CN111503073A - Semi-closed hydraulic servo control system for mobile coal bunker equipment - Google Patents
Semi-closed hydraulic servo control system for mobile coal bunker equipment Download PDFInfo
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- CN111503073A CN111503073A CN202010261302.XA CN202010261302A CN111503073A CN 111503073 A CN111503073 A CN 111503073A CN 202010261302 A CN202010261302 A CN 202010261302A CN 111503073 A CN111503073 A CN 111503073A
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- 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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- 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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- 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
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
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- 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
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- 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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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Abstract
The invention belongs to the field of coal mine storage, and discloses a hydraulic servo control system of semi-closed mobile coal bunker equipment, which comprises one or more groups of hydraulic control units, wherein each hydraulic control unit comprises: the hydraulic system comprises a first controller, a first hydraulic cylinder, a second hydraulic cylinder, a first three-position four-way proportional reversing valve, a second three-position four-way proportional reversing valve, a first cartridge valve, a second cartridge valve, a first one-way valve and a second one-way valve; the first hydraulic cylinder and the second hydraulic cylinder are respectively arranged on two sides of the movable coal bunker and are used for driving the movable coal bunker to move; the hydraulic control system accurately adjusts the opening of the three-position four-way proportional reversing valve by comparing the displacement synchronous error and the real-time displacement of the hydraulic cylinder, realizes the synchronous displacement precision control of the hydraulic cylinder, realizes pressure maintaining through the hydraulic reversing valve 6 and the two-position four-way electromagnetic valve, has an obstacle identification function, and can eliminate potential safety hazards during the operation of a coal bunker.
Description
Technical Field
The invention belongs to the field of coal mine storage, and particularly relates to a hydraulic servo control system of a semi-closed type movable coal bunker device.
Background
At present, in enterprises with large coal consumption, coal transfer bases and other occasions, a large amount of coal is often stored in the open air, and the open air storage of the coal is easy to pollute air under the blowing of strong wind, so that protective devices are needed to be designed in the occasions, and most commonly, the large-span arc-shaped shed frame made of steel structures is used for covering the stacked coal. However, the shed frame with the fixed structure is not favorable for large-batch loading, unloading and transportation.
Therefore, the combined coal bunker designed in the prior art, which can be partially moved in segments, is generally installed in an open-air bulk coal yard and consists of an outer net rack moving unit, an inner net rack moving unit, a unit bottom truss beam, a traveling mechanism, a guide rail locking sheet and a foundation. The sectional movement and the sectional operation can be realized, and the operation is started when the operation is performed and is closed after the operation is completed.
For example, application No.: 201821897428.0 an electronic flexible canopy, includes the support, takes ceiling and actuating mechanism on the support, the support has at least one and includes the stand of two symmetrical settings and sets up the crossbeam between two stands, actuating mechanism includes the slide rail, slides and sets up the pulley on the slide rail and be used for driving the rolling driving piece of pulley on the slide rail, the pulley sets up on the stand.
And application number: 201510301635.X discloses a telescopic shed, which comprises at least two shed units and a driving device; the at least two shed units are nested, and the two adjacent nested shed units are connected in a sliding manner; the end part of the shed unit in the sliding direction is arched; the driving device is arranged on the shed units and used for driving the at least two shed units to relatively slide so as to realize extension and retraction.
Application number 201810273749.1 discloses a totally closed portable feed bin of nested formula, install in open-air open bulk cargo storage yard, it is by outer net frame mobile unit, inner net frame mobile unit, two end confined fixed unit, unit bottom truss crossbeam, running gear, the guide rail stay, the basis is constituteed, outer net frame mobile unit is located inner net frame mobile unit's the outside, outer net frame mobile unit, inner net frame mobile unit's lower part both ends all weld unit bottom truss crossbeam, unit bottom truss crossbeam is equipped with running gear, running gear sets up on the guide rail, the guide rail passes through guide rail stay and basis fixed connection.
In the field of movable coal bunkers, the movement control of the coal bunkers is widely realized in an electric automatic control mode, and the electric automatic control mode has the advantages of simple structure, convenience in operation, mature technology and the like, but has the limitations of use environment and low power.
The semi-closed movable coal bunker is used for storing inflammable coal, belongs to large-span equipment and is high in working load, and therefore the problems of insufficient power and environmental limitation possibly exist in existing electric automation.
Disclosure of Invention
The invention aims to provide a hydraulic servo control system of semi-closed movable coal bunker equipment, which effectively solves the problems of insufficient power and environmental limitation of an electric drive movable coal bunker in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: a hydraulic servo control system of a semi-closed type movable coal bunker device comprises one or more groups of hydraulic control units, and is characterized in that each hydraulic control unit comprises: the hydraulic system comprises a first controller, a first hydraulic cylinder, a second hydraulic cylinder, a first three-position four-way proportional reversing valve, a second three-position four-way proportional reversing valve, a first cartridge valve, a second cartridge valve, a first one-way valve and a second one-way valve; the first hydraulic cylinder and the second hydraulic cylinder are respectively arranged on two sides of the movable coal bunker and are used for driving the movable coal bunker to move; an oil inlet and an oil return port of the first three-position four-way proportional reversing valve are respectively connected with an oil outlet and an oil return port of an oil tank, a first working oil port is connected with a left cavity of the first hydraulic cylinder through a first cartridge valve, and a second working oil port is connected with a right cavity of the first hydraulic cylinder; two ends of the first one-way valve are connected in parallel to two ends of the first cartridge valve; an oil inlet and an oil return port of the second three-position four-way proportional reversing valve are respectively connected with an oil outlet and an oil return port of an oil tank, a first working oil port is connected with a left cavity of a second hydraulic cylinder through a second cartridge valve, and a second working oil port is connected with a right cavity of the second hydraulic cylinder; two ends of the second one-way valve are connected in parallel to two ends of the second cartridge valve; the output end of the first controller is connected with the control ends of the first three-position four-way proportional reversing valve and the second three-position four-way proportional reversing valve, and the first controller is used for adjusting the opening degrees of the first three-position four-way proportional reversing valve and the second three-position four-way proportional reversing valve according to the displacement synchronization error of the first hydraulic cylinder and the second hydraulic cylinder, so that the synchronous displacement control of the first hydraulic cylinder and the second hydraulic cylinder is realized.
The hydraulic control units are divided into three groups.
The semi-closed hydraulic servo control system for the mobile coal bunker device further comprises obstacle identifiers arranged on two sides of the coal bunker, the obstacle identifiers are connected with the first controller, and the first controller is further used for sending signals to control the first three-position four-way proportional reversing valve and the second three-position four-way proportional reversing valve to be closed according to obstacle identification signals of the obstacle identifiers.
The hydraulic control unit also comprises a two-position four-way electromagnetic directional valve, two hydraulic directional valves, a first two-position three-way electromagnetic directional valve and a second two-position three-way electromagnetic directional valve; an oil inlet and an oil return port of the two-position four-way electromagnetic reversing valve are respectively connected with an oil outlet and an oil return port of an oil tank, and a working oil port is simultaneously connected with control ends of the two hydraulic reversing valves; an oil inlet of one of the hydraulic reversing valves is connected with a second working oil port of the first three-position four-way proportional reversing valve, an oil outlet of the hydraulic reversing valve is connected with an oil return port of an oil tank, the oil outlet of the hydraulic reversing valve is also connected with an oil inlet of the first two-position three-way electromagnetic reversing valve, the oil return port of the first two-position three-way electromagnetic reversing valve is connected with an oil return port of an oil cylinder through a first safety valve, and the working oil port of the first two-position three-way electromagnetic reversing valve is connected with a control end of the first cartridge valve; the oil inlet of the other hydraulic reversing valve is connected with the second working oil port of the second three-position four-way proportional reversing valve, the oil outlet is connected with the oil return port of the oil tank, the oil outlet is also connected with the oil inlet of the second two-position three-way electromagnetic reversing valve, the oil return port of the second two-position three-way electromagnetic reversing valve is connected with the oil return port of the oil cylinder through a second safety valve, and the working oil port of the second two-position three-way electromagnetic reversing valve is connected with the control end of the second cartridge valve.
The hydraulic servo control system of the semi-closed type movable coal bunker device comprises the following control methods: during movement, a first controller sends signals to enable a first three-position four-way proportional reversing valve and a second three-position four-way proportional reversing valve to work at the right position, meanwhile, the two-position four-way electromagnetic reversing valve is controlled to work at the left position, the two-position four-way electromagnetic reversing valve enables two hydraulic reversing valves to work at the left position, the two hydraulic reversing valves control the first two-position three-way electromagnetic reversing valve and the second two-position three-way electromagnetic reversing valve to work at the right position, the first cartridge valve and the second cartridge valve are enabled to be opened, and the first hydraulic cylinder and the second hydraulic cylinder drive the movable coal bunker to move;
during pressurization, a first controller sends signals to enable a first three-position four-way proportional reversing valve and a second three-position four-way proportional reversing valve to work at the left position, a two-position four-way electromagnetic reversing valve is controlled to work at the right position, the two-position four-way electromagnetic reversing valve enables two hydraulic reversing valves to work at the right position, the two hydraulic reversing valves respectively control the first two-position three-way electromagnetic reversing valve and the second two-position three-way electromagnetic reversing valve to work at the left position, the first cartridge valve and the second cartridge valve are closed, and high-pressure oil sends signals to enable the first three-position four-way proportional reversing valve to enter right cavities of a first hydraulic cylinder and a second hydraulic cylinder through the first controller;
and during pressure maintaining, the two-position four-way electromagnetic reversing valve is controlled to work at the right position, the two hydraulic reversing valves work at the right position by the two-position four-way electromagnetic reversing valve, and meanwhile, the three-position four-way proportional reversing valve keeps the zero position by sending a signal through the first controller.
The hydraulic control unit further comprises a second controller, a two-way variable hydraulic pump, a three-position four-way servo reversing valve, a third hydraulic cylinder and a hydraulic motor, the second controller is used for controlling the opening of the three-position four-way servo reversing valve, an oil inlet and an oil return port of the three-position four-way servo reversing valve are respectively connected with an oil outlet and an oil return port of an oil cylinder, a working oil port is connected with the third hydraulic cylinder, the hydraulic cylinder is used for controlling the opening and closing and the flow of the two-way variable hydraulic pump, and the two-way variable hydraulic pump is used for driving the hydraulic motor to drive the coal bunker exhaust equipment to work.
The semi-closed hydraulic servo control system for the mobile coal bunker device further comprises a coal smoke concentration monitor arranged in the coal bunker, wherein the output end of the coal smoke concentration monitor is connected with a second controller, and the second controller is used for controlling the valve position and the opening degree of a three-position four-way servo reversing valve according to monitoring data sent by the coal smoke concentration monitor.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the hydraulic servo control system of the semi-closed type movable coal bunker device, the opening degree of the three-position four-way proportional reversing valve is accurately adjusted by comparing the displacement synchronous error of the hydraulic cylinder with the real-time displacement of the hydraulic cylinders 7.1 and 7.2, the synchronous displacement precision control of the hydraulic cylinders 7.1 and 7.2 is realized, the hydraulic reversing valve 6 and the two-position four-way electromagnetic valve are added to realize pressure maintaining, and meanwhile, the hydraulic servo control system has a barrier identification function and eliminates potential safety hazards during the operation of a coal bunker.
2. The hydraulic servo control system of the semi-closed type movable coal bunker device provided by the invention adopts a hydraulic pump suitable for high load and high power and also adopts a hydraulic reversing valve to supplement oil for the system so as to meet the problem of insufficient pressure.
3. The stability of the bidirectional movement of the hydraulic cylinder is realized by combining the two-position three-way electromagnetic directional valve and the cartridge valve, the two-position three-way electromagnetic directional valve controls the opening and closing of the cartridge valve, the stability of an oil return path is realized when the hydraulic cylinder moves rightwards, and the hydraulic cylinder moves leftwards to ensure the oil pressure of an oil inlet path. The system also adopts a two-position two-way electromagnetic valve and a two-position two-way hydraulic reversing valve to realize the automatic pressure maintaining function, thereby ensuring the safety of the system and improving the automation degree of a hydraulic loop.
4. The invention adopts the automatic control loop based on the concentration of the coal smoke, can control the opening of the valve port of the three-position four-way servo reversing valve according to the concentration, realizes the flow control of the variable hydraulic pump, and adjusts the rotating speed of the exhaust system in real time so as to achieve the effects of energy conservation and emission reduction.
Drawings
Fig. 1 is a schematic structural diagram of a hydraulic servo control system of a semi-closed mobile coal bunker device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the arrangement of hydraulic cylinders and sensors in an embodiment of the invention;
fig. 3 is another angle view of fig. 2.
In the figure: 1 is a first safety valve, 2 is a first check valve, 3 is a first cartridge valve, 4 is a first two-position three-way electromagnetic directional valve, 5 is a first hydraulic control unit 5, 6 is a two-position two-way hydraulic directional valve, 7.1 is a first hydraulic cylinder, 7.2 is a second hydraulic cylinder, 8 is a first controller, 9 is a second controller, 10 is a second two-position three-way electromagnetic directional valve, 11 is a second cartridge valve, 12 is a two-way variable hydraulic pump, 13 is a second hydraulic control unit, 14 is a third safety valve, 15 is a fourth safety valve, 16 is a hydraulic motor, 17 is a third hydraulic cylinder, 18 is a three-position four-way servo directional valve, 19 is a fourth check valve, 20 is a third check valve, 21 is a second three-position four-way proportional directional valve, 22 is a second check valve, 23 is a second safety valve, 24 is a filter, 25 is a hydraulic pump, 26 is an overflow valve, 27 is a two-position four-way electromagnetic directional valve, 28 is a first three-position four-way proportional directional valve, 29 is the oil tank, and A is the coal smoke concentration monitor, and B is obstacle recognizer, and I is the first removal coal bunker, and II is the second removal coal bunker, and III is the third removal coal bunker.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a hydraulic servo control system for a semi-closed mobile coal bunker device, including a first hydraulic control unit 5, a second hydraulic control unit, and a third hydraulic control unit 13, where the three hydraulic control units have the same structure and respectively drive a first mobile coal bunker i, a second mobile coal bunker ii, and a third mobile coal bunker iii.
Specifically, as shown in fig. 1, taking the second hydraulic control unit as an example, the second hydraulic control unit includes: the hydraulic control system comprises a first controller 8, a first hydraulic cylinder 7.1, a second hydraulic cylinder 7.2, a first three-position four-way proportional directional valve 28, a second three-position four-way proportional directional valve 21, a first cartridge valve 3, a second cartridge valve 11, a first one-way valve 2 and a second one-way valve 22; the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2 are respectively arranged at two sides of the movable coal bunker and are used for driving the movable coal bunker to move; an oil inlet and an oil return port of the first three-position four-way proportional reversing valve 28 are respectively connected with an oil outlet and an oil return port of an oil tank, a first working oil port is connected with a left cavity of a first hydraulic cylinder 7.1 through a first cartridge valve 3, and a second working oil port is connected with a right cavity of the first hydraulic cylinder 7.1; two ends of the first one-way valve 2 are connected in parallel to two ends of the first cartridge valve 3; an oil inlet and an oil return port of the second three-position four-way proportional reversing valve 21 are respectively connected with an oil outlet and an oil return port of an oil tank, a first working oil port is connected with a left cavity of a second hydraulic cylinder 7.2 through a second cartridge valve 11, and a second working oil port is connected with a right cavity of the second hydraulic cylinder 7.2; two ends of the second one-way valve 22 are connected in parallel to two ends of the second cartridge valve 11; the output end of the first controller 8 is connected with the control ends of the first three-position four-way proportional reversing valve 28 and the second three-position four-way proportional reversing valve 21, and is used for adjusting the opening degrees of the first three-position four-way proportional reversing valve 28 and the second three-position four-way proportional reversing valve 21 according to the displacement synchronization error of the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2, so that the synchronous displacement control of the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2 is realized.
In this embodiment, the displacement driving of the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2 can be realized by controlling the opening and closing of the first cartridge valve 3 and the second cartridge valve 11 and the valve positions of the first three-position four-way proportional reversing valve 28 and the second three-position four-way proportional reversing valve 21.
Specifically, as shown in fig. 2 to 3, the coal bunker further includes obstacle identifiers disposed on two sides of the coal bunker, the obstacle identifiers are connected to the first controller 8, and the first controller 8 is further configured to send signals to control the first three-position four-way proportional reversing valve 28 and the second three-position four-way proportional reversing valve 21 to close according to obstacle identification signals of the obstacle identifiers.
The obstacle recognizer B is arranged on two sides of the coal bunker, when an obstacle with a certain volume appears in the moving process of the moving coal bunker, the obstacle recognizer B recognizes the obstacle, a signal is transmitted to the first controller 8, the first controller 8 makes a judgment according to an obstacle recognition algorithm, a closing instruction is sent to the three-position four-way proportional reversing valves 21 and 28, after the obstacle is eliminated, the second three-position four-way proportional reversing valve 21 and the first three-position four-way proportional reversing valve 28 are opened again, the hydraulic cylinder drives the moving coal bunker to reciprocate, and therefore an obstacle monitoring control loop is achieved, and safety guarantee of the semi-closed moving coal bunker is achieved.
Further, as shown in fig. 1, the hydraulic control unit further includes a two-position four-way electromagnetic directional valve 27, two hydraulic directional valves 6, a first two-position three-way electromagnetic directional valve 4, and a second two-position three-way electromagnetic directional valve 10; an oil inlet and an oil return port of the two-position four-way electromagnetic reversing valve 27 are respectively connected with an oil outlet and an oil return port of an oil tank, and a working oil port is simultaneously connected with control ends of the two hydraulic reversing valves 6; an oil inlet of one of the hydraulic reversing valves 6 is connected with a second working oil port of the first three-position four-way proportional reversing valve 28, an oil outlet is connected with an oil return port of an oil tank, the oil outlet is also connected with an oil inlet of the first two-position three-way electromagnetic reversing valve 4, the oil return port of the first two-position three-way electromagnetic reversing valve 4 is connected with an oil return port of the oil cylinder through a first safety valve 1, and a working oil port of the first two-position three-way electromagnetic reversing valve 4 is connected with a control end of the first cartridge valve 3; the oil inlet of the other hydraulic reversing valve 6 is connected with the second working oil port of the second three-position four-way proportional reversing valve 21, the oil outlet is connected with the oil return port of the oil tank, the oil outlet is also connected with the oil inlet of the second two-position three-way electromagnetic reversing valve 11, the oil return port of the second two-position three-way electromagnetic reversing valve 11 is connected with the oil return port of the oil cylinder through a second safety valve 23, and the working oil port of the second two-position three-way electromagnetic reversing valve 11 is connected with the control end of the second cartridge valve 11.
The hydraulic servo control system for the semi-closed mobile coal bunker device provided by the embodiment comprises the following control methods: during movement, a signal is sent by the first controller 8 to enable the first three-position four-way proportional reversing valve 28 and the second three-position four-way proportional reversing valve 21 to work at the right position, meanwhile, the two-position four-way electromagnetic reversing valve 27 is controlled to work at the left position, the two-position four-way electromagnetic reversing valve 27 enables the two hydraulic reversing valves 6 to work at the left position, the two hydraulic reversing valves 6 control the first two-position three-way electromagnetic reversing valve 4 and the second two-position three-way electromagnetic reversing valve 10 to work at the right position, the first cartridge valve 3 and the second cartridge valve 11 are opened, and the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2 drive the movable coal bunker to move;
during pressurization, the first controller 8 sends signals to enable the first three-position four-way proportional directional valve 28 and the second three-position four-way proportional directional valve 21 to work at the left position, the two-position four-way electromagnetic directional valve 27 is controlled to work at the right position, the two-position four-way electromagnetic directional valve 27 enables the two hydraulic directional valves 6 to work at the right position, the two hydraulic directional valves 6 respectively control the first two-position three-way electromagnetic directional valve 4 and the second two-position three-way electromagnetic directional valve 10 to work at the left position, the first cartridge valve 3 and the second cartridge valve 11 are closed, and high-pressure oil sends signals to enable the first three-position four-way proportional directional valve 28 to enter the right cavities of the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2 through the first controller 8;
during pressure maintaining, the two-position four-way electromagnetic directional valve 27 is controlled to work at the right position, the two hydraulic directional valves 6 are enabled to work at the right position by the two-position four-way electromagnetic directional valve 27, and meanwhile, the three-position four-way proportional directional valves 21 and 28 are enabled to keep zero positions by sending signals through the first controller 8.
Specifically, the first controller 8, the first hydraulic cylinder 7.1, the second hydraulic cylinder 7.2, the first three-position four-way proportional directional valve 28, the second three-position four-way proportional directional valve 21, the first cartridge valve 3, the second cartridge valve 11, the first check valve 2, the second check valve 22, the two-position four-way electromagnetic directional valve 27, the two hydraulic directional valves 6, the first two-position three-way electromagnetic directional valve 4, and the second two-position three-way electromagnetic directional valve 10 form a hydraulic cylinder displacement feedback synchronous reciprocating motion loop, and the working principle is as follows: when the E2 and the E3 of the three-position four-way proportional reversing valves 21 and 28 are not powered on, the middle position of the three-position four-way proportional reversing valve works, and the hydraulic cylinders 7.1 and 7.2 are in a stop state; when E3 of the three-position four-way proportional reversing valves 21 and 28 is electrified with positive voltage, the right position of the three-position four-way proportional reversing valve works, meanwhile, 1YA is not electrified, the left position of the two-position four-way electromagnetic reversing valve works, 2YA is electrified, the right position of the two-position three-way electromagnetic reversing valve 10 works, the cartridge valve 11 is opened, oil is fed into the right cavity of the hydraulic cylinder, oil is returned from the left cavity, and the cylinder barrel of the hydraulic cylinder drives the movable coal bunker to move rightwards. When pressurization is needed, the 1YA is electrified, the two-position four-way electromagnetic reversing valve works at the right position, and the two-position two-way hydraulic reversing valve 6 works at the right position, so that the right cavity of the hydraulic cylinder is not communicated with the oil tank any more. When E2 of the three-position four-way proportional reversing valves 21 and 28 is electrified with positive voltage, the three-position four-way proportional reversing valve works at the left position, 2YA is not electrified, the two-position three-way electromagnetic reversing valve 10 works at the left position, the cartridge valve 11 is closed, and high-pressure oil enters a left cavity of the hydraulic cylinder through the three-position four-way proportional reversing valves 21 and 28. 1YA is powered off, the two-position four-way electromagnetic reversing valve works at the left position, and the two-position two-way hydraulic reversing valve 6 works at the left position, so that the right cavity of the hydraulic cylinder is communicated with an oil tank. The controller 8 compares the displacement synchronous error of the hydraulic cylinder with the real-time displacement of the hydraulic cylinders 7.1 and 7.2, and adjusts the opening of the three-position four-way proportional reversing valve to realize the synchronous displacement precision control of the hydraulic cylinders 7.1 and 7.2.
Further, as shown in fig. 1, the hydraulic control unit further includes a second controller 9, a two-way variable hydraulic pump 12, a three-position four-way servo reversing valve 18, a third hydraulic cylinder 17 and three hydraulic motors 16, the second controller 9 is configured to control opening of the three-position four-way servo reversing valve 18, an oil inlet and an oil return port of the three-position four-way servo reversing valve 18 are respectively connected with an oil outlet and an oil return port of an oil cylinder, a working oil port is connected with the third hydraulic cylinder 17, the hydraulic cylinder 17 is configured to control opening and closing and flow of the two-way variable hydraulic pump 12, and the two-way variable hydraulic pump 12 is configured to drive the hydraulic motors, so as to drive the coal bunker exhaust device to operate.
Further, as shown in fig. 2 to 3, the present embodiment further includes a soot concentration monitor a disposed in the coal bunker, and the soot concentration sensor is disposed at the top of the center of the coal bunker and is used for monitoring the soot concentration in the coal bunker; the output end of the coal smoke concentration monitor is connected with the second controller 9, and the second controller 9 is used for controlling the valve position and the opening degree of the three-position four-way servo reversing valve 18 according to monitoring data sent by the coal smoke concentration monitor.
In this embodiment, the second controller 9, the two-way variable hydraulic pump 12, the three-position four-way servo directional valve 18, the third hydraulic cylinder 17, the hydraulic motor 16, and the soot concentration monitor a form an exhaust system control loop based on the soot concentration, and the working principle is as follows: the bidirectional variable hydraulic pump 12 is started, when the concentration of the coal smoke is overlarge during operation in the coal bunker, the concentration is monitored in real time through the coal smoke concentration monitor B, a signal is transmitted to the controller 9, the controller 9 makes a judgment through a concentration comparison algorithm, an opening instruction is sent to the three-position four-way servo reversing valve 18, and then the opening and closing and the flow of the bidirectional variable hydraulic pump 12 are controlled through the moving distance of the hydraulic cylinder 17, so that the rapid rotation of the exhaust equipment is realized; when the concentration is reduced, the controller sends out the signals to reduce the opening degree of the valve port of the reversing valve, and the exhaust equipment reduces the rotating speed, so that the intelligent control of the exhaust system based on the concentration of the coal smoke is realized, and the effects of energy conservation and emission reduction are achieved. The third safety valve 14 and the fourth safety valve 15 prevent the circuit from overloading, one end of each of the two third check valves 20 is connected with the oil outlet of the oil tank 29, the other end of each of the two third check valves is connected with the bidirectional variable hydraulic pump 12 to assist oil supply to the bidirectional variable hydraulic pump 12, and the two safety valves 14 and 15 and the check valve 19 serving as an overflow valve have an overload protection effect on an oil circuit.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A hydraulic servo control system of a semi-closed type movable coal bunker device comprises one or more groups of hydraulic control units, and is characterized in that each hydraulic control unit comprises: the hydraulic control system comprises a first controller (8), a first hydraulic cylinder (7.1), a second hydraulic cylinder (7.2), a first three-position four-way proportional reversing valve (28), a second three-position four-way proportional reversing valve (21), a first cartridge valve (3), a second cartridge valve (11), a first one-way valve (2) and a second one-way valve (22); the first hydraulic cylinder (7.1) and the second hydraulic cylinder (7.2) are respectively arranged on two sides of the movable coal bunker and are used for driving the movable coal bunker to move;
an oil inlet and an oil return port of the first three-position four-way proportional reversing valve (28) are respectively connected with an oil outlet and an oil return port of an oil tank, a first working oil port is connected with a left cavity of a first hydraulic cylinder (7.1) through a first cartridge valve (3), and a second working oil port is connected with a right cavity of the first hydraulic cylinder (7.1); two ends of the first one-way valve (2) are connected in parallel to two ends of the first cartridge valve (3);
an oil inlet and an oil return port of the second three-position four-way proportional reversing valve (21) are respectively connected with an oil outlet and an oil return port of an oil tank, a first working oil port is connected with a left cavity of a second hydraulic cylinder (7.2) through a second cartridge valve (11), and a second working oil port is connected with a right cavity of the second hydraulic cylinder (7.2); two ends of the second one-way valve (22) are connected in parallel to two ends of the second cartridge valve (11);
the output end of the first controller (8) is connected with the control ends of the first three-position four-way proportional reversing valve (28) and the second three-position four-way proportional reversing valve (21) and used for adjusting the opening degrees of the first three-position four-way proportional reversing valve (28) and the second three-position four-way proportional reversing valve (21) according to displacement synchronization errors of the first hydraulic cylinder (7.1) and the second hydraulic cylinder (7.2) so as to realize synchronous displacement control of the first hydraulic cylinder (7.1) and the second hydraulic cylinder (7.2).
2. The hydraulic servo control system of a semi-enclosed mobile bunker device of claim 1, wherein the hydraulic control units are in three groups.
3. The hydraulic servo control system of the semi-closed type mobile coal bunker device is characterized by further comprising obstacle identifiers arranged on two sides of the coal bunker, wherein the obstacle identifiers are connected with the first controller (8), and the first controller (8) is further used for sending signals to control the first three-position four-way proportional reversing valve (28) and the second three-position four-way proportional reversing valve (21) to be closed according to obstacle identification signals of the obstacle identifiers.
4. The hydraulic servo control system of the semi-closed type mobile coal bunker device as claimed in claim 1, wherein the hydraulic control unit further comprises a two-position four-way electromagnetic directional valve (27), two hydraulic directional valves (6), a first two-position three-way electromagnetic directional valve (4) and a second two-position three-way electromagnetic directional valve (10);
an oil inlet and an oil return port of the two-position four-way electromagnetic reversing valve (27) are respectively connected with an oil outlet and an oil return port of an oil tank, and a working oil port is simultaneously connected with control ends of the two hydraulic reversing valves (6); an oil inlet of one of the hydraulic reversing valves (6) is connected with a second working oil port of the first three-position four-way proportional reversing valve (28), an oil outlet is connected with an oil return port of an oil tank, an oil outlet is also connected with an oil inlet of the first two-position three-way electromagnetic reversing valve (4), the oil return port of the first two-position three-way electromagnetic reversing valve (4) is connected with an oil return port of an oil cylinder through a first safety valve (1), and a working oil port of the first two-position three-way electromagnetic reversing valve (4) is connected with a control end of the first cartridge valve (3); the oil inlet of another hydraulic reversing valve (6) with the second work oil port of second three-position four-way proportional reversing valve (21) is connected, and the oil-out is connected with the oil return opening of oil tank, the oil-out still with the oil inlet of the two three-way electromagnetic reversing valve of second (11) is connected, the oil return opening of the two three-way electromagnetic reversing valve of second (11) passes through second relief valve (23) and is connected with the oil return opening of hydro-cylinder, the work oil port of the two three-way electromagnetic reversing valve of second (11) with the control end of second cartridge valve (11) is connected.
5. The hydraulic servo control system of the semi-closed type movable coal bunker device as claimed in claim 4, wherein the control method comprises the following steps: during movement, a first controller (8) sends signals to enable a first three-position four-way proportional reversing valve (28) and a second three-position four-way proportional reversing valve (21) to work at the right position, meanwhile, a two-position four-way electromagnetic reversing valve (27) is controlled to work at the left position, the two-position four-way electromagnetic reversing valve (27) enables two hydraulic reversing valves (6) to work at the left position, the two hydraulic reversing valves (6) control a first two-position three-way electromagnetic reversing valve (4) and a second two-position three-way electromagnetic reversing valve (10) to work at the right position, a first cartridge valve (3) and a second cartridge valve (11) are opened, and a first hydraulic cylinder (7.1) and a second hydraulic cylinder (7.2) drive a movable coal bunker to move;
during pressurization, a first controller (8) sends signals to enable a first three-position four-way proportional reversing valve (28) and a second three-position four-way proportional reversing valve (21) to work at the left position, a two-position four-way electromagnetic reversing valve (27) is controlled to work at the right position, the two-position four-way electromagnetic reversing valve (27) enables two hydraulic reversing valves (6) to work at the right position, the two hydraulic reversing valves (6) respectively control a first two-position three-way electromagnetic reversing valve (4) and a second two-position three-way electromagnetic reversing valve (10) to work at the left position, the first cartridge valve (3) and the second cartridge valve (11) are closed, and high-pressure oil sends signals through the first controller (8) to enable the first three-position four-way proportional reversing valve (28) to enter right cavities of a first hydraulic cylinder (7.1) and a second hydraulic cylinder (7.2);
and during pressure maintaining, the two-position four-way electromagnetic reversing valve (27) is controlled to work at the right position, the two hydraulic reversing valves (6) work at the right position by the two-position four-way electromagnetic reversing valve (27), and meanwhile, the three-position four-way proportional reversing valves (21) and (28) keep zero positions by sending signals through the first controller (8).
6. The hydraulic servo control system of a semi-enclosed mobile coal bunker device as claimed in claim 1, the hydraulic control unit is characterized by further comprising a second controller (9), a bidirectional variable hydraulic pump (12), a three-position four-way servo reversing valve (18), a third hydraulic cylinder (17) and a hydraulic motor (16), wherein the second controller (9) is used for controlling the opening of the three-position four-way servo reversing valve (18), an oil inlet and an oil return port of the three-position four-way servo reversing valve (18) are respectively connected with an oil outlet and an oil return port of the oil cylinder, a working oil port is connected with the third hydraulic cylinder (17), the hydraulic cylinder (17) is used for controlling the opening and closing of the bidirectional variable hydraulic pump (12) and the flow rate, the bidirectional variable hydraulic pump (12) is used for driving the hydraulic motor and then driving the coal bunker exhaust equipment to work.
7. The hydraulic servo control system of the semi-closed type mobile coal bunker device according to claim 6, further comprising a soot concentration monitor arranged in the coal bunker, wherein the output end of the soot concentration monitor is connected with the second controller (9), and the second controller (9) is used for controlling the valve position and the opening degree of the three-position four-way servo reversing valve (18) according to monitoring data sent by the soot concentration monitor.
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| CN202010261302.XA CN111503073A (en) | 2020-04-03 | 2020-04-03 | Semi-closed hydraulic servo control system for mobile coal bunker equipment |
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| CN202010261302.XA CN111503073A (en) | 2020-04-03 | 2020-04-03 | Semi-closed hydraulic servo control system for mobile coal bunker equipment |
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