JPH03147614A - Multiple simultaneous driving device of endless chain - Google Patents

Abstract

PURPOSE:To miniaturize and to enable forward and reverse movement of a multiple simultaneous driving device of an endless chain for conveying mine of a mine boat and so on by controlling pressure of a hydraulic ram for giving tension to a chain with a function relating to an intermediate part of the endless chain and pressure on the high pressure side of a hydraulic motor for driving of a sprocket for driving. CONSTITUTION:An electromagnetic valve for brake 32 is moved to the left of the drawing, pressure oil is supplied to a brake 24 so as to release the brake 24, and a forward/reverse switching valve 21 is set for forward or reverse. By this, oil pressure is supplied from a motor driving hydraulic circuit 9 to hydraulic motors 8a to 8d, and an endless chain 2 runs. In the meantime, an electromagnetic valve 36 of a ram control hydraulic circuit 11 is moved left to the pilot pressure acting position, and a second servo valve 35 is controlled so that pressure of the hydraulic ram 5 becomes a function of the pressure on the high pressure side of a variable pump 19 by a ram control electric circuit so as to control tension of the chain 2. By this constitution, a multiple simultaneous driving device of the endless chain can be miniaturized and its forward and reverse movement can be realized.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a multi-point simultaneous drive device for an endless chain used for transporting heavy loads such as mines, for example in mine-laying layers.

Prior Art and Problems of the Invention This type of device has a long endless chain with a driving sprocket at one end and a driven sprocket at the other end.
It is known that a caterpillar chain is provided at a plurality of intermediate locations on the forward side (the side where heavy objects are conveyed), and the drive sprocket and the caterpillar chain are simultaneously driven by a hydraulic motor.

This device distributes the load to each drive part and allows slack in the chain in front of the drive sprocket. On the other hand, the return side of the chain (the side that does not carry the load) is
It is common to use deadweight or spring-loaded chain tensioning devices to plan for light tension and combat chain wear.

When reversing such a device, especially when reversing it,
Since the driven sprocket reversely transfers the heavy load via the spring of the tension adjustment device, the spring stretches and the chain becomes slack, making it impossible to drive. In order to prevent this, slack due to the chain's own weight is set during assembly and adjustment to enable forward and reverse rotation, but this often requires adjustment for chain wear.

Furthermore, when such a device is mounted on a ship, there is an additional need to stretch or shorten the chain due to the elastic strain of the ship's hull.

A multi-point synchronous drive method has also been proposed in which the drive sprocket and caterpillar chain are driven in synchronization with each other in order to take up the slack on the return side of the chain, but in this case, position control is required for each drive point. and a speed transmitter is required, which increases cost.

An object of the present invention is to solve the above problems and provide a multi-point simultaneous drive device for an endless chain that is small, inexpensive, and capable of forward and reverse rotation.

Means for Solving the Problems A multi-point simultaneous drive device for an endless chain according to the present invention comprises an endless chain for conveying a heavy object, a driving sprocket fixedly disposed at one end of the endless chain, and a driving sprocket for the endless chain. A driven sprocket movably disposed at the other end, a hydraulic ram that supports the driven sprocket and applies tension to the endless chain, and a plurality of hydraulic motors that drive the driving sprocket and the intermediate portion of the endless chain. This includes a motor drive hydraulic circuit that drives a hydraulic motor, and a hydraulic ram control device that controls the pressure of a hydraulic ram so that it becomes a function of the high-pressure side pressure of this hydraulic circuit.

Function: The drive sprocket at one end of the endless chain and the middle section are simultaneously driven by multiple hydraulic motors.
The tension in the chain in each section between these multiple drive points is reduced, and the chain can therefore be made smaller. In addition, the pressure of the hydraulic ram supporting the driven sprocket is controlled to be a function of the high pressure side pressure of the motor drive hydraulic circuit of these hydraulic motors.
The slack in the chain during reversing is reduced, therefore
The chain can be rotated forward and reverse.

Embodiments Hereinafter, embodiments in which the present invention is applied to a mine dropping device for a mine laying layer will be described with reference to the drawings.

As shown in FIG. 1, the mine dropping device is equipped with an endless chain (2) for transporting the mine (1).

The endless chain (2) has a long loop shape in the vertical plane in the bow and aft direction (front and rear direction), and the upper side is the outgoing side that carries the mine (1), and the lower side is the return side that does not carry the mine (1). It has become. A driving sprocket (3
), but a driven sprocket (4) is provided at the bow end (right side in FIG. 1). Although not shown, the driving sprocket (3) is fixedly provided on the hull.

The driven sprocket (4) is supported by a rod of a hydraulic ram (5) whose cylinder is fixed to the hull. The hydraulic ram (5) uses hydraulic pressure to push the driven sprocket (4) toward the bow and apply tension to the chain (2).

A caterpillar chain (6) for driving the endless chain (2) is installed at multiple locations (for example, 3 locations) equally dividing the space between the driving sprocket (3) and the driven sprocket (4) on the outbound side of the chain (2). The four points at which the drive sprocket (3) and caterpillar chain (6) are provided are the drive points (A). The driving points are collectively referred to by the symbol (A), and if it is necessary to distinguish them, they are referred to as the first driving point (Al) and the second driving point (A2) in order from the latter.
), the third driving point (A3), and the fourth driving point (A4). On the outgoing side of the endless chain (2), four conveyor sections (B) are formed by a driving sprocket (3), a driven sprocket (4) and a caterpillar chain (6).
It is separated into. These compartments are collectively referred to by the symbol (B), and if it is necessary to distinguish them, they will be designated by the first
Section (Bl), second section (B2), third section (B3),
This will be called the fourth section (B4).

The drive sprocket (3) and the three caterpillar chains (G) are connected to reducers (7a) (7b) (7), respectively.
c) Connected to the hydraulic motor (8) with brake via (7d). These hydraulic motors are collectively referred to by the symbol (8), and if it is necessary to distinguish them, they are referred to in order from the last one.
They will be referred to as a first motor (8a), a second motor (8b), a third motor (8c), and a fourth motor (8d). Four hydraulic motors (8) are one motor drive hydraulic circuit (9)
This hydraulic circuit (9) is controlled by a motor drive electric circuit (lO) shown in FIG. This hydraulic circuit (9) switches between forward and reverse rotation of the hydraulic motor (8), that is, the endless chain (2), and controls the speed, and the four hydraulic motors (8) operate in the same direction and at the same speed. is driven by. Note that the direction in which the forward side of the endless chain (2) moves from front to back is referred to as normal rotation.
The opposite direction is considered reverse.

The hydraulic ram (5) is connected to a motor drive hydraulic circuit (9) via a ram control hydraulic circuit (11).

This hydraulic circuit (11) is connected to the ram control electric circuit (1) shown in FIG.
2), and the pressure of the hydraulic ram <5> is controlled according to the high-pressure side pressure of the motor drive hydraulic circuit (9), as will be described later. Note that the ram control hydraulic circuit (11) and the electric circuit (12) constitute a hydraulic ram control device.

As shown in FIG. 4, the endless chain (2) consists of a bush roller chain. Endless chain (
The forward side of 2) is an upper chain rail (1
3). The return side of the endless chain (2) is guided by a similar lower chain rail (14).

Furthermore, a plurality of pairs of pawls (15) are attached to the endless chain (2) at equal intervals, one pair in the front and one in the front.

A little above the upper chain rail (13), there is a mine rail (
16) is provided. This mine rail (16) is
It consists of a pair of left and right groove sections arranged in parallel so that the grooves face each other on the outside of the chain rail (13). mine(
Two wheels (17) are attached to each of the left and right sides of the lower part of 1), and these wheels (17) are guided by the mine rail (IB). Then, the center lower part of the mine (1) in the left and right direction is sandwiched between the set of claws (15) of the endless chain (2) from the front and back, and by driving the endless chain (2) in this state, Mine (1)
) moves back and forth along the mine rail (16).

The mine laying layer is equipped with a suitable mine loading device, which allows the mine rail (
16) The mines (1) are delivered one by one to the front of the ship. The mines (1) carried to the front of the mine rail (16) are sent backward one by one by the forward rotation of the endless chain (2) and are loaded onto the mine rail (1G). Mine rail (
16) The mine (1) loaded on top is sent later by the forward rotation of the endless chain (2) and is sent to the mine rail (I6).
) are dropped into the sea one by one from the rear end. In addition, in some cases, a mine (1) mounted on the mine rail (16)
) may be sent forward by reversing the endless chain (2) and unloaded one by one by a loading device.

Next, control of the hydraulic motor (8) and the hydraulic ram (5) when the endless chain (2) rotates normally will be explained.

First, consider a case where all four sections (B) have loads. The load tension of the first section (B1) is Wl, the second section (B1) is
It is assumed that the loaded tension of B2) is W2, the loaded tension of the third section (B3) is W3, and the loaded tension of the fourth section (B4) is W4, and these are all equal to W.

In this case, since the four hydraulic motors (8) are responsible for the loads of the four sections (B), the effective pressure ΔP acting on the hydraulic motors (8) is expressed by the following equation (1).

ΔP-4・W-R/4・DI −W-R/D+++ ・・・・・・ (1)
Here, R is the sprocket radius, D+m is the hydraulic motor (
8) is the discharge amount.

Therefore, the high pressure side pressure Pill of the hydraulic circuit (9) is
The following equation (2) is obtained.

PL-ΔP+PL (2)
Here, PL is boost pressure (low pressure side pressure). Note that PL is maintained at approximately 20 kgl/c-.

The load that was in the first compartment (B1) is carried out, and the load that was in the second, third and fourth compartments (B2) (B3) (B4) is transferred to the first, second and third compartments (Bl). (B2)
(B3), the fourth section (B4
) has no load, so if the endless chain (2) is stretched by the hydraulic ram (5) and is at a predetermined tension, then
The fourth motor (8d) is connected to other hydraulic motors (8a) (8b) (8C) via the return side of the endless chain (2).
). In other words, three compartments (B1)
The loads of (82) and (83) are handled by four hydraulic motors (8). Therefore, PL is calculated using the following formula (3% formula % (3)) The load that was in the first compartment (Bl) is carried out, and the load that was in the second and third compartments (82) (B3) is transferred to the first and third compartments (82) (B3). Considering the case where the load is transferred to the second compartment (BL) (B2), there is no load on the third and fourth compartments (B3) (B4), so the load on the two compartments (BL) (B2) is reduced to 4. This is handled by two hydraulic motors (8). Therefore, P)
11 is expressed as the following equation (4).

Pill-(1/2)ΔP+PL・・・・・・
・ (4) The load that was in the first section (old) was carried out,
Considering the case where the load that was in the second compartment (B2) is transferred to the first compartment (B1), the load in the second, third and fourth compartments (B
2) Since there is no load on (B3) and (B4), the load of one section ([31) will be handled by four hydraulic motors (8). Therefore, PL is expressed as the following equation (5).

pH1-(1/4)ΔP+PL (5
) When the load in the first compartment (Bl) is removed and the load disappears from all compartments (B), PL is calculated by the following equation (6
)become that way.

pH1-PL (6
) In order to satisfy the above equations (2) to (6), it is necessary to adjust the thrust of the hydraulic ram (5) acting on the driven sprocket (4) and maintain it at the minimum necessary level.

In the case of equation (2) where there is a load on the four sections (B), each hydraulic motor (8) is loaded with W, and the return side of the endless chain (2) has the minimum tension (-500
kll) should act. Therefore, the hydraulic ram (5
) is 1000 (-2X 500 ) kgl (point Xl in Figure 5).

In the case of equation (3) where there is a load on three compartments (Bl) (B2) <BB>, the effective pressure of the hydraulic motor (8) is (3/
4) Since ΔP, the next chain tension F acts on the driven sprocket (4).

F-(3/4)ΔP-Dm Therefore, the hydraulic ram (5) 2-F ceramic 1,5ΦD layer/ΔP More thrust is required (point X2 in Figure 5).

In addition, DI・ΔP is the maximum tension (
-2500 dazzle1).

In the case of equation (4) where there is a load on the two compartments (Bl) (B2), the two hydraulic motors (8) are pulling, so the chain tension F acting on the driven sprocket (4) and the hydraulic ram (5) are Thrust 2・F is as follows (point X in Figure 5
3).

F-(1/2)ΔP・2・Da −DI11・ΔP 2・F−2,0・Dll・ΔP In the case of equation (5) where there is a load on one section (B1), 3
As the two hydraulic motors (8) pull, the chain tension F acting on the driven sprocket (4) and the hydraulic ram (5)
The thrust force 2·F is as follows (point X4 in Fig. 5).

F-(1/4)ΔP・3・Dm ””(3/4)Di ・ΔP 2・F−1,5・DIIl ・ΔP Equation (6) where there is no load in any of the four sections (B) In this case, since the minimum tension is 500 kgl, the thrust of the hydraulic ram (5) is 1000 (-2X500) kll (point X5 in Fig. 5).

Therefore, the relationship between the high pressure side pressure PH1 of the motor drive hydraulic circuit (9) and the thrust of the hydraulic ram (5) in the case of forward rotation is as follows:
This is shown by the solid line in FIG.

Next, control of the hydraulic motor (8) and the hydraulic ram (5) when the endless chain (2) rotates in reverse will be explained.

First, when there is a load in all four sections (13), the first motor (8a) pulls the load on the fourth section (B4) via the driven sprocket (4), so the driven sprocket (4) The acting chain tension is F#D+n・ΔP, and the thrust force 2・F of the hydraulic ram (5) is 2・F−2・
Dm ·ΔP (point Yl in FIG. 6).

The load that was in the fourth compartment (B4) is carried out, and the load that was in the third, second and first compartments (B3) (B2) (81) is transferred to the fourth, third and second compartment (B4). (B3)
When transferred to (B2), it becomes F-(3/4)ΔP-DIl, and becomes 2-F-1, No. 5 DIi·ΔP (point Y2 in FIG. 6).

If the load that was in the fourth compartment (B4) is carried out and the load that was in the third and second compartments (B3) (B2) is transferred to the fourth and third compartments (B4) (B3), ,F-(
1/2) ΔPφ2・DIIl −DI ・ΔP, which becomes 2・F−2,0−DIIl ψΔP (point Y3 in FIG. 6).

When the load in the fourth compartment (B4) is carried out and the load in the third compartment (B3) is transferred to the fourth compartment (B4), F-(1/4)ΔP-3- D+a=(3/4)Dm・ΔP, and 2・F−1,5・DII・ΔP (point Y4 in FIG. 6).

If there is no load on any of the four compartments (B), the minimum tension is 500 kgf, so the hydraulic ram (
5) thrust is 1000 kf, 1 (point Y in Figure 6)
5).

Therefore, in the case of reverse rotation, the relationship between the high pressure side pressure P of the motor drive hydraulic circuit (9) and the thrust of the hydraulic ram (5) is as shown by the solid line in FIG.

Since the pressure PH2 of the hydraulic ram (5) and thrust are proportional, the high pressure side pressure of the motor drive hydraulic circuit (9) and the hydraulic ram (5)
The relationship between pressure and pressure is also shown in FIGS. 5 and 6. Then, the relationships shown in Figures 5 and 6 are set in the ram control electric circuit (12), and the pressure pH2 of the hydraulic ram (5) is adjusted according to the high pressure side pressure P of the motor drive hydraulic circuit (9). By controlling it, the endless chain (2) can be rotated in forward and reverse directions. Incidentally, since the relationship shown by the solid line in FIG. 6 is a little complicated, a part of it may be modified and used as shown by the broken line.

In the above device, as the number of driving points (A>) increases,
The chain tension at the driven sprocket (4) becomes larger than the drive tension at each drive point (A). The ratio of the chain tension at the driven sprocket (4) to the drive tension at each drive point is, for example, 1 times when the number of drive points is 4, 1.2 times when there are 5 points, and 1.2 times when there are 6 points. is 1.5 times, 7 points is 167 times, 8 points is 2.0 times, 9 points is 2,
2x, 2.5x for 10 points.

Therefore, it is preferable to limit the number of driving points to a certain level.

Next, specific examples of the motor drive hydraulic circuit (9) and the electric circuit (10), and the ram control hydraulic circuit (11) and the electric circuit (12) will be explained with reference to FIGS. 1 to 3. .

In the motor drive hydraulic circuit (9> in Figure 1), (18)
is an oil tank, (19) is a variable pump for motor drive, (
20) is a boost pump that is linked to this. The variable pump (19) is connected to four hydraulic motors (8) via a forward/reverse switching valve (electromagnetic valve) (21). The forward/reverse switching valve (21) is connected to the brakes (24) of the four hydraulic motors 8) via a brake valve (22) and a brake electromagnetic valve (23).

In addition, a brake valve (22) and a brake solenoid valve (23)
The part between is connected to the discharge side of the boost pump (20). A first pressure detector (25) is provided on the discharge side, ie, the high pressure side, of the variable pump (19). (2
B) is a tilting cylinder for controlling the discharge amount of the variable pump (19), and is connected to the pilot hydraulic pump (29) via the first servo valve (27) and the pressure reducing valve (28). Further, the tilting cylinder (26) is provided with a potentiometer (30) that detects its tilting angle.

When the endless chain (2) is not being driven, the forward/reverse switching valve (21) is in the neutral position shown in FIG. 1, and no pressure oil is supplied to the hydraulic motor (8). In addition, the brake solenoid valve (23) is in the brake position (normal position) shown in Figure 1, and the brake (24) is properly turned on by the spring without pressure oil being supplied to the brake (24). , the hydraulic motor (8) is stopped.

When driving the endless chain (2), the brake solenoid valve (23) is moved to the left side in FIG. 1 and switched to the brake release position on the right side of the figure. As a result, pressure oil is supplied to the brake (24), and the brake (24) is supplied with pressure oil.
24) is released (turned off), and the hydraulic motor (8) becomes rotatable.

When rotating the endless chain (2) in the forward direction, the forward/reverse switching valve (2I) is moved to the right side in FIG. 1 and switched to the forward rotation position on the left side in the same figure. As a result, the hydraulic motor (8) rotates normally, and the endless chain (2) rotates normally.

When the endless chain (2) is to be reversed, the forward/reverse switching valve (21) is moved to the left side in FIG. 1 and switched to the reverse position on the right side of the figure. This causes the hydraulic motor (8) to rotate in reverse, and the endless chain (2) to rotate in reverse.

The motor drive electric circuit (lO) in FIG. 2 includes a speed setting circuit (31), a servo amplifier circuit (32), and the like.

Based on the speed setting voltage from the speed setting circuit (31) and the output signal of the potentiometer (30) of the tilting cylinder (26), the servo amplifier circuit (32) operates the first servo valve (27).
), which controls the variable pump (19) to drive the endless chain (2) at a constant speed.

A flushing valve (33) and a flow control valve (34) are connected to the variable pump (19). The flushing valve (33) is connected to a variable pump (19) and a hydraulic motor (8).
The flow control valve (34) is for returning a portion of the hot oil in the closed circuit to the tank (18) and determining the amount of replacement oil in this closed circuit. .

In the ram control hydraulic circuit (11) in Fig. 1, (35)
(36) is a second servo valve, and (36) is a tension maintaining solenoid valve.

The second servo valve (35) and the solenoid valve (36) are the pressure reducing valve (28) and tank (18) of the motor drive hydraulic circuit (9).
It is connected to the. The second servo valve (35) and the hydraulic ram (
A pilot check valve (37) is provided between the hydraulic ram (5) and a piston accumulator (38). The solenoid valve (36) is connected to the pilot boat of the check valve (37).

Further, the hydraulic ram (5) is provided with a second pressure detector (39).

When the endless chain (2) is not being driven, the solenoid valve (36) is in the pilot pressure non-action position (normal position) shown in Figure 1, and no pilot pressure is applied to the check valve (37), so the hydraulic pressure is 2nd from the ram (5) side
Backflow of oil to the servo valve (35) side is prevented. The hydraulic ram (5) is maintained at a predetermined pressure by the accumulator (38), and a predetermined tension is applied to the endless chain (2) via the driven sprocket (4).

When driving the endless chain (2), use the solenoid valve (
3B) is moved to the left side of FIG. 1 and switched to the pilot pressure application position on the right side of the figure. This results in
Pilot pressure acts on the check valve (37), allowing backflow.

As explained next, by controlling the second servo valve (35), the pressure of the hydraulic ram (5) is controlled, and as a result, the chain tension at the driven sprocket (4) is controlled. .

The RAM control electric circuit (12) in FIG. 3 includes a low-pass filter (LPF) (40), two function generators (41) (4
2), a servo amplifier circuit (43), etc.

The output signal of the first pressure detector (25) of the motor drive hydraulic circuit (9) is sent to a low-pass filter (40) to remove high frequency components such as pressure transient phenomena.

The output of the low-pass filter (40) represents the high pressure side pressure P of the closed circuit of the motor drive hydraulic circuit (9). The first function generator (41) outputs a command value for the pressure PH2 of the hydraulic ram (5) from the output P111 of the low-pass filter (40) based on the relationship during normal rotation shown in FIG. The second function generator (42) outputs a command value for the pressure P112 of the hydraulic ram (5) from the output P111 of the low-pass filter (40) based on the relationship at the time of reverse rotation shown in FIG. When the endless chain (2) rotates in the normal direction, the first function generator (41)
However, during reversal, the second function generator (42) is used.

And the pressure PH2 from the function generators (41) (42)
command value and pressure P)1 from the second pressure detector (39)
Based on the second detection signal, the servo amplifier circuit (43)
The servo amplification valve (35) is controlled so that the pressure in the hydraulic ram (5) becomes a function of the pressure P as shown in Figure 5 during forward rotation, and the pressure as shown in Figure 6 during reverse rotation. pH
It is controlled so that it becomes a function of 1.

Effects of the Invention According to the multi-point simultaneous drive device for an endless chain of the present invention, as described above, the chain can be made smaller, and the chain can be rotated in forward and reverse directions using one motor drive hydraulic circuit and a hydraulic ram control device. Become. This eliminates the need for position control and speed transmitters for each drive point, as in the past, and can be provided at low cost.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of a multi-point simultaneous drive device for an endless chain showing an embodiment of the present invention, Fig. 2 is a block diagram showing a motor drive electric circuit, Fig. 3 is a block diagram showing a ram system 1i111 electric circuit, Figure 4 is a cross-sectional view showing the endless chain and the mine, Figure 5 is a graph showing the relationship between the high-pressure side pressure of the hydraulic motor and the pressure of the hydraulic ram during forward rotation, and Figure 6 is the oil pressure during reverse rotation. It is a graph showing the relationship between the high-pressure side pressure of the motor and the pressure of the hydraulic ram. (1)...Mine, (2)...Endless chain,
(3)... Drive sprocket, (4)... Driven sprocket, (5)... Hydraulic ram, (8a) (8b
) (8c) (8d) = hydraulic motor, (9)...
Motor drive hydraulic circuit, (10)... Motor drive electric circuit, (11)... Ram control hydraulic circuit, (12)...
Ram control electrical circuit. that's all

Claims (1)

[Claims] An endless chain for transporting heavy objects, a driving sprocket fixedly placed at one end of the endless chain, a driven sprocket movably placed at the other end of the endless chain, and a drive sprocket that supports the driven sprocket. A hydraulic ram that applies tension to the endless chain,
A plurality of hydraulic motors that drive the drive sprocket and the intermediate portion of the endless chain, a motor drive hydraulic circuit that drives these hydraulic motors, and a hydraulic ram pressure that is controlled to be a function of the high-pressure side pressure of this hydraulic circuit. Endless chain multi-point simultaneous drive system equipped with hydraulic ram control device.