CN111503073A - Semi-closed hydraulic servo control system for mobile coal bunker equipment - Google Patents

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

A hydraulic servo control system for semi-closed mobile coal bunker equipment

technical field

The invention belongs to the field of coal mine storage, in particular to a hydraulic servo control system for semi-closed mobile coal bunker equipment.

Background technique

At present, in enterprises that use a large amount of coal, coal transfer bases and other occasions, a large amount of coal is often stored in the open air, and the open storage of coal can easily pollute the air under the blowing of strong winds. Therefore, some protective devices need to be designed in these occasions. The most common is the use of long-span curved scaffolding made of steel structure to cover the stacked coal. However, the scaffolding with this fixed structure is very unfavorable for mass loading, unloading and transportation.

Therefore, in the prior art, a combined coal bunker that can be moved in sections is designed, which is generally installed in an open-air scattered coal storage yard. It consists of an outer grid mobile unit, an inner grid mobile unit, and a bottom unit It is composed of truss beam, traveling mechanism, guide rail, guide rail locking piece and foundation. It can realize segmented movement, segmented operation, open during operation, and close after operation.

For example, application number: 201821897428.0 An electric telescopic shed includes a bracket, a ceiling mounted on the bracket, and a driving mechanism. The bracket has at least one and includes two symmetrically arranged uprights and a beam arranged between the two uprights. The drive The mechanism includes a slide rail, a pulley slidably arranged on the slide rail, and a driving member for driving the pulley to roll on the slide rail, and the pulley is arranged on the upright column.

And application number: 201510301635.X discloses a telescopic shed, comprising at least two shed units and a driving device; the at least two shed units are nested, and the adjacent two nested shed units are slidably connected The end of the shed unit in the sliding direction is arched; the driving device is installed on the shed unit, and is used for driving the at least two shed units to slide relatively to realize telescopic.

Application No. 201810273749.1 discloses a nested fully enclosed movable silo, which is installed in an open-air open bulk material storage yard. The fixed unit, the truss beam at the bottom of the unit, the traveling mechanism, the guide rail, the guide rail locking piece, and the foundation are composed. The truss beam at the bottom of the unit is welded, and the truss beam at the bottom of the unit is provided with a traveling mechanism, the traveling mechanism is arranged on the guide rail, and the guide rail is fixedly connected with the foundation through the guide rail locking piece.

In the field of mobile coal bunker, the mobile control of coal bunker widely adopts electrical automatic control method. The electrical automatic control method has the advantages of simple structure, convenient operation, mature technology, etc., but there are restrictions on the use environment and low power.

The semi-closed mobile coal bunker is used to store flammable coal, and this mobile coal bunker is a large-span equipment with a high working load, so the existing electrical automation may have problems of insufficient power and environmental restrictions.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a hydraulic servo control system for semi-closed mobile coal bunker equipment, so as to effectively overcome the problems of insufficient power and environmental limitations of the electric-driven mobile bunker in the prior art.

In order to solve the above technical problems, the technical solution adopted in the present invention is: a hydraulic servo control system for semi-closed mobile coal bunker equipment, comprising one or more groups of hydraulic control units, characterized in that each hydraulic control unit includes: A controller, the first hydraulic cylinder, the second hydraulic cylinder, the first three-position four-way proportional reversing valve, the second three-position four-way proportional reversing valve, the first cartridge valve, the second cartridge valve, the first One-way valve and second one-way valve; the first hydraulic cylinder and the second hydraulic cylinder are respectively arranged on both sides of the moving coal bunker to drive the movement of the moving coal bunker; the first three-position four-way proportional reversing valve The oil inlet and oil return port are respectively connected with the oil outlet and oil return port of the oil tank, the first working oil port is connected with the left cavity of the first hydraulic cylinder through the first cartridge valve, and the second working oil port is connected with the first The right chamber of the hydraulic cylinder is connected; the two ends of the first check valve are connected in parallel to the two ends of the first cartridge valve; the oil inlet and oil return port of the second three-position four-way proportional reversing valve They are respectively connected with the oil outlet and the oil return port of the oil tank, the first working oil port is connected with the left cavity of the second hydraulic cylinder through the second cartridge valve, and the second working oil port is connected with the right cavity of the second hydraulic cylinder; The two ends of the second one-way valve are connected in parallel to the two ends of the second cartridge valve; the output end of the first controller is connected to the first three-position four-way proportional reversing valve, the second three-position four-way The control end of the proportional reversing valve is connected to adjust 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. The opening of the valve realizes the synchronous displacement control of the first hydraulic cylinder and the second hydraulic cylinder.

The hydraulic control units are in three groups.

The hydraulic servo control system for the semi-closed mobile coal bunker equipment further includes obstacle identifiers arranged on both sides of the coal bunker, the obstacle identifiers are connected to the first controller, and the first controller It is also used to send a signal to control the first three-position four-way proportional reversing valve and the second three-position four-way proportional reversing valve to close according to the obstacle identification signal of the obstacle identifier.

The hydraulic control unit also includes a two-position four-way electromagnetic reversing valve, two hydraulic reversing valves, a first two-position three-way electromagnetic reversing valve and a second two-position three-way electromagnetic reversing valve; The oil inlet and oil return port of the electromagnetic reversing valve are respectively connected with the oil outlet and oil return port of the oil tank, and the working oil port is connected with the control ends of the two hydraulic reversing valves at the same time; The oil port is connected to the second working oil port of the first three-position four-way proportional reversing valve, the oil outlet is connected to the oil return port of the oil tank, and the oil outlet is also connected to the first two-position three-way electromagnetic commutation. The oil inlet of the valve is connected, and the oil return port of the first two-position three-way electromagnetic reversing valve is connected to the oil return port of the oil cylinder through the first safety valve, and the operation of the first two-position three-way electromagnetic reversing valve The oil port is connected with the 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, and the oil outlet is connected to the second working oil port of the second three-position four-way proportional reversing valve. The oil return port of the oil tank is connected, and the oil outlet is also connected with the oil inlet port of the second two-position three-way electromagnetic reversing valve, and the oil return port of the second two-position three-way electromagnetic reversing valve passes through the second safety valve. The valve is connected with the oil return port of the oil cylinder, 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 mobile coal bunker equipment, the control method is: when moving, send a signal through the first controller to make the first three-position four-way proportional reversing valve and the second three-position four-way The proportional reversing valve works in the right position, and at the same time, controls the two-position four-way electromagnetic reversing valve to work in the left position, then the two-position four-way electromagnetic reversing valve makes the two hydraulic reversing valves work in the left position. The direction valve controls the first two-position three-way electromagnetic reversing valve and the second two-position three-way electromagnetic reversing valve to work in the right position, so that the first cartridge valve and the second cartridge valve are opened, and the first hydraulic cylinder and the second cartridge valve are opened. Two hydraulic cylinders drive the mobile coal bunker to move;

When pressurizing, the first controller sends a signal to make the first three-position four-way proportional reversing valve and the second three-position four-way proportional reversing valve work in the left position, and control the two-position four-way electromagnetic reversing valve to work in the right position. , then the two-position four-way electromagnetic reversing valve makes the two hydraulic reversing valves work in the right position, and the first two-position three-way electromagnetic reversing valve and the second two-position three-way electromagnetic reversing valve are controlled respectively through the two hydraulic reversing valves. The direction valve works in the left position, so that the first cartridge valve and the second cartridge valve are closed, and the high pressure oil sends a signal through the first controller to make the first three-position four-way proportional reversing valve enter the first hydraulic cylinder and the second The right chamber of the hydraulic cylinder;

When the pressure is maintained, the two-position four-way electromagnetic reversing valve is controlled to work in the right position, then the two-position four-way electromagnetic reversing valve makes the two hydraulic reversing valves work in the right position, and at the same time, the first controller sends a signal to make all the The three-position four-way proportional reversing valve and maintain the zero position.

The hydraulic control unit further includes 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, and the second controller is used to control the three-position four-way servo reversing valve open, the oil inlet and oil return port of the three-position four-way servo reversing valve are respectively connected with the oil outlet and oil return port of the oil cylinder, and the working oil port is connected with the third hydraulic cylinder, the hydraulic cylinder It is used to control the opening and closing and the flow rate of the bidirectional variable hydraulic pump, and the bidirectional variable hydraulic pump is used to drive the hydraulic motor, and then drive the coal bunker exhaust equipment to work.

The hydraulic servo control system for the semi-closed mobile coal bunker equipment further comprises a coal smoke concentration monitor arranged in the coal bunker, the output end of the coal smoke concentration monitor is connected to the second controller, The second controller is used for controlling the valve position and opening degree of the three-position four-way servo reversing valve according to the monitoring data sent by the coal smoke concentration monitor.

Compared with the prior art, the present invention has the following beneficial effects:

1. The hydraulic servo control system of a semi-closed mobile coal bunker equipment provided by the present invention accurately adjusts the opening of the three-position four-way proportional reversing valve by comparing the displacement synchronization error of the hydraulic cylinder with the real-time displacement of the hydraulic cylinders 7.1 and 7.2. , Realize the synchronous displacement precision control of hydraulic cylinders 7.1 and 7.2, add hydraulic reversing valve 6 and two-position four-way solenoid valve to achieve pressure maintenance, and at the same time have the function of obstacle identification, eliminating the safety hazard when the coal bunker is running.

2. The hydraulic servo control system of a semi-closed mobile coal bunker equipment provided by the present invention adopts a hydraulic pump suitable for high load and high power, and also adopts a hydraulic reversing valve to supply oil to the system to meet the problem of insufficient pressure.

3. In the present invention, the combination of the two-position three-way electromagnetic reversing valve and the cartridge valve is used to realize the stability of the two-way movement of the hydraulic cylinder, and the two-position three-way electromagnetic reversing valve controls the opening and closing of the cartridge valve to realize the hydraulic cylinder. When moving to the right, the return oil circuit is stable, and the hydraulic cylinder moves to the left to ensure the oil pressure of the oil inlet circuit. The two-position two-way solenoid valve and the two-position two-way hydraulic reversing valve are also used in the system to realize the automatic pressure maintaining function, which ensures the safety of the system and improves the automation degree of the hydraulic circuit.

4. The present invention adopts an automatic control loop based on the concentration of coal smoke, which can control the valve opening of the three-position four-way servo reversing valve according to the concentration, realize the flow control of the variable hydraulic pump, and adjust the speed of the exhaust system in real time, so as to realize the flow control of the variable hydraulic pump. To achieve the effect of energy saving and emission reduction.

Description of drawings

1 is a schematic structural diagram of a hydraulic servo control system for a semi-closed mobile coal bunker equipment provided by an embodiment of the present invention;

2 is a schematic diagram of the arrangement of a hydraulic cylinder and a sensor in an embodiment of the present invention;

FIG. 3 is another perspective view of FIG. 2 .

In the figure: 1 is the first safety valve, 2 is the first one-way valve, 3 is the first cartridge valve, 4 is the first two-position three-way electromagnetic reversing valve, 5 is the first hydraulic control unit 5, 6 is the Two-position two-way hydraulic reversing valve, 7.1 is the first hydraulic cylinder, 7.2 is the second hydraulic cylinder, 8 is the first controller, 9 is the second controller, 10 is the second two-position three-way electromagnetic reversing valve, 11 is the second cartridge valve, 12 is the bidirectional variable hydraulic pump, 13 is the second hydraulic control unit, 14 is the third safety valve, 15 is the fourth safety valve, 16 is the hydraulic motor, 17 is the third hydraulic cylinder, 18 It is a three-position four-way servo reversing valve, 19 is the fourth one-way valve, 20 is the third one-way valve, 21 is the second three-position four-way proportional reversing valve, 22 is the second one-way valve, and 23 is the third one-way valve. Two safety valves, 24 is a filter, 25 is a hydraulic pump, 26 is a relief valve, 27 is a two-position four-way electromagnetic reversing valve, 28 is a first three-position four-way proportional reversing valve, 29 is a fuel tank, and A is a Coal smoke concentration monitor, B is the obstacle identifier, I is the first mobile coal bunker, II is the second mobile coal bunker, and III is the third mobile coal bunker.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present invention, not All the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work, all belong to 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 semi-closed mobile coal bunker equipment, including a first hydraulic control unit 5 , a second hydraulic control unit and a third hydraulic control unit 13 . The hydraulic control unit has the same structure, and drives the first mobile coal bunker I, the second mobile coal bunker II, and the third mobile coal bunker III respectively.

Specifically, as shown in FIG. 1, taking the second hydraulic control unit as an example, it includes: a first controller 8, a first hydraulic cylinder 7.1, a second hydraulic cylinder 7.2, and a first three-position four-way proportional reversing valve 28 , the second three-position four-way proportional reversing valve 21, the first cartridge valve 3, the second cartridge valve 11, the first one-way valve 2, the second one-way valve 22; the first hydraulic cylinder 7.1 and the second hydraulic The cylinders 7.2 are respectively arranged on both sides of the mobile coal bunker to drive the movement of the mobile coal bunker; the oil inlet and oil return port of the first three-position four-way proportional reversing valve 28 are respectively connected with the oil outlet and the oil outlet of the oil tank. The oil return port is connected, the first working oil port is connected with the left cavity of the first hydraulic cylinder 7.1 through the first cartridge valve 3, and the second working oil port is connected with the right cavity of the first hydraulic cylinder 7.1; the first one-way The two ends of the valve 2 are connected in parallel to the two ends of the first cartridge valve 3; the oil inlet and oil return port of the second three-position four-way proportional reversing valve 21 are respectively connected with the oil outlet and oil return port of the oil tank. The first working oil port is connected to the left cavity of the second hydraulic cylinder 7.2 through the second cartridge valve 11, and the second working oil port is connected to the right cavity of the second hydraulic cylinder 7.2; the second one-way valve 22 The two ends of the valve are connected in parallel to the two ends of the second cartridge valve 11; the output end of the first controller 8 is proportionally exchanged with the first three-position four-way proportional reversing valve 28 and the second three-position four-way It is connected to the control end of the valve 21 for adjusting the first three-position four-way proportional reversing valve 28 and the second three-position four-way proportional changer according to the displacement synchronization error of the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2. The opening of the valve 21 realizes the synchronous displacement control of the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2.

In this embodiment, by controlling the opening and closing of the first cartridge valve 3 and the second cartridge valve 11 , as well as the first three-position four-way proportional reversing valve 28 and the second three-position four-way proportional reversing valve 21 The valve position can realize the displacement drive of the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2.

Specifically, as shown in FIGS. 2 to 3 , the present embodiment also includes obstacle identifiers arranged on both sides of the coal bunker, the obstacle identifiers are connected to the first controller 8 , and the first controller 8 It is also used to send a signal 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 the obstacle identification signal of the obstacle identifier.

The obstacle identifier B is arranged on both sides of the coal bunker. When a certain volume of obstacles appears during the movement of the moving coal bunker, the obstacle identifier B will identify the obstacle and transmit a signal to the first controller 8, and the first controller 8 will recognize the obstacle according to the obstacle. The identification algorithm makes a judgment and sends a closing command to the three-position four-way proportional reversing valve 21 and 28. After the obstacle is removed, the second three-position four-way proportional reversing valve 21 and the first three-position four-way proportional changer valve are opened again. To the valve 28, the hydraulic cylinder drives the mobile coal bunker to perform reciprocating motion, thereby realizing the obstacle monitoring and control circuit, so as to achieve the safety guarantee of the semi-closed mobile coal bunker.

Further, as shown in FIG. 1 , the hydraulic control unit further includes a two-position four-way electromagnetic reversing valve 27 , two hydraulic reversing valves 6 , a first two-position three-way electromagnetic reversing valve 4 and a second two-position electromagnetic reversing valve 4 . Three-way electromagnetic reversing valve 10; the oil inlet and oil return port of the two-position four-way electromagnetic reversing valve 27 are respectively connected with the oil outlet and oil return port of the oil tank, and the working oil port is connected with the two hydraulic reversing valves. The control end of 6 is connected at the same time; the oil inlet of one hydraulic reversing valve 6 is connected with the second working oil port of the first three-position four-way proportional reversing valve 28, and 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 first two-position three-way electromagnetic reversing valve 4, and the oil return port of the first two-position three-way electromagnetic reversing valve 4 is connected to the oil cylinder through the first safety valve 1 The oil return port of the first two-position three-way electromagnetic reversing valve 4 is connected to the control end of the first cartridge valve 3; the oil inlet of the other hydraulic reversing valve 6 is connected to the The second working oil port of the second three-position four-way proportional reversing valve 21 is connected, the oil outlet is connected to the oil return port of the oil tank, and the oil outlet is also connected to the second working oil port of the second two-position three-way electromagnetic reversing valve 11. The oil inlet is connected, the oil return port of the second two-position three-way electromagnetic reversing valve 11 is connected to the oil return port of the oil cylinder through the second safety valve 23, and the oil return port of the second two-position three-way electromagnetic reversing valve 11 is connected. The working oil port is connected with the control end of the second cartridge valve 11 .

This embodiment provides a hydraulic servo control system for semi-closed mobile coal bunker equipment. The control method is as follows: when moving, send a signal through the first controller 8 to make the first three-position four-way proportional reversing valve 28 and the second The three-position four-way proportional reversing valve 21 works in the right position, and at the same time, controls the two-position four-way electromagnetic reversing valve 27 to work in the left position, then the two-position four-way electromagnetic reversing valve 27 makes the two hydraulic reversing valves 6 work in the left position. Left position, through the two hydraulic reversing valves 6 to control the first two-position three-way electromagnetic reversing valve 4 and the second two-position three-way electromagnetic reversing valve 10 to work in the right position, so that the first cartridge valve 3 and the second When the cartridge valve 11 is opened, the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2 drive the moving coal bunker to move;

When pressurizing, the first controller 8 sends a signal to make the first three-position four-way proportional reversing valve 28 and the second three-position four-way proportional reversing valve 21 operate in the left position, and control the two-position four-way electromagnetic reversing valve 27 Working in the right position, the two-position four-way electromagnetic reversing valve 27 makes the two hydraulic reversing valves 6 work in the right position, and the first two-position three-way electromagnetic reversing valve 4 and the first two-position three-way electromagnetic reversing valve 4 and The second two-position three-way electromagnetic reversing valve 10 works in the left position, so that the first cartridge valve 3 and the second cartridge valve 11 are closed, and the high-pressure oil sends a signal through the first controller 8 to make the first three-position four-way The proportional reversing valve 28 enters the right chamber of the first hydraulic cylinder 7.1 and the second hydraulic cylinder 7.2;

When the pressure is maintained, the two-position four-way electromagnetic reversing valve 27 is controlled to work in the right position, and the two-position four-way electromagnetic reversing valve 27 makes the two hydraulic reversing valves 6 work in the right position. At the same time, through the first controller 8 A signal is sent to keep the 4/3 proportional directional control valves 21 and 28 in the zero position.

Specifically, the first controller 8, the first hydraulic cylinder 7.1, the second hydraulic cylinder 7.2, the first three-position four-way proportional reversing valve 28, the second three-position four-way proportional reversing valve 21, the first cartridge Valve 3, second cartridge valve 11, first one-way valve 2, second one-way valve 22, two-position four-way electromagnetic reversing valve 27, two hydraulic reversing valves 6, first two-position three-way electromagnetic reversing valve The directional valve 4 and the second two-position three-way electromagnetic reversing valve 10 constitute the hydraulic cylinder displacement feedback synchronous reciprocating motion circuit. , the three-position four-way proportional reversing valve works in the neutral position, and the hydraulic cylinders 7.1 and 7.2 are in the stop state; when the E3 of the three-position and four-way proportional reversing valves 21 and 28 are positive voltage, the three-position four-way proportional reversing valve At the same time, 1YA is not powered, the left position of the two-position four-way electromagnetic reversing valve works, 2YA is powered, the two-position three-way electromagnetic reversing valve 10 works in the right position, the cartridge valve 11 is opened, and the right chamber of the hydraulic cylinder enters the oil. The left cavity returns oil, and the hydraulic cylinder cylinder drives the moving coal bunker to move to the right. When it needs to be pressurized, 1YA is energized, the two-position four-way electromagnetic reversing valve works in the right position, and the two-position two-way hydraulic reversing valve 6 works in the right position, so that the right chamber of the hydraulic cylinder is no longer communicated with the fuel tank. When the E2 of the three-position four-way proportional reversing valve 21 and 28 is connected to a positive voltage, the three-position four-way proportional reversing valve works in the left position, while 2 YA is not powered, and the two-position three-way electromagnetic reversing valve 10 works in the left position. The cartridge valve 11 is closed, and the high-pressure oil enters the left chamber 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 on the left, and the two-position two-way hydraulic reversing valve 6 works on the left, so that the right chamber of the hydraulic cylinder is connected to the fuel tank. The controller 8 compares the displacement synchronization error of the hydraulic cylinder with the real-time displacement of the hydraulic cylinders 7.1 and 7.2, adjusts the opening of the three-position four-way proportional reversing valve, and realizes 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 used to control the opening of the three-position four-way servo reversing valve 18. The oil inlet and oil return port of the three-position four-way servo reversing valve 18 are respectively connected with the oil outlet and return port of the oil cylinder. The oil port is connected, and the working oil port is connected to the third hydraulic cylinder 17. The hydraulic cylinder 17 is used to control the opening and closing and flow rate of the bidirectional variable hydraulic pump 12, and the bidirectional variable hydraulic pump 12 is used to drive all the The hydraulic motor is used to drive the coal bunker exhaust equipment to work.

Further, as shown in Figures 2-3, the present embodiment also includes a coal smoke concentration monitor A arranged in the coal bunker, and the smoke concentration sensor is arranged on the top of the center of the coal bunker to monitor the coal smog in the coal bunker. concentration; the output end of the coal smoke concentration monitor is connected to the second controller 9, and the second controller 9 is used to control the three-position four-way servo according to the monitoring data sent by the coal smoke concentration monitor The valve position and opening of the reversing valve 18.

In this embodiment, the second controller 9, the bidirectional variable hydraulic pump 12, the three-position four-way servo reversing valve 18, the third hydraulic cylinder 17, the hydraulic motor 16 and the coal smoke concentration monitor A constitute a coal smoke concentration-based The control circuit of the exhaust system works as follows: turn on the two-way variable hydraulic pump 12, and when the coal smog concentration is too large during operation in the coal bunker, the coal smog concentration monitor B monitors the concentration in real time, and transmits a signal to the controller 9 to control the The controller 9 makes a judgment through the concentration comparison algorithm, sends an opening command to the three-position four-way servo reversing valve 18, and then controls the opening and closing and flow rate of the two-way variable hydraulic pump 12 through the moving distance of the hydraulic cylinder 17, so as to realize the exhaust equipment. When the concentration decreases, the controller sends out to reduce the opening of the reversing valve, and the exhaust equipment reduces the speed, so as to realize the intelligent control of the exhaust system based on the concentration of coal smoke, so as to achieve the effect of energy saving and emission reduction. The third safety valve 14 and the fourth safety valve 15 prevent the circuit from being overloaded. One end of the two third one-way valves 20 is connected to the oil outlet of the oil tank 29, and the other end is connected to the bidirectional variable hydraulic pump 12. Auxiliary oil supply, two safety valves 14 and 15 and a one-way valve 19 as a relief valve protect the oil circuit from overloading.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (7)

1. A semi-closed mobile coal bunker equipment hydraulic servo control system, comprising one or more groups of hydraulic control units, wherein each hydraulic control unit comprises: a first controller (8), a first hydraulic cylinder ( 7.1), the second hydraulic cylinder (7.2), the first three-position four-way proportional reversing valve (28), the second three-position four-way proportional reversing valve (21), the first cartridge valve (3), the second The cartridge valve (11), the first check valve (2), the second check valve (22); the first hydraulic cylinder (7.1) and the second hydraulic cylinder (7.2) are respectively arranged on both sides of the moving coal bunker, Used to drive the movement of the moving coal bunker; The oil inlet and oil return port of the first three-position four-way proportional reversing valve (28) are respectively connected with the oil outlet and the oil return port of the oil tank, and the first working oil port passes through the first cartridge valve (3) It is connected to the left chamber of the first hydraulic cylinder (7.1), and the second working oil port is connected to the right chamber of the first hydraulic cylinder (7.1); 1. Both ends of the cartridge valve (3); The oil inlet and oil return port of the second three-position four-way proportional reversing valve (21) are respectively connected with the oil outlet and the oil return port of the oil tank, and the first working oil port passes through the second cartridge valve (11) It is connected with the left chamber of the second hydraulic cylinder (7.2), and the second working oil port is connected with the right chamber of the second hydraulic cylinder (7.2). Two ends of the cartridge valve (11); The output end of the first controller (8) is connected to the control end 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 according to the The displacement synchronization error of the first hydraulic cylinder (7.1) and the second hydraulic cylinder (7.2), adjust the first three-position four-way proportional reversing valve (28) and the second three-position four-way proportional reversing valve (21) The opening degree of the first hydraulic cylinder (7.1) and the synchronous displacement control of the second hydraulic cylinder (7.2) are realized. 2 . The hydraulic servo control system for semi-closed mobile coal bunker equipment according to claim 1 , wherein the hydraulic control units are three groups. 3 . 3 . The hydraulic servo control system for semi-closed mobile coal bunker equipment according to claim 1 , further comprising obstacle identifiers arranged on both sides of the coal bunker, and the obstacle identifiers are the same as the first one. 4 . The controller (8) is connected, and the first controller (8) is further configured to send a signal to control the first three-position four-way proportional reversing valve (28) according to the obstacle identification signal of the obstacle identifier. And the second three-position four-way proportional reversing valve (21) is closed. 4. A semi-closed mobile coal bunker equipment hydraulic servo control system according to claim 1, wherein the hydraulic control unit further comprises a two-position four-way electromagnetic reversing valve (27), two hydraulic A direction valve (6), a first two-position three-way electromagnetic reversing valve (4) and a second two-position three-way electromagnetic reversing valve (10); The oil inlet and oil return port of the two-position four-way electromagnetic reversing valve (27) are respectively connected with the oil outlet and the oil return port of the oil tank, and the working oil port is connected with the control ends of the two hydraulic reversing valves (6). Connect at the same time; the oil inlet of one hydraulic reversing valve (6) is connected with the second working oil port of the first three-position four-way proportional reversing valve (28), and 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 first two-position three-way electromagnetic reversing valve (4), and the oil return port of the first two-position three-way electromagnetic reversing valve (4) passes through the first safety The valve (1) is connected with the oil return port of the oil cylinder, and the working oil port of the first two-position three-way electromagnetic reversing valve (4) is connected with the control end of the first cartridge valve (3); The oil inlet of the dynamic 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, and the oil outlet is also connected with the oil return port of the oil tank. The oil inlet of the second, two-position, three-way electromagnetic reversing valve (11) is connected, and the oil return port of the second, two-position, three-way electromagnetic reversing valve (11) is connected to the oil cylinder through the second safety valve (23). The oil return port of the second two-position three-way electromagnetic reversing valve (11) is connected with the control end of the second cartridge valve (11). 5. A semi-closed mobile coal bunker equipment hydraulic servo control system according to claim 4, characterized in that the control method is: when moving, the first controller (8) sends a signal to make the first three bits The four-way proportional reversing valve (28) and the second three-position four-way proportional reversing valve (21) work in the right position, and at the same time, control the two-position four-way electromagnetic reversing valve (27) to work in the left position, then Connect the electromagnetic reversing valve (27) to make the two hydraulic reversing valves (6) work in the left position, and control the first two-position three-way electromagnetic reversing valve (4) and the second hydraulic reversing valve (6) through the two hydraulic reversing valves (6). The two-position three-way electromagnetic reversing valve (10) works in the right position, so that the first cartridge valve (3) and the second cartridge valve (11) are opened, then the first hydraulic cylinder (7.1) and the second hydraulic cylinder ( 7.2) Drive the mobile coal bunker to move; When pressurizing, the first controller (8) sends a signal to make the first three-position four-way proportional reversing valve (28) and the second three-position four-way proportional reversing valve (21) work in the left position to control the two-position four-way proportional reversing valve (21). When the electromagnetic reversing valve (27) works in the right position, the two-position four-way electromagnetic reversing valve (27) makes the two hydraulic reversing valves (6) work in the right position, and through the two hydraulic reversing valves (6) Respectively control the first two-position three-way electromagnetic reversing valve (4) and the second two-position three-way electromagnetic reversing valve (10) to work in the left position, so that the first cartridge valve (3) and the second cartridge valve ( 11) When closed, the high pressure oil sends a signal through the first controller (8) to make the first three-position four-way proportional reversing valve (28) enter the right chamber of the first hydraulic cylinder (7.1) and the second hydraulic cylinder (7.2) ; When the pressure is maintained, the two-position four-way electromagnetic reversing valve (27) is controlled to work in the right position, then the two-position four-way electromagnetic reversing valve (27) makes the two hydraulic reversing valves (6) work in the right position, and at the same time, The first controller (8) sends a signal to keep the three-position four-way proportional reversing valves (21) and (28) at zero position. 6. The hydraulic servo control system for semi-closed mobile coal bunker equipment according to claim 1, wherein the hydraulic control unit further comprises 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), a second controller (9) is used to control the three-position four-way servo reversing valve (18) Open, the oil inlet and oil return port of the three-position four-way servo reversing valve (18) are respectively connected with the oil outlet and oil return port of the oil cylinder, and the working oil port is connected with the third hydraulic cylinder (17) , the hydraulic cylinder (17) is used to control the opening and closing and flow rate of the bidirectional variable hydraulic pump (12), and the bidirectional variable hydraulic pump (12) is used to drive the hydraulic motor, and then drive the coal bunker exhaust equipment to work. 7. A semi-closed mobile coal bunker equipment hydraulic servo control system according to claim 6, further comprising a coal smog concentration monitor arranged in the coal bunker, the output of the coal smog concentration monitor being The terminal is connected to the second controller (9), and the second controller (9) is used to control the three-position four-way servo reversing valve (18) according to the monitoring data sent by the coal smoke concentration monitor. Valve position and opening.

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