in the multiple drive units (2) is connected to the same first controller (1).

7. The electromechanical actuator system according to claim 6, characterized in that, The driving unit (2) includes: A current sensor is installed on the motor (21) and connected to the second controller (24). The current sensor is used to detect the current value of the motor (21) and feed the current value back to the second controller (24). Displacement sensor (25) is disposed on the execution component (221) and connected to the second controller (24). The displacement sensor (25) is used to detect the displacement value of the execution component (221) and feed the displacement value back to the second controller (24).

8. The electromechanical actuator system according to claim 7, characterized in that, The first controller (1) identifies the working status of the drive unit (2) based on the current and displacement values ​​fed back by the second controller (24) and can issue an alarm.

9. A hydraulic support, characterized in that, include: The support body (3); An electromechanical actuator system, wherein the electromechanical actuator system is any one of claims 1-8, wherein the drive unit (2) is disposed between at least some components of the support body (3) so that the drive unit (2) drives the support body (3) to perform at least one action including raising the frame, lowering the frame, pushing the slide, moving the frame, raising the bottom, moving the top beam, moving the telescopic beam, and moving the side guard.

10. The hydraulic support according to claim 9, characterized in that, The support body (3) includes a telescopic beam (4), a first guardrail (5), a second guardrail (6), and a third guardrail (7); Among them, the telescopic beam (4), the first guardrail (5), the second guardrail (6), and the third guardrail (7) are connected to each other by the drive unit (2), and the housing (222) in the drive unit (2) is connected to one of them. The end of the execution component (221) in the drive unit (2) located outside the housing (222) is connected to the other. The second controllers (24) in multiple drive units (2) are connected to the same first controller (1) so that the first guardrail (5), the second guardrail (6), and the third guardrail (7) can move in coordination.

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