CN107313997A - A kind of hydraulic system of multiple degrees of freedom drill boom - Google Patents
A kind of hydraulic system of multiple degrees of freedom drill boom Download PDFInfo
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- CN107313997A CN107313997A CN201710636200.XA CN201710636200A CN107313997A CN 107313997 A CN107313997 A CN 107313997A CN 201710636200 A CN201710636200 A CN 201710636200A CN 107313997 A CN107313997 A CN 107313997A
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- control system
- proportion reversing
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- 239000011435 rock Substances 0.000 claims abstract description 96
- 238000005553 drilling Methods 0.000 claims abstract description 82
- 230000002457 bidirectional effect Effects 0.000 claims description 60
- 238000006073 displacement reaction Methods 0.000 claims description 37
- 238000001514 detection method Methods 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 abstract description 12
- 230000035939 shock Effects 0.000 abstract description 11
- 230000003139 buffering effect Effects 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000007788 liquid Substances 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 7
- 230000003247 decreasing effect Effects 0.000 description 6
- 230000033228 biological regulation Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 230000000052 comparative effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 206010008469 Chest discomfort Diseases 0.000 description 1
- 241000283086 Equidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
Abstract
The invention discloses a kind of hydraulic system of multiple degrees of freedom drill boom, driving control system, rock drilling revolution driving control system, rock drilling impact driving control system, card pricker locking driving control system, proportional pressure control valve and controller are promoted including base wobble drive control system, one-level arm lifting driving control system, two grades of arm lifting driving control systems, one-level rotary motor driving control system, two-stage rotary motor driving control system, rock drilling, each system has controller to be controlled.Through the above way, the hydraulic system of the multiple degrees of freedom drill boom of the present invention, the shock and vibration produced in mechanism running are reduced by being slowly turned on and off electro-hydraulic proportion reversing valve, realize the function of even running and buffering, reduce the use of various flow speed control valves and throttling buffering valve, hydraulic system is greatly simplified, the generation of failure is reduced.
Description
Technical field
The present invention relates to the technical field of plant equipment, more particularly to a kind of hydraulic system of multiple degrees of freedom drill boom, it is applicable
In the multiple degrees of freedom load-bearing drill boom that working environment is complicated.
Background technology
In existing drill boom or jib hydraulic system, the overwhelming majority uses solenoid directional control valve to control each execution
The commutation of mechanism, but it has the disadvantage that the flow into each executing agency can not be controlled, that is to say, that it can not control each execution
The speed of mechanism, so it will necessarily use various throttle grverning devices, generally uses the outlet with throttling and buffering
Throttle grverning；And using solenoid directional control valve it cannot be guaranteed that the even running of system, be accurately positioned, generally had in commutation compared with
Big shock and vibration etc., so it will necessarily add some devices to improve the performance of system, so hydraulic system is just
It can become complicated, the incidence of failure can also increase.
The content of the invention
The present invention solves the technical problem of a kind of hydraulic system of multiple degrees of freedom drill boom is provided, sent out by controller
Go out the size of electric signal to control the size of electro-hydraulic proportion reversing valve amount of opening, and then control to flow to the flow of each executing agency,
It is finally reached the speed of service for controlling each mechanism；The system can be reduced by being slowly turned on and off electro-hydraulic proportion reversing valve
The shock and vibration produced in mechanism running, realize the function of even running and buffering, reduce various flow speed control valves and throttling
The use of trimmer valve, greatly simplifies hydraulic system, reduces the generation of failure.
In order to solve the above technical problems, one aspect of the present invention is：There is provided a kind of multiple degrees of freedom drill boom
Hydraulic system, including base wobble drive control system, one-level arm lifting driving control system, two grades of arms lifting drive controls
System, one-level rotary motor driving control system, two-stage rotary motor driving control system, rock drilling promote driving control system,
Rock drilling revolution driving control system, rock drilling impact driving control system, card pricker locking driving control system, proportional pressure control valve and
Controller, described base wobble drive control system, one-level arm lifting driving control system, two grades of arms lifting drive control systems
System, one-level rotary motor driving control system, two-stage rotary motor driving control system, rock drilling promote driving control system, chisel
Rock revolution driving control system, rock drilling impact driving control system and card pricker locking driving control system be connected in parallel after with than
Example overflow valve is connected with controller, and each system has controller to be controlled.
In a preferred embodiment of the present invention, described base wobble drive control system is changed including the first electric-hydraulic proportion
To valve, trimmer valve, check valve, rotating hydraulic cylinder and the first displacement detector, described the first electro-hydraulic proportion reversing valve and return
Turn hydraulic cylinder to be connected, the trimmer valve being connected in series is connected in the first electro-hydraulic proportion reversing valve in parallel with the check valve being connected in series
Between rotating hydraulic cylinder, described the first displacement detector and the first electro-hydraulic proportion reversing valve is connected with controller,
The first described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
In a preferred embodiment of the present invention, described one-level arm lifting driving control system includes the second electric-hydraulic proportion
Reversal valve, the first one-way balance valve, the first bidirectional hydraulic lock, one-level lifting hydraulic cylinder and second displacement detection means, it is described
Second electro-hydraulic proportion reversing valve, the first one-way balance valve, the first bidirectional hydraulic lock are connected with one-level lifting hydraulic cylinder, described
Second displacement detection means and the second electro-hydraulic proportion reversing valve are connected with controller, the second described electro-hydraulic proportion reversing valve
Also it is connected with proportional pressure control valve.
In a preferred embodiment of the present invention, two grades of described arms lifting driving control system includes the 3rd electric-hydraulic proportion
Reversal valve, the second one-way balance valve, the second bidirectional hydraulic lock, secondary lifting hydraulic cylinder and triple motion detection means, it is described
3rd electro-hydraulic proportion reversing valve, the second one-way balance valve, the second bidirectional hydraulic lock are connected with secondary lifting hydraulic cylinder, described
Triple motion detection means and the 3rd electro-hydraulic proportion reversing valve are connected with controller, the 3rd described electro-hydraulic proportion reversing valve
Also it is connected with proportional pressure control valve.
In a preferred embodiment of the present invention, described one-level rotary motor driving control system includes the 4th electro-hydraulic ratio
Example reversal valve, the first Bidirectional balanced valve, the 3rd bidirectional hydraulic lock, one-level rotary motor, the first angular displacement detecting device, it is described
4th electro-hydraulic proportion reversing valve, the first Bidirectional balanced valve, the 3rd bidirectional hydraulic lock are connected with one-level rotary motor, and described
One angular displacement detecting device and the 4th electro-hydraulic proportion reversing valve are connected with controller, the 4th described electro-hydraulic proportion reversing valve
Also it is connected with proportional pressure control valve.
In a preferred embodiment of the present invention, described two-stage rotary motor driving control system includes the 5th electro-hydraulic ratio
Example reversal valve, the second Bidirectional balanced valve, the 4th bidirectional hydraulic lock, two-stage rotary motor and the second angular displacement detecting device, it is described
The 5th electro-hydraulic proportion reversing valve, the second Bidirectional balanced valve, the 4th bidirectional hydraulic lock be connected with two-stage rotary motor, it is described
Second angular displacement detecting device and the 5th electro-hydraulic proportion reversing valve are connected with controller, described the 5th electric-hydraulic proportion commutation
Valve is also connected with proportional pressure control valve.
In a preferred embodiment of the present invention, described rock drilling promotes driving control system to be changed including the 6th electric-hydraulic proportion
To valve, the 3rd Bidirectional balanced valve, rock drilling propulsion cylinder and the first proportional pressure-reducing valve, described the 6th electro-hydraulic proportion reversing valve, the 3rd
Bidirectional balanced valve, rock drilling propulsion cylinder are connected, and the 6th described electro-hydraulic proportion reversing valve passes through the first proportional pressure-reducing valve and control
Device is connected, and the 6th described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
In a preferred embodiment of the present invention, described rock drilling revolution driving control system is changed including the 7th electric-hydraulic proportion
To valve, rock drilling rotary motor and the second proportional pressure-reducing valve, the 7th described electro-hydraulic proportion reversing valve is connected with rock drilling rotary motor
Connect, the 7th described electro-hydraulic proportion reversing valve is connected by the second proportional pressure-reducing valve with controller, the 7th described electro-hydraulic ratio
Example reversal valve is also connected with proportional pressure control valve.
In a preferred embodiment of the present invention, described rock drilling impact driving control system is changed including the 8th electric-hydraulic proportion
To valve, rock drilling impacter and outlet constant pressure valve, the 8th described electro-hydraulic proportion reversing valve is connected with rock drilling impacter, described
8th electro-hydraulic proportion reversing valve is connected by exporting constant pressure valve with controller, described the 8th electro-hydraulic proportion reversing valve also with than
Example overflow valve is connected, wherein, described outlet constant pressure valve is in series by ratio sequence valve and the 3rd proportional pressure-reducing valve.
In a preferred embodiment of the present invention, described card pricker locking driving control system is changed including the 9th electric-hydraulic proportion
To valve, card pricker locked hydraulic cylinder and the 4th proportional pressure-reducing valve, described the 9th electro-hydraulic proportion reversing valve and card pricker locked hydraulic cylinder
It is connected, the 9th described electro-hydraulic proportion reversing valve is connected by the 4th proportional pressure-reducing valve with controller, the 9th described electricity
Liquid proportional reversal valve is also connected with proportional pressure control valve.
The beneficial effects of the invention are as follows：The hydraulic system of the multiple degrees of freedom drill boom of the present invention, telecommunications is sent by controller
Number size control the size of electro-hydraulic proportion reversing valve amount of opening, and then control to flow to the flow of each executing agency, finally reach
To the speed of service for controlling each mechanism；The system can reduce mechanism fortune by being slowly turned on and off electro-hydraulic proportion reversing valve
The shock and vibration produced during row, realize the function of even running and buffering, reduce various flow speed control valves and throttling buffering valve
Use, greatly simplify hydraulic system, reduce the generation of failure.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, it can also obtain other according to these accompanying drawings
Accompanying drawing, wherein：
Fig. 1 is the structure principle chart of a preferred embodiment of the hydraulic system of multiple degrees of freedom drill boom of the present invention；
Fig. 2 is Fig. 1 structural representation；
Mark in accompanying drawing for：1st, base wobble drive control system, 2, one-level arm lifting driving control system, 3, two grades of arm liters
Driving control system drops, and 4, one-level rotary motor driving control system, 5, two-stage rotary motor driving control system, 6, rock drilling pushes away
Enter driving control system, 7, rock drilling revolution driving control system, 8, rock drilling impact driving control system, 9, the locking driving control of card pricker
System processed, 10, proportional pressure control valve, 11, controller, the 101, first electro-hydraulic proportion reversing valve, 102/103, trimmer valve, 104/
105th, check valve, 106, rotating hydraulic cylinder, the 107, first displacement detector, the 201, second electro-hydraulic proportion reversing valve, 202,
One one-way balance valve, the 203, first bidirectional hydraulic lock, 204, one-level lifting hydraulic cylinder, 205, second displacement detection means, 301,
3rd electro-hydraulic proportion reversing valve, the 302, second one-way balance valve, the 303, second bidirectional hydraulic lock, 304, secondary lifting hydraulic cylinder,
305th, triple motion detection means, the 401, the 4th electro-hydraulic proportion reversing valve, the 402, first Bidirectional balanced valve, the 403, the 3rd two-way liquid
Pressure lock, 404, one-level rotary motor, the 405, first angular displacement detecting device, the 501, the 5th electro-hydraulic proportion reversing valve, 502, second
Bidirectional balanced valve, the 503, the 4th bidirectional hydraulic lock, 504, two-stage rotary motor, the 505, second angular displacement detecting device, 601,
Six electro-hydraulic proportion reversing valves, the 602, the 3rd Bidirectional balanced valve, 603, rock drilling propulsion cylinder, the 604, first proportional pressure-reducing valve, 701,
Seven electro-hydraulic proportion reversing valves, 702, rock drilling rotary motor, the 703, second proportional pressure-reducing valve, the 801, the 8th electro-hydraulic proportion reversing valve,
802nd, rock drilling impacter, 803, outlet constant pressure valve, 811, ratio sequence valve, the 812, the 3rd proportional pressure-reducing valve, the 901, the 9th is electro-hydraulic
Proportional reversing valve, 902, card pricker locked hydraulic cylinder, the 903, the 4th proportional pressure-reducing valve, 1001, pedestal, 1002, side plate, 1003, return
Turn hydraulic cylinder, 1004, universal joint, 1005, fixed reversing frame, 1006, rotate reversing frame, 1007, one-level lifting hydraulic cylinder,
1008th, one-level lifting arm, 1009, secondary lifting hydraulic cylinder, 1010, secondary lifting arm, 1011, one-level rotary motor, 1012, three
Level revoliving arm, 1013, two-stage rotary motor, 1014, balladeur train, 1015, rock drilling propulsion cylinder, 1016, slide plate, 1017, hydraulic rock
Machine, 1018, hydraulic pressure card pricker device.
Embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
As shown in figure 1, the embodiment of the present invention includes：
A kind of hydraulic system of multiple degrees of freedom drill boom, including base wobble drive control system 1, one-level arm lifting drive control system
System 2, two grades of arm lifting driving control systems 3, one-level rotary motor driving control system 4, two-stage rotary motor drive control systems
System 5, rock drilling promote driving control system 6, rock drilling revolution driving control system 7, rock drilling impact driving control system 8, card pricker lock
Tight driving control system 9, proportional pressure control valve 10 and controller 11, described base wobble drive control system 1, one-level arm liter
Driving control system 2, two grades of arm lifting driving control systems 3, one-level rotary motor driving control system 4, two-stage rotary horses drop
Driving control system 6, rock drilling revolution driving control system 7, rock drilling impact drive control are promoted up to driving control system 5, rock drilling
System 8 and card pricker locking driving control system 9 are connected after being connected in parallel with proportional pressure control valve 10 and controller 11, and each is
System has controller 11 to be controlled.
Proportional pressure control valve 10 is used for the maximum pressure of control system, protects the safety of hydraulic pressure, it can also be according to load
The maximum pressure of the proportional regulating system of size is suitably worth to one.
First electro-hydraulic proportion reversing valve 101, trimmer valve 102/103, check valve 104/105, rotating hydraulic cylinder 106 and first
Displacement detector 107 constitutes base wobble drive control system 1, described the first electro-hydraulic proportion reversing valve 101 and revolution liquid
Cylinder pressure 106 is connected, and the trimmer valve 102/103 being connected in series is connected in first in parallel with the check valve 104/105 being connected in series
Between electro-hydraulic proportion reversing valve 101 and rotating hydraulic cylinder 106, the first described displacement detector 107 and the first electric-hydraulic proportion
Reversal valve 101 is connected with controller 11, and the first described electro-hydraulic proportion reversing valve 101 is also connected with proportional pressure control valve 10
Connect.
Controller 11 controls electric-hydraulic proportion to change by the size of the electric current at control the first electro-hydraulic proportion reversing valve 101 two ends
To the amount of opening of valve, controller 11 can be made by being slowly increased or reducing the electric current at the two ends of the first electro-hydraulic proportion reversing valve 101
Valve element is slowly turned on and off, and then the flow for being input to rotating hydraulic cylinder 104 is slowly increased or decreased, it is ensured that revolution
Hydraulic cylinder 106 is in startup, commutation, acceleration, deceleration, stopped process without impact, vibrationless even running；Rotating hydraulic cylinder
106 are mainly used in the swing for driving drill boom in 0-90 ° of horizontal plane；The effect of first displacement detector 107 is mainly used in real time
Monitor in rotating hydraulic cylinder 106 that piston rod is relative to the displacement of cylinder body, controller 11 can give two limit of piston rod first
Position, when detecting extreme position and occurring, controller, which is returned, closes the first electro-hydraulic proportion reversing valve 101, it is to avoid cause larger
Shock and vibration, secondly when detect piston rod reach specify place value time control device also return close the first electro-hydraulic proportion reversing valve
101；Trimmer valve 102/103 and 104/105 each two, check valve constitute a urgent buffering or brake circuit, work as rotating hydraulic cylinder
106 run into obstacle when stopping suddenly, it is assumed that rodless cavity is high pressure chest, and rod chamber is low pressure chamber, then the hydraulic oil of rodless cavity is backed through
Cross trimmer valve 102 and let out oil return box, low pressure rod chamber then can carry out repairing by check valve 104；Conversely, the draining of trimmer valve 103, single
To the repairing of valve 105, the urgent effect for buffering and braking can be thus played, shock and vibration are reduced；First electric-hydraulic proportion is changed
To the Median Function of valve 101 using O-shaped, its purpose be exactly in order to also have while ensureing that rotating hydraulic cylinder 106 stretches from
Lock function, rotating hydraulic cylinder 106 is not present because of the phenomenon that own wt declines in base wobble drive control system, is being
Pressure when system is stopped in pipeline also will not be very big, and the first electro-hydraulic proportion reversing valve 101 is commutated from O-shaped electric-hydraulic proportion
Valve can just meet the requirement of self-locking, and it is not necessary to the burden for increasing bidirectional hydraulic lock to increase system.
Second electro-hydraulic proportion reversing valve 201, the first one-way balance valve 202, the first bidirectional hydraulic lock 203, one-level lifting liquid
Cylinder pressure 204 and second displacement detection means 205 constitute one-level arm lifting driving control system 2, and the second described electric-hydraulic proportion is changed
It is connected to valve 201, the first one-way balance valve 202, the first bidirectional hydraulic lock 203 with one-level lifting hydraulic cylinder 204, described
Two displacement detectors 205 and the second electro-hydraulic proportion reversing valve 201 are connected with controller 11, the second described electric-hydraulic proportion
Reversal valve 201 is also connected with proportional pressure control valve 10.
Controller 11 controls electric-hydraulic proportion to change by the size of the electric current at control the second electro-hydraulic proportion reversing valve 201 two ends
To the amount of opening of valve, controller can make valve by being slowly increased or reducing the electric current at the two ends of the second electro-hydraulic proportion reversing valve 201
Core is slowly turned on and off, and then the flow for being input to one-level lifting arm hydraulic cylinder 204 is slowly increased or decreased, it is ensured that
One-level lifts arm hydraulic cylinder 204 in startup, commutation, acceleration, deceleration, stopped process without impact, vibrationless even running；One
Level lifting arm hydraulic cylinder 204 is mainly used in driving the lifting of one-level lifting arm；The effect of second displacement detection means 205 is mainly used
In displacement of the monitoring one-level lifting arm hydraulic cylinder piston rod in real time relative to cylinder body, controller 11 can give the two of piston rod first
Individual extreme position, when detecting extreme position and occurring, controller 11 can close the second electro-hydraulic proportion reversing valve 201, it is to avoid make
Into larger shock and vibration, secondly when detect piston rod reach specify place value when, it is electro-hydraulic that controller 11 can also close second
Proportional reversing valve 201；As shown in Figure 2 because one-level lifting arm hydraulic cylinder 204 can carry larger load, institute when out of service
To select bidirectional hydraulic lock in such a system, the first bidirectional hydraulic lock 203 is used for the self-locking that one-level lifts arm hydraulic cylinder 204, the
The Median Function of two electro-hydraulic proportion reversing valves 201 then selects Y types, it is ensured that pressure when being stopped in pipeline is zero, is not influenceed
The self-locking property of bidirectional hydraulic lock；It can go out because one-level lifts arm hydraulic cylinder 204 when retracting because of deadweight and the weight of arm support
Now accelerate the phenomenon declined suddenly, so the first one-way balance valve 202 is added in such a system, for balancing arm support and cylinder
The weight of body itself, in order to the even running of system.
3rd electro-hydraulic proportion reversing valve 301, the second one-way balance valve 302, the second bidirectional hydraulic lock 303, secondary lifting liquid
Cylinder pressure 304 and triple motion detection means 305 constitute two grades of arm lifting driving control systems 3, and the 3rd described electric-hydraulic proportion is changed
It is connected to valve 301, the second one-way balance valve 302, the second bidirectional hydraulic lock 303 with secondary lifting hydraulic cylinder 304, described
The electro-hydraulic proportion reversing valve 301 of triple motion detection means 305 and the 3rd is connected with controller 11, the 3rd described electric-hydraulic proportion
Reversal valve 301 is also connected with proportional pressure control valve 10.
Controller 11 controls electric-hydraulic proportion to change by the size of the electric current at control the 3rd electro-hydraulic proportion reversing valve 301 two ends
To the amount of opening of valve, controller 11 can be made by being slowly increased or reducing the electric current at the two ends of the 3rd electro-hydraulic proportion reversing valve 301
Valve element is slowly turned on and off, and then the flow for being input to secondary lifting hydraulic cylinder 304 is slowly increased or decreased, it is ensured that
Secondary lifting hydraulic cylinder 304 is in startup, commutation, acceleration, deceleration, stopped process without impact, vibrationless even running；Two grades
Lifting hydraulic cylinder 304 is mainly used in the lifting of two grades of upgrading arms of driving；The effect of triple motion detection means 305 is mainly used in reality
When monitoring one-level lifting arm hydraulic cylinder piston rod relative to the displacement of cylinder body, controller 11 can give two poles of piston rod first
Extreme position, when detecting extreme position and occurring, controller 11 can close the 3rd electro-hydraulic proportion reversing valve 301, it is to avoid cause compared with
Big shock and vibration, secondly when detect piston rod reach specify place value when, controller 11 can also close the 3rd electric-hydraulic proportion
Reversal valve 301；As shown in Figure 2 because secondary lifting hydraulic cylinder 304 can carry larger load when out of service, so herein
Bidirectional hydraulic lock is selected in system, the second bidirectional hydraulic lock 303 is used for the self-locking of secondary lifting arm hydraulic cylinder 304, and the 3rd is electro-hydraulic
The Median Function of proportional reversing valve 301 then selects Y types, it is ensured that pressure when being stopped in pipeline is zero, and second pair is not influenceed
To the self-locking property of hydraulic lock 303；Due to secondary lifting arm hydraulic cylinder 304 retract when can because deadweight and arm support weight,
There is the phenomenon for accelerating to decline suddenly, so add the second one-way balance valve 302 in such a system, for balance arm support and
The weight of cylinder body itself, in order to the even running of system.
4th electro-hydraulic proportion reversing valve 401, the first Bidirectional balanced valve 402, the 3rd bidirectional hydraulic lock 403, one-level revolution horse
Up to 404 and first angular displacement detecting device 405 constitute one-level rotary motor driving control system 4, the 4th described electric-hydraulic proportion
Reversal valve 401, the first Bidirectional balanced valve 402, the 3rd bidirectional hydraulic lock 403 are connected with one-level rotary motor 404, and described
One angular displacement detecting device 405 and the 4th electro-hydraulic proportion reversing valve 401 are connected with controller 11, the 4th described electro-hydraulic ratio
Example reversal valve 401 is also connected with proportional pressure control valve 10.
Controller 11 controls electric-hydraulic proportion to change by the size of the electric current at control the 4th electro-hydraulic proportion reversing valve 401 two ends
To the amount of opening of valve, controller 11 can be made by being slowly increased or reducing the electric current at the two ends of the 4th electro-hydraulic proportion reversing valve 401
Valve element is slowly turned on and off, and then the flow for being input to one-level rotary motor 404 is slowly increased or decreased, it is ensured that one
Level rotary motor 404 is in startup, commutation, acceleration, deceleration, stopped process without impact, vibrationless even running；One-level is turned round
Motor 404 is mainly used in driving the rotation of 0-360 ° of three-level revoliving arm；First angular displacement detecting device 405 is used to detect one in real time
The angular displacement of level rotary motor 404, when it runs to specified location, controller 11 can the commutation of the electric-hydraulic proportion of slowly closing the 4th
Valve 401 brakes it；By the structure in Fig. 2, one-level rotary motor 404 has both sides when running or being out of service
Larger load may be carried, the 3rd bidirectional hydraulic lock 403 is used for self-locking of the one-level rotary motor 404 when stopping；4th electricity
The Median Function of liquid proportional reversal valve 401 then selects Y types, it is ensured that pressure when being stopped in pipeline is zero, does not influence two-way
The self-locking property of hydraulic lock；First Bidirectional balanced valve 402 is likely to occur in the process of running for balancing one-level rotary motor 404
Because arm support conduct oneself with dignity produce moment of torsion, it is to avoid one-level rotary motor 404 in motion process suddenly accelerate rotation phenomenon, it is ensured that
The even running of system.
5th electro-hydraulic proportion reversing valve 501, the second Bidirectional balanced valve 502, the 4th bidirectional hydraulic lock 503, two-stage rotary horse
Up to 504 and second angular displacement detecting device 505 constitute two-stage rotary motor driving control system 5, the 5th described electric-hydraulic proportion
Reversal valve 501, the second Bidirectional balanced valve 502, the 4th bidirectional hydraulic lock 503 are connected with two-stage rotary motor 504, and described
Two angular displacement detecting devices 505 and the 5th electro-hydraulic proportion reversing valve 501 are connected with controller 11, the 5th described electro-hydraulic ratio
Example reversal valve 501 is also connected with proportional pressure control valve 10.
Controller 11 controls electric-hydraulic proportion to change by the size of the electric current at control the 5th electro-hydraulic proportion reversing valve 501 two ends
To the amount of opening of valve, controller 11 can be made by being slowly increased or reducing the electric current at the two ends of the 5th electro-hydraulic proportion reversing valve 501
Valve element is slowly turned on and off, and then the flow for being input to two-stage rotary motor 32 is slowly increased or decreased, it is ensured that two
Level rotary motor 504 is in startup, commutation, acceleration, deceleration, stopped process without impact, vibrationless even running；Two-stage rotary
The rock drill that motor 504 is mainly used in drive carriage and balladeur train carries out 0-360 ° of rotation；Second angular displacement detecting device 505
Angular displacement for detecting two-stage rotary motor 504 in real time, when it runs to specified location, controller 11 can slowly closing the
Five electro-hydraulic proportion reversing valves 501 brake it；By the structure in Fig. 2, two-stage rotary motor 504 is running or stopped
Both sides are likely to carry larger load during operation, and the 4th bidirectional hydraulic lock 503 is used for two-stage rotary motor 504 when stopping
Self-locking；The Median Function of 5th electro-hydraulic proportion reversing valve 501 then selects Y types, it is ensured that pressure when being stopped in pipeline is
Zero, the self-locking property of the 4th bidirectional hydraulic lock 503 is not influenceed；Second Bidirectional balanced valve 502 is used to balance two-stage rotary motor 504
Be likely to occur in the process of running because arm support conduct oneself with dignity produce moment of torsion, it is to avoid two-stage rotary motor 504 in motion process dash forward
So accelerate the phenomenon of rotation, it is ensured that the even running of system.
6th electro-hydraulic proportion reversing valve 601, the 3rd Bidirectional balanced valve 602, the proportional pressure-reducing valve of rock drilling propulsion cylinder 603 and first
604, which constitute rock drilling, promotes driving control systems 6, described the 6th electro-hydraulic proportion reversing valve 601, the 3rd Bidirectional balanced valve 602, chisel
Rock propulsion cylinder 603 is connected, and the 6th described electro-hydraulic proportion reversing valve 601 passes through the first proportional pressure-reducing valve 604 and controller 11
It is connected, the 6th described electro-hydraulic proportion reversing valve 601 is also connected with proportional pressure control valve 10.
Rock drilling propulsion cylinder 603 is mainly used in driving the propulsion of rock drill and retracted；From the structure in Fig. 2, rock drilling is pushed away
Enter cylinder 603 to be likely in propulsion and withdrawal because the situation of unexpected Accelerating running occurs in the weight of rock drill, herein
The 3rd Bidirectional balanced valve 602 is provided with system, the weight for balancing the rock drill itself being likely to occur；6th electric-hydraulic proportion
Reversal valve 601 is mainly used in the flow that control enters rock drilling propulsion cylinder 603, and then controls its fltting speed；One ratio subtracts
Pressure valve 604 be used for control enter rock drilling promote driving control system system pressure, the weight of rock drill in itself be it is certain, one
As long as the set pressure of proportional pressure-reducing valve 604 can make rock drilling propulsion cylinder promote rock drill moment contact rock.
7th electro-hydraulic proportion reversing valve 701, the proportional pressure-reducing valve 703 of rock drilling rotary motor 702 and second constitute rock drilling revolution
Driving control system 7, the 7th described electro-hydraulic proportion reversing valve 701 is connected with rock drilling rotary motor 702, the 7th described electricity
Liquid proportional reversal valve 701 is connected by the second proportional pressure-reducing valve 703 with controller 11, the 7th described electro-hydraulic proportion reversing valve
701 are also connected with proportional pressure control valve 10.
Rock drilling rotary motor 702 is mainly used in driving the rotation of drill steel；Second proportional pressure-reducing valve 703, which is used to set up, enters chisel
The maximum pressure of rock rotary motor 702, the need for different rock drilling operating modes, the second proportional pressure-reducing valve 703 can be with proportional company
Continuous regulation enters the pressure of rock drilling rotary motor 702, it is ensured that the drill steel of rock drill normally can rotate work under different operating modes
Make；7th electro-hydraulic proportion reversing valve 701 is mainly used in control and enters the flow of rock drilling rotary motor 702, and then controls it to rotate
Speed, while going back the effect of dual-purpose commutation and braking.
8th electro-hydraulic proportion reversing valve 801, rock drilling impacter 802 and outlet constant pressure valve 803 constitute rock drilling impact driving control
System 8 processed, the 8th described electro-hydraulic proportion reversing valve 801 is connected with rock drilling impacter 802, and the 8th described electric-hydraulic proportion is changed
It is connected to valve 801 by exporting constant pressure valve 803 with controller 11, the 8th described electro-hydraulic proportion reversing valve 801 is gone back and ratio
Overflow valve 10 is connected.
Rock drilling impacter 802 is mainly used in hitting drill steel progress rock drilling；Outlet constant pressure valve 803 is mainly used in continuous proportional
Control enter rock drilling impacter 802 pressure, for different operating modes can pass through controller 11 regulation outlet constant pressure valve 803
Different Opening pressures, and then different surges are controlled, reach the purpose of impact drilling；Rock drilling frequency is with entering rock drilling punching
The flow for hitting device 802 is relevant, and flow more large impact frequency is higher, and the smaller frequency of impact of flow is lower, the 8th electric-hydraulic proportion
Reversal valve 801 is mainly used in control and enters the flow of rock drilling impacter 802, and then adjusts its frequency of impact.
Wherein, described outlet constant pressure valve 803 is in series by the proportional pressure-reducing valve 812 of ratio sequence valve 811 and the 3rd.Than
Example sequence valve 811 plays limitation and plays limitation into minimum pressure, the 3rd proportional pressure-reducing valve 812 of rock drilling impact system hydraulic oil
Into the maximum pressure of rock drilling impact system hydraulic oil, their Opening pressure is transferred to the same, it is possible to reach control outlet
Pressure is the purpose of certain value；It can be synchronized by controller 11 with the proportional pressure-reducing valve 812 of comparative example sequence valve 811 and the 3rd
Control, realizes the electrodeless regulation of outlet pressure, the need for meeting during impactor impact rock to different pressures, conventional impact
Pressure is adjusted by different overflow valves, is generally divided into low pressure, middle pressure, three surges of high pressure, it is impossible to realize
Stepless pressure regulation, for the too small purpose for not reaching impact drilling of rock pressure of different hardness, will waste greatly very much system pressure
The energy loss of increase system, is extremely difficult to most suitable surge, and the outlet constant pressure valve 803 of the system is exactly to solve
This problem, can adjust different surges using outlet constant pressure valve 903 according to the hardness of different rocks, can not only reach
To the purpose of impact rock, but also the energy loss of system can be greatlyd save.
9th electro-hydraulic proportion reversing valve 901, card pricker locked hydraulic cylinder 902 and the 4th proportional pressure-reducing valve 903 constitute card pricker lock
Tight driving control system 9, the 9th described electro-hydraulic proportion reversing valve 901 is connected with card pricker locked hydraulic cylinder 902, and described the
Nine electro-hydraulic proportion reversing valves 901 are connected by the 4th proportional pressure-reducing valve 903 with controller 11, and the 9th described electric-hydraulic proportion is changed
Also it is connected to valve 901 with proportional pressure control valve 10.
Card pricker locked hydraulic cylinder 902 is mainly used in driving hydraulic pressure card pricker device（1018 in Fig. 2）Clamping drill steel, it is to avoid drill steel
Rocking during rock drilling；9th electro-hydraulic proportion reversing valve 901 be used for the propulsion of control card pricker locked hydraulic cylinder 902, retraction,
Braking and self-locking；4th proportional pressure-reducing valve 903 is mainly used in the clamping pressure of control card pricker device.
As indicated with 2, multiple degrees of freedom drill boom structure includes pedestal 1001, side plate 1002, rotating hydraulic cylinder 1003, universal joint
1004th, fixed reversing frame 1005, rotation reversing frame 1006, one-level lifting hydraulic cylinder 1007, one-level lifting arm 1008, secondary lifting
Hydraulic cylinder 1009, secondary lifting arm 1010；One-level rotary motor 1011, three-level revoliving arm 1012, two-stage rotary motor 1013, cunning
Frame 1014, rock drilling propulsion cylinder 1015, slide plate 1016, hydraulic gate 1017 and hydraulic pressure card pricker device 1018.
Rotating hydraulic cylinder 106 in Fig. 1 is corresponding with the rotating hydraulic cylinder 1003 in Fig. 2, the rotating hydraulic cylinder in Fig. 2
1003 are mainly used in the swing for driving drill boom in 0-90 ° of horizontal plane；One-level lifting hydraulic cylinder in Fig. 1 and the one-level liter in Fig. 2
Descending liquid cylinder pressure 1007 is corresponding, and the one-level lifting hydraulic cylinder 1007 in Fig. 2 is mainly used in driving the one-level lifting arm 1008 in Fig. 2
Lifting；Secondary lifting hydraulic cylinder 304 in Fig. 1 is corresponding with the secondary lifting hydraulic cylinder 1009 in Fig. 2, two grades in Fig. 2
Lifting hydraulic cylinder 1009 is mainly used in driving the lifting of the secondary lifting arm 1010 in Fig. 2；One-level rotary motor 404 in Fig. 1
Corresponding with the one-level rotary motor 1011 in Fig. 2, the one-level rotary motor 1011 in Fig. 2 is mainly used in driving three in Fig. 2
The rotation of 10120-360 ° of revoliving arm of level；Two-stage rotary motor 504 in Fig. 1 is relative with the two-stage rotary motor 1013 in Fig. 2
Should, balladeur train 1014 that the two-stage rotary motor 1013 in Fig. 2 is mainly used in control figure 2 and hydraulic gate 1017 thereon enter
The rotation of 0-360 ° of row；Rock drilling propulsion cylinder 603 in Fig. 1 is corresponding with the rock drilling propulsion cylinder 1015 in Fig. 2, the rock drilling in Fig. 2
Propulsion cylinder 1015 is mainly used in driving moving forward and backward for the hydraulic gate 1017 in Fig. 2；Rock drilling rotary motor in Fig. 1
702 are mainly used in driving the rotation of hydraulic gate drill steel in Fig. 2；Rock drilling impacter 802 in Fig. 1 is mainly used in hitting drill steel
Carry out rock drilling；Card pricker locked hydraulic cylinder 902 in Fig. 1 is mainly used in promoting the clamping drill steel of hydraulic pressure card pricker device 1018 in Fig. 2.
In the present embodiment, electro-hydraulic proportion reversing valve be mainly used in controlling the acceleration of each executing agency, deceleration, commutation, braking,
Be accurately positioned, even running etc., in the present system the opening and closing of each electro-hydraulic proportion reversing valve and proportional pressure-reducing valve and
The Opening pressure of outlet constant pressure valve has controller 11 to send electric signal control, and the system uses the purpose of electro-hydraulic proportion reversing valve
It is：The operation of accurate controlling organization, reduces the shock and vibration produced in mechanism running, reduces various flow speed control valves and throttling
The use of trimmer valve, simplifies hydraulic system, reduces the generation of failure.
The hydraulic system of the multiple degrees of freedom drill boom of the present invention has the following advantages that compared with prior art：
1st, startup, commutation, braking, acceleration, deceleration of each executive component etc. are controlled using electro-hydraulic proportion reversing valve, electric-hydraulic proportion is changed
The electric signal sent to valve by controller（Electric current）It is controlled, the input of electric current is slowly increased or reduced by controller, is made
Valve element is slowly turned on and off, and then the flow for being input to each executing agency is slowly increased or decreased, and makes it with respectively holding
The speed of service of row mechanism matches, it is ensured that each executing agency is starting, commutation, accelerate, slow down, in stopped process without impact,
Vibrationless even running；
2nd, the operation of accurate controlling organization, reduces the shock and vibration produced in mechanism running, reduce various flow speed control valves and
The use of throttling buffering valve, simplifies hydraulic system, reduces the generation of failure；
3rd, outlet constant pressure valve is in series by ratio sequence valve and proportional pressure-reducing valve, and ratio sequence valve plays limitation and enters rock drilling
Minimum pressure, the proportional pressure-reducing valve of impact system hydraulic oil play the maximum pressure that limitation enters rock drilling impact system hydraulic oil,
Their Opening pressure is transferred to the same, it is possible to reach the purpose for controlling outlet pressure to be certain value；Can be with by controller
Comparative example sequence valve and proportional pressure-reducing valve synchronize control, realize the electrodeless regulation of outlet pressure.
In summary, the hydraulic system for the multiple degrees of freedom drill boom that the present invention is provided, the system is mainly sent out by controller
Go out the size of electric signal to control the size of electro-hydraulic proportion reversing valve amount of opening, and then control to flow to the flow of each executing agency,
It is finally reached the speed of service for controlling each mechanism；The system can be reduced by being slowly turned on and off electro-hydraulic proportion reversing valve
The shock and vibration produced in mechanism running, realize the function of even running and buffering, reduce various flow speed control valves and throttling
The use of trimmer valve, greatly simplifies hydraulic system, reduces the generation of failure.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright description is made, or directly or indirectly it is used in other related technology necks
Domain, is included within the scope of the present invention.
Claims (10)
1. a kind of hydraulic system of multiple degrees of freedom drill boom, it is characterised in that including base wobble drive control system, one-level arm liter
Driving control system, two grades of arm lifting driving control systems, one-level rotary motor driving control system, two-stage rotary motors is dropped to drive
Autocontrol system, rock drilling promote driving control system, rock drilling revolution driving control system, rock drilling impact driving control system, card
Pricker locking driving control system, proportional pressure control valve and controller, described base wobble drive control system, the lifting of one-level arm
Driving control system, two grades of arm lifting driving control systems, one-level rotary motor driving control system, the drivings of two-stage rotary motor
Control system, rock drilling promote driving control system, rock drilling revolution driving control system, rock drilling impact driving control system and card pricker
Locking driving control system is connected after being connected in parallel with proportional pressure control valve and controller, and each system has controller progress
Control.
2. according to the hydraulic system of the multiple degrees of freedom drill boom described in claim 1, it is characterised in that described base wobble drive control
System processed includes the first electro-hydraulic proportion reversing valve, trimmer valve, check valve, rotating hydraulic cylinder and the first displacement detector, described
The first electro-hydraulic proportion reversing valve be connected with rotating hydraulic cylinder, the trimmer valve being connected in series is in parallel with the check valve being connected in series
It is connected between the first electro-hydraulic proportion reversing valve and rotating hydraulic cylinder, the first described displacement detector and the first electric-hydraulic proportion
Reversal valve is connected with controller, and the first described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
3. according to the hydraulic system of the multiple degrees of freedom drill boom described in claim 1, it is characterised in that described one-level arm lifting driving
Control system include the second electro-hydraulic proportion reversing valve, the first one-way balance valve, the first bidirectional hydraulic lock, one-level lifting hydraulic cylinder and
Second displacement detection means, described the second electro-hydraulic proportion reversing valve, the first one-way balance valve, the first bidirectional hydraulic lock and one-level
Lifting hydraulic cylinder is connected, and described second displacement detection means and the second electro-hydraulic proportion reversing valve is connected with controller,
The second described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
4. according to the hydraulic system of the multiple degrees of freedom drill boom described in claim 1, it is characterised in that described two grades of arms lifting driving
Control system include the 3rd electro-hydraulic proportion reversing valve, the second one-way balance valve, the second bidirectional hydraulic lock, secondary lifting hydraulic cylinder and
Triple motion detection means, described the 3rd electro-hydraulic proportion reversing valve, the second one-way balance valve, the second bidirectional hydraulic lock and two grades
Lifting hydraulic cylinder is connected, and described triple motion detection means and the 3rd electro-hydraulic proportion reversing valve is connected with controller,
The 3rd described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
5. according to the hydraulic system of the multiple degrees of freedom drill boom described in claim 1, it is characterised in that described one-level rotary motor drives
Autocontrol system include the 4th electro-hydraulic proportion reversing valve, the first Bidirectional balanced valve, the 3rd bidirectional hydraulic lock, one-level rotary motor,
First angular displacement detecting device, described the 4th electro-hydraulic proportion reversing valve, the first Bidirectional balanced valve, the 3rd bidirectional hydraulic lock and one
Level rotary motor is connected, and described the first angular displacement detecting device and the 4th electro-hydraulic proportion reversing valve is connected with controller
Connect, the 4th described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
6. according to the hydraulic system of the multiple degrees of freedom drill boom described in claim 1, it is characterised in that described two-stage rotary motor drives
Autocontrol system include the 5th electro-hydraulic proportion reversing valve, the second Bidirectional balanced valve, the 4th bidirectional hydraulic lock, two-stage rotary motor and
Second angular displacement detecting device, described the 5th electro-hydraulic proportion reversing valve, the second Bidirectional balanced valve, the 4th bidirectional hydraulic lock and two
Level rotary motor is connected, and described the second angular displacement detecting device and the 5th electro-hydraulic proportion reversing valve is connected with controller
Connect, the 5th described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
7. according to the hydraulic system of the multiple degrees of freedom drill boom described in claim 1, it is characterised in that described rock drilling promotes driving control
System processed includes the 6th electro-hydraulic proportion reversing valve, the 3rd Bidirectional balanced valve, rock drilling propulsion cylinder and the first proportional pressure-reducing valve, described
6th electro-hydraulic proportion reversing valve, the 3rd Bidirectional balanced valve, rock drilling propulsion cylinder are connected, and the 6th described electro-hydraulic proportion reversing valve leads to
Cross the first proportional pressure-reducing valve with controller to be connected, the 6th described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
8. according to the hydraulic system of the multiple degrees of freedom drill boom described in claim 1, it is characterised in that described rock drilling revolution driving control
System processed includes the 7th electro-hydraulic proportion reversing valve, rock drilling rotary motor and the second proportional pressure-reducing valve, the 7th described electric-hydraulic proportion
Reversal valve is connected with rock drilling rotary motor, and the 7th described electro-hydraulic proportion reversing valve passes through the second proportional pressure-reducing valve and controller
It is connected, the 7th described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
9. according to the hydraulic system of the multiple degrees of freedom drill boom described in claim 1, it is characterised in that described rock drilling impact driving control
System processed includes the 8th electro-hydraulic proportion reversing valve, rock drilling impacter and outlet constant pressure valve, the 8th described electro-hydraulic proportion reversing valve
It is connected with rock drilling impacter, the 8th described electro-hydraulic proportion reversing valve is connected by exporting constant pressure valve with controller, described
The 8th electro-hydraulic proportion reversing valve be also connected with proportional pressure control valve, wherein, described outlet constant pressure valve by ratio sequence valve and
3rd proportional pressure-reducing valve is in series.
10. according to the hydraulic system of the multiple degrees of freedom drill boom described in claim 1, it is characterised in that described card pricker locking driving
Control system includes the 9th electro-hydraulic proportion reversing valve, card pricker locked hydraulic cylinder and the 4th proportional pressure-reducing valve, and described the 9th is electro-hydraulic
Proportional reversing valve is connected with card pricker locked hydraulic cylinder, described the 9th electro-hydraulic proportion reversing valve by the 4th proportional pressure-reducing valve with
Controller is connected, and the 9th described electro-hydraulic proportion reversing valve is also connected with proportional pressure control valve.
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| CN201710636200.XA CN107313997B (en) | 2017-07-31 | 2017-07-31 | Hydraulic system of multi-degree-of-freedom drill boom |
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| CN201710636200.XA CN107313997B (en) | 2017-07-31 | 2017-07-31 | Hydraulic system of multi-degree-of-freedom drill boom |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113216828A (en) * | 2021-06-21 | 2021-08-06 | 桂林航天工业学院 | Supporting leg type full-hydraulic rock drill |
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Also Published As
| Publication number | Publication date |
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| CN107313997B (en) | 2024-01-23 |
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