CN113756849A - Control method for omnidirectional mobile hydraulic support - Google Patents
Control method for omnidirectional mobile hydraulic support Download PDFInfo
- Publication number
- CN113756849A CN113756849A CN202111020548.9A CN202111020548A CN113756849A CN 113756849 A CN113756849 A CN 113756849A CN 202111020548 A CN202111020548 A CN 202111020548A CN 113756849 A CN113756849 A CN 113756849A
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- motor
- emulsion
- control valve
- hydraulic
- hydraulic support
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000000839 emulsion Substances 0.000 claims abstract description 93
- 239000007788 liquid Substances 0.000 claims abstract description 37
- 230000001360 synchronised effect Effects 0.000 claims abstract description 13
- 230000009471 action Effects 0.000 claims abstract description 5
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
- E21D15/45—Hydraulic, pneumatic, or hydraulic-pneumatic props having closed fluid system, e.g. with built-in pumps or accumulators
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
- E21D15/51—Component parts or details of props specially adapted to hydraulic, pneumatic, or hydraulic-pneumatic props, e.g. arrangements of relief valves
- E21D15/512—Arrangement of valves
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
- E21D15/54—Details of the ends of props
- E21D15/55—Details of the ends of props of prop heads or feet
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/08—Advancing mechanisms
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A control method for an omnidirectional moving hydraulic support comprises a hydraulic support electrohydraulic control valve group, a motor electrohydraulic control valve group, an alternate check valve, a synchronous valve, an emulsion motor, a liquid return circuit breaker and other components; the hydraulic support electrohydraulic control valve group controls the hydraulic support upright post and the jack to act, the motor electrohydraulic control valve group controls the action of an emulsion motor, the synchronous valve keeps the flow of the left and right emulsion motors consistent, and the liquid return circuit breaker valve separates a hydraulic support liquid return pipeline from an emulsion liquid return pipeline so as to prevent the misoperation of the hydraulic support upright post and the jack when the emulsion motor and the emulsion motor act; when the motor electro-hydraulic control valve group is controlled, the one-way valve is alternately operated, the emulsion motor braking device is opened, the emulsion motor rotates according to requirements, and the action control of the omni-directional movement hydraulic support is realized.
Description
Technical Field
The invention relates to a control method of an omnidirectional moving hydraulic support, which is suitable for controlling the action of the omnidirectional moving hydraulic support.
Background
The omnidirectional moving hydraulic support realizes the omnidirectional walking of advancing, retreating, lateral translation or rotation by driving the left and right spiral walking parts to rotate through the emulsion motor. There are several problems that must be solved in the actual use. How to make the flow of left and right motors keep unanimous, let the hydraulic support walk according to the straight line. In order to prevent the emulsion motor from being mistakenly operated in a non-operation state, the emulsion motor is provided with a braking device, and the emulsion motor is opened in a control state to freely move. When the emulsion motor acts, the back pressure of a liquid return pipeline of the system is too high, and the upright column or the jack of the hydraulic support can possibly cause misoperation such as lifting of the support and lifting of the platform. The above-mentioned problem becomes a problem that the omnidirectional movement hydraulic support must solve.
Patent ZL 200620079330.5 is with about the variable pump interface respectively with two hydraulic motor and the different interface connection of synchronizing valve, realize high low-speed conversion, realize walking speed conversion based on the variable pump. The disadvantage is that the system is relatively complex.
In the patent (application number: 201780011816.6), two hydraulic motors realize the synchronous tamping action of the tamping machine through a synchronous hydraulic power supply system, a synchronizing device of the tamping machine consists of two hydraulic circuits, the two hydraulic circuits are mutually independent and supply liquid for the respective hydraulic motors, and the hydraulic circuits comprise synchronous hydraulic pumps and at least one synchronous valve. The disadvantage of this device is the complex construction.
Disclosure of Invention
The invention aims to provide a simple and reliable control method for an underground coal mine omni-directional mobile hydraulic support.
The technical scheme is as follows: the invention provides a control method of an omnidirectional moving hydraulic support, wherein a system is provided with a motor electro-hydraulic control valve group (2) and a motor electro-hydraulic control valve group (3) with two functions, an emulsion motor (7) and an emulsion motor (8) are in a locking state in a normal state, and the omnidirectional moving hydraulic support cannot move. When the motor electro-hydraulic control valve group (2) is controlled, the one-way valve (4) is operated alternately, the brake device of the emulsion motor (7) is opened, and the emulsion motor (7) is rotated according to the requirement; when the motor electro-hydraulic control valve group (3) is controlled, the one-way valve (5) is alternatively operated, the brake device of the emulsion motor (8) is opened, and the emulsion motor (8) is rotated according to requirements; when the motor electro-hydraulic control valve bank (2) and the motor electro-hydraulic control valve bank (3) are controlled simultaneously, the locking states of the emulsion motor (7) and the emulsion motor (8) are released, the two motors act simultaneously, and the hydraulic support is moved forwards, backwards or horizontally in an omnidirectional manner; when the motor electro-hydraulic control valve bank (2) or the motor electro-hydraulic control valve bank (3) is independently controlled, one motor is unlocked, the other motor is locked, only one motor acts on the emulsion motor (7) or the emulsion motor (8), the hydraulic support is moved in an omnidirectional mode to rotate leftwards or rightwards, and the emulsion motor (7) and the emulsion motor (8) are automatically unlocked by the aid of the alternate one-way valves (4) and the alternate one-way valves (5).
In order to enable the omnidirectional moving hydraulic support to walk according to a straight line, a synchronous valve (6) is assembled on a motor electrohydraulic control valve group (2) and a liquid inlet pipeline P of the motor electrohydraulic control valve group (3), the synchronous valve (6) enables the liquid supply flow of an emulsion motor (7) and an emulsion motor (8) to be consistent, the rotating speeds of the emulsion motor (7) and the emulsion motor (8) are basically the same when the emulsion motor and the emulsion motor act simultaneously, and the omnidirectional moving hydraulic support can advance, retreat and laterally translate according to the straight line.
In order to prevent the back pressure of a liquid return pipeline from being too large when an emulsion motor acts to cause the misoperation of a hydraulic support stand column or a jack, a liquid return circuit breaker valve (9) is arranged on a liquid return pipeline O of a hydraulic support electrohydraulic control valve group (1), and the liquid return circuit breaker valve (9) enables the liquid return pipeline O of the hydraulic support to be separated from the liquid return pipeline O of the emulsion motor, so that the situation that the system back pressure is large when the emulsion motor (7) or the emulsion motor (8) acts is avoided, the back pressure of the liquid return pipeline of the emulsion motor cannot influence the liquid return pipeline of the hydraulic support, and the misoperation of the hydraulic support stand column (10-11) and the jack (12-15) is caused.
The invention solves the problem of motion control of the omnidirectional moving hydraulic support, prevents the emulsion motor from mistakenly moving in a non-operation state through the self-locking device of the emulsion motor, automatically opens the emulsion motor braking device by utilizing the alternate one-way valve when operating the motor electro-hydraulic control valve group, and simultaneously separates the hydraulic support return pipeline from the emulsion motor return pipeline by adopting the return circuit breaker valve, so as to avoid the problem that the system back pressure is large when the emulsion motor moves, which causes the misoperation of the hydraulic support upright post and the jack, and realize the safe and reliable operation and control of the omnidirectional moving hydraulic support.
The present invention has the following advantages.
(1) The flow of the left motor and the right motor is basically consistent through the synchronous valve, and the structure is simple.
The two-function electro-hydraulic valve set is utilized to control the rotating speed of the emulsion motor, the alternating check valves automatically open the emulsion motor braking device when the motor electro-hydraulic control valve set is operated, the locking state of the emulsion motor is released, and the operation is convenient.
The hydraulic support return pipeline is separated from the emulsion motor return pipeline by the aid of the return liquid circuit breaker valve, so that when the emulsion motor acts, the back pressure of the return pipeline is too high, misoperation of a hydraulic support upright column or a jack is caused, and the hydraulic support is safe and reliable.
Drawings
FIG. 1 is a control system schematic of the present invention.
In the figure, 1-an electro-hydraulic control valve group, 2-a motor electro-hydraulic control valve group, 3-a motor electro-hydraulic control valve group, 4-an alternate check valve, 5-an alternate check valve, 6-a synchronous valve, 7-an emulsion motor, 8-an emulsion motor, 9-a liquid return circuit breaker valve, 10-an upright post, 11-an upright post, 12-a jack, 13-a jack, 14-a jack and 15-a jack.
Detailed Description
Embodiments of the present invention are further described below with reference to the accompanying drawings.
As shown in fig. 1, the control method for the omnidirectional movement hydraulic support comprises a hydraulic support electrohydraulic control valve group (1), a motor electrohydraulic control valve group (2), a motor electrohydraulic control valve group (3), an alternate check valve (4), an alternate check valve (5), a synchronous valve (6), an emulsion motor (7), an emulsion motor (8), a liquid return circuit breaker valve (9), an upright post (10), an upright post (11), jacks (12-15), a liquid supply pipeline P and a liquid return pipeline O.
The motor electro-hydraulic control valve bank (2) and the motor electro-hydraulic control valve bank (3) are two-functional electro-hydraulic reversing valves and mainly control the motor to rotate left or right; when the motor electro-hydraulic control valve group (2) is controlled, the one-way valve (4) is operated alternately, the brake device of the emulsion motor (7) is opened, and the emulsion motor (7) is rotated according to the requirement; when the motor electro-hydraulic control valve group (3) is controlled, the one-way valve (5) is alternatively operated, the brake device of the emulsion motor (8) is opened, and the emulsion motor (8) is rotated according to requirements; when the motor electro-hydraulic control valve bank (2) and the motor electro-hydraulic control valve bank (3) are controlled simultaneously, the emulsion motor (7) and the emulsion motor (8) act simultaneously, and the hydraulic support is moved forwards, backwards or horizontally in an omnidirectional manner; when the motor electro-hydraulic control valve bank (2) or the motor electro-hydraulic control valve bank (3) is independently controlled, the emulsion motor (7) or the emulsion motor (8) acts, and the hydraulic support is moved in an omnidirectional manner to rotate leftwards or rightwards.
The motor electro-hydraulic control valve group (2) and the motor electro-hydraulic control valve group (3) are assembled with the synchronizing valve (6) on the liquid inlet pipeline P, the synchronizing valve (6) enables liquid supply flows of the emulsion motor (7) and the emulsion motor (8) to be consistent, the rotating speeds of the emulsion motor (7) and the emulsion motor (8) are the same when the emulsion motor and the emulsion motor act simultaneously, and the hydraulic support capable of moving in all directions moves forwards, backwards or laterally.
A liquid return circuit breaker valve (9) is assembled on a liquid return pipeline O of the hydraulic support electrohydraulic control valve group (1), and the liquid return circuit breaker valve (9) separates the hydraulic support liquid return pipeline O from an emulsion motor liquid return pipeline O so as to prevent the large system back pressure from causing the misoperation of hydraulic support columns (10-11) and jacks (12-15) when an emulsion motor (7) or an emulsion motor (8) acts.
The above-mentioned embodiments are intended to describe the effective implementation of the present invention, and not to limit the scope of the present invention, and various modifications and improvements made by the engineer without departing from the design spirit of the present invention should fall into the protection scope defined by the claims of the present invention.
Claims (4)
1. A control method for an omnidirectional moving hydraulic support comprises a hydraulic support electrohydraulic control valve group (1), a motor electrohydraulic control valve group (2), a motor electrohydraulic control valve group (3), an alternate check valve (4), an alternate check valve (5), a synchronous valve (6), an emulsion motor (7), an emulsion motor (8) and a liquid return circuit breaker (9); the hydraulic support electrohydraulic control valve group (1) controls a hydraulic support upright post (10), an upright post (11) and a jack (12-15) to act, the motor electrohydraulic control valve group (2) controls an emulsion motor (7) to act, the motor electrohydraulic control valve group (3) controls an emulsion motor (8) to act, a synchronous valve (6) enables the flow of the emulsion motor (7) and the flow of the emulsion motor (8) to be consistent, and a return liquid circuit breaker valve (9) enables a hydraulic support return pipeline O to be separated from an emulsion return pipeline O so as to prevent the emulsion motor (7) and the emulsion motor (7) from causing misoperation of the hydraulic support upright post (10-11) and the jack (12-15) when acting; when the motor electro-hydraulic control valve group (2) is controlled, the check valves (4) act alternately, the brake device of the emulsion motor (7) is opened, when the motor electro-hydraulic control valve group (3) is controlled, the check valves (5) act alternately, the brake device of the emulsion motor (8) is opened, the emulsion motor (7) and the emulsion motor (8) rotate as required, and the action control of the omni-directional movement hydraulic support is realized.
2. The omni-directional mobile hydraulic mount control method according to claim 1, wherein: the motor electro-hydraulic control valve bank (2) and the motor electro-hydraulic control valve bank (3) are two-functional electro-hydraulic reversing valves and mainly control the motor to rotate left or right; when the motor electro-hydraulic control valve group (2) is controlled, the one-way valve (4) is operated alternately, the brake device of the emulsion motor (7) is opened, and the emulsion motor (7) is rotated according to the requirement; when the motor electro-hydraulic control valve group (3) is controlled, the one-way valve (5) is alternately operated, the brake device of the emulsion motor (8) is opened, and the emulsion motor (8) is rotated according to requirements.
3. The omni-directional mobile hydraulic mount control method according to claim 1, wherein: the motor electro-hydraulic control valve group (2) and the motor electro-hydraulic control valve group (3) are assembled with the synchronizing valve (6) on the liquid inlet pipeline P, the synchronizing valve (6) enables liquid supply flows of the emulsion motor (7) and the emulsion motor (8) to be consistent, and the rotating speeds of the emulsion motor (7) and the emulsion motor (8) are the same when the emulsion motor and the emulsion motor act simultaneously.
4. The omni-directional mobile hydraulic mount control method according to claim 1, wherein: a liquid return circuit breaker valve (9) is assembled on a liquid return pipeline O of the hydraulic support electrohydraulic control valve group (1), and the liquid return circuit breaker valve (9) separates the hydraulic support liquid return pipeline O from an emulsion motor liquid return pipeline O so as to prevent the large system back pressure from causing the misoperation of hydraulic support columns (10-11) and jacks (12-15) when an emulsion motor (7) or an emulsion motor (8) acts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111020548.9A CN113756849B (en) | 2021-09-01 | 2021-09-01 | Control method for omni-directional mobile hydraulic support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111020548.9A CN113756849B (en) | 2021-09-01 | 2021-09-01 | Control method for omni-directional mobile hydraulic support |
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|---|---|
| CN113756849A true CN113756849A (en) | 2021-12-07 |
| CN113756849B CN113756849B (en) | 2024-02-09 |
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Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1340014A (en) * | 1962-11-29 | 1963-10-11 | Gewerk Eisenhuette Westfalia | Mobile hydraulic support for mining operations |
| FR1421744A (en) * | 1963-12-24 | 1965-12-17 | Salzgitter Maschinen Ag | Hydraulic control installation for the frames of a walking gallery support, for example in coal mines |
| SU1528923A1 (en) * | 1987-06-10 | 1989-12-15 | Шахта "Юнь-Яга" Производственного Объединения "Воркутауголь" | Mobile formwork/support |
| RU2136888C1 (en) * | 1998-02-10 | 1999-09-10 | АО "Подмосковный научно-исследовательский и проектно-конструкторский угольный институт" | Powered support for mining seams by chambers |
| CN2933941Y (en) * | 2006-07-07 | 2007-08-15 | 长安大学 | High-slow velocity switching-running driving device of fully-hydraulic bulldozer and leveler |
| CN201310372Y (en) * | 2008-12-16 | 2009-09-16 | 郑州煤矿机械集团股份有限公司 | Rapid supply-return liquid system of big cylinder diameter vertical column of hydraulic support |
| CN102071956A (en) * | 2010-12-29 | 2011-05-25 | 北京中科林重科技有限公司 | Electro-hydraulic control system for working surface hydraulic support |
| CN103233762A (en) * | 2013-04-11 | 2013-08-07 | 山西平阳重工机械有限责任公司 | Two-prop shielding type electro-hydraulic-control top-coal caving hydraulic support |
| CN104533478A (en) * | 2014-12-19 | 2015-04-22 | 郑州煤矿机械集团股份有限公司 | Hydraulic system used for recycling emulsified liquid of coal face |
| CN106593503A (en) * | 2017-01-16 | 2017-04-26 | 天地科技股份有限公司 | Omnibearing traveling type forepoling hydraulic support |
| US20180135412A1 (en) * | 2015-07-20 | 2018-05-17 | Taiyuan University Of Technology | Method for implementing a centralized control platform of hydraulic support on fully mechanized mining working face in underground coal mines |
| CN108222983A (en) * | 2018-03-12 | 2018-06-29 | 太原科技大学 | A kind of column boost-up circuit of hydraulic support |
| CN108699779A (en) * | 2016-01-21 | 2018-10-23 | 马蒂萨材料工业股份有限公司 | Tamping tool with synchronous hydraulic motor |
| CN109630165A (en) * | 2018-12-28 | 2019-04-16 | 上海工程技术大学 | A kind of underground mine use two column protected type electrichydraulic control hydraulic support |
| WO2021004397A1 (en) * | 2019-07-09 | 2021-01-14 | 中国矿业大学 | Large flow valve-pump joint control emulsion pump station and control method therefor |
-
2021
- 2021-09-01 CN CN202111020548.9A patent/CN113756849B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1340014A (en) * | 1962-11-29 | 1963-10-11 | Gewerk Eisenhuette Westfalia | Mobile hydraulic support for mining operations |
| FR1421744A (en) * | 1963-12-24 | 1965-12-17 | Salzgitter Maschinen Ag | Hydraulic control installation for the frames of a walking gallery support, for example in coal mines |
| SU1528923A1 (en) * | 1987-06-10 | 1989-12-15 | Шахта "Юнь-Яга" Производственного Объединения "Воркутауголь" | Mobile formwork/support |
| RU2136888C1 (en) * | 1998-02-10 | 1999-09-10 | АО "Подмосковный научно-исследовательский и проектно-конструкторский угольный институт" | Powered support for mining seams by chambers |
| CN2933941Y (en) * | 2006-07-07 | 2007-08-15 | 长安大学 | High-slow velocity switching-running driving device of fully-hydraulic bulldozer and leveler |
| CN201310372Y (en) * | 2008-12-16 | 2009-09-16 | 郑州煤矿机械集团股份有限公司 | Rapid supply-return liquid system of big cylinder diameter vertical column of hydraulic support |
| CN102071956A (en) * | 2010-12-29 | 2011-05-25 | 北京中科林重科技有限公司 | Electro-hydraulic control system for working surface hydraulic support |
| CN103233762A (en) * | 2013-04-11 | 2013-08-07 | 山西平阳重工机械有限责任公司 | Two-prop shielding type electro-hydraulic-control top-coal caving hydraulic support |
| CN104533478A (en) * | 2014-12-19 | 2015-04-22 | 郑州煤矿机械集团股份有限公司 | Hydraulic system used for recycling emulsified liquid of coal face |
| US20180135412A1 (en) * | 2015-07-20 | 2018-05-17 | Taiyuan University Of Technology | Method for implementing a centralized control platform of hydraulic support on fully mechanized mining working face in underground coal mines |
| CN108699779A (en) * | 2016-01-21 | 2018-10-23 | 马蒂萨材料工业股份有限公司 | Tamping tool with synchronous hydraulic motor |
| CN106593503A (en) * | 2017-01-16 | 2017-04-26 | 天地科技股份有限公司 | Omnibearing traveling type forepoling hydraulic support |
| CN108222983A (en) * | 2018-03-12 | 2018-06-29 | 太原科技大学 | A kind of column boost-up circuit of hydraulic support |
| CN109630165A (en) * | 2018-12-28 | 2019-04-16 | 上海工程技术大学 | A kind of underground mine use two column protected type electrichydraulic control hydraulic support |
| WO2021004397A1 (en) * | 2019-07-09 | 2021-01-14 | 中国矿业大学 | Large flow valve-pump joint control emulsion pump station and control method therefor |
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| Publication number | Publication date |
|---|---|
| CN113756849B (en) | 2024-02-09 |
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