WO2024036970A1 - Micro-angle stepping control method for hydraulic motor - Google Patents

Micro-angle stepping control method for hydraulic motor Download PDF

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Publication number
WO2024036970A1
WO2024036970A1 PCT/CN2023/083775 CN2023083775W WO2024036970A1 WO 2024036970 A1 WO2024036970 A1 WO 2024036970A1 CN 2023083775 W CN2023083775 W CN 2023083775W WO 2024036970 A1 WO2024036970 A1 WO 2024036970A1
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WIPO (PCT)
Prior art keywords
oil
valve
hydraulic
way
pulse cylinder
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PCT/CN2023/083775
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French (fr)
Chinese (zh)
Inventor
陈航
辛德忠
刘小华
王清峰
万军
唐敏
吕晋军
马振纲
蒲剑
张始斋
杨林
万园
雷万年
王兴
杨燕鸽
王伟
张世涛
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中煤科工集团重庆研究院有限公司
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Publication of WO2024036970A1 publication Critical patent/WO2024036970A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/18—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors used in combination for obtaining stepwise operation of a single controlled member
    • F15B11/186—Rotary stepwise operation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7058—Rotary output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/765—Control of position or angle of the output member

Definitions

  • the invention belongs to the field of hydraulic transmission, and specifically relates to a micro-angle step control method of a hydraulic motor.
  • the purpose of the present invention is to provide a hydraulic motor micro-angle step control method to solve the problem that existing coal mine drilling rigs lack precise control functions and the motor rotation angle is uncontrollable.
  • a hydraulic motor micro-angle step control method mainly includes the following steps:
  • a four-position, two-way directional valve 2 Between the hydraulic pump 1 and the hydraulic motor 6, a four-position, two-way directional valve 2, a one-way valve 3, a pulse cylinder 4 and a two-position, four-way hydraulic reversing valve 5 are arranged in sequence; among them, the hydraulic pump 1 and the four-position, four-way reversing valve are
  • the oil inlet of the four-position valve 2 is connected to the oil return port of the four-position valve 2 and the oil tank 8.
  • Port B of the four-position valve 2 is connected to the right side of the pulse cylinder 4 through the one-way valve 3.
  • the chambers are connected, port A of the four-position, two-way reversing valve 2 is connected with the left chamber of the pulse cylinder 4, and the right chamber of the pulse cylinder 4 is connected with the hydraulic motor 6 through the two-position, two-way hydraulic reversing valve 5.
  • the control oil port of the two-position, two-way hydraulic reversing valve 5 and the A port of the four-position, two-way reversing valve 2 are connected through the oil pipe 9;
  • the pressure oil output by the hydraulic pump 1 passes through the two-position four-way reversing valve 2 and the one-way valve 3 in sequence, and is injected into the right chamber of the pulse cylinder 4 and fills the right chamber of the pulse cylinder 4 with oil.
  • the oil entering the right chamber is pushed
  • the piston of pulse cylinder 4 moves from right to left;
  • the oil in the left chamber of the pulse cylinder 4 is squeezed out and returns to the oil tank 8 through the four-position, two-position reversing valve 2;
  • the two-position two-way hydraulic reversing valve 5 in the right position disconnects the oil circuit between the pulse cylinder 4 and the hydraulic motor 6.
  • the oil in the right chamber of the pulse cylinder 4 will not enter the hydraulic motor 6, so it is always in a charged state.
  • the pressure oil output by the hydraulic pump 1 is injected into the left chamber of the pulse cylinder 4 through the two-position four-way reversing valve 2 and fills the left chamber of the pulse cylinder 4 with oil; the oil entering the left chamber pushes the piston of the pulse cylinder 4 from left to move right;
  • the oil in the right chamber of the pulse cylinder 4 is squeezed out by the piston.
  • the right chamber of the pulse cylinder 4 The oil in the oil enters the hydraulic motor 6 through the two-position two-way hydraulic reversing valve 5 to push the hydraulic motor 6 to rotate at a slight angle;
  • valve core in the two-position four-way directional valve 2 to the right position again, and input pressure oil into the right chamber of the pulse cylinder 4 through the hydraulic pump 1, so that the left chamber of the pulse cylinder 4 returns oil and relieves pressure;
  • the valve core of the hydraulic reversing valve 5 automatically returns to the right position under the action of the spring, and the entire control system returns to the initial state of the "oil filling and energy storage process";
  • a relief valve 7 is provided between the hydraulic pump 1 and the oil inlet of the four-position directional valve 2 so that the excess pressure oil returns to the oil tank 8 through the relief valve.
  • the two-position four-way reversing valve 2 is a manual reversing valve. By releasing the operating handle on it, its valve core automatically switches to the right position under the action of the spring.
  • This control method drives the hydraulic motor to rotate through a tiny angle each time through the coordinated control of the pulse cylinder, manual reversing valve and hydraulic reversing valve, thus achieving step control of the rotation angle; the hydraulic reversing valve realizes the hydraulic
  • the automatic linkage control of the two sections of oil circuits from the pump to the pulse cylinder and from the pulse cylinder to the hydraulic motor improves the control and adjustment efficiency; it lays a technical foundation for accurate guided drilling and automated and precise control of the rotary mechanism.
  • Figure 1 is a schematic diagram of the system of the present invention.
  • Hydraulic pump 1 Hydraulic pump 1, four-position directional valve 2, one-way valve 3, pulse cylinder 4, 2-position hydraulic directional valve 5, hydraulic motor 6, relief valve 7, fuel tank 8, oil pipe 9.
  • Figure 1 is a hydraulic motor micro-angle step control system.
  • This system is sequentially provided with a two-position four-way reversing valve 2, a one-way valve 3, a pulse cylinder 4 and a hydraulic pump 1 and a hydraulic motor 6.
  • the four-position, two-way reversing valve 2 is used to switch the direction of the oil inlet of the pulse cylinder 4; the one-way valve 3 is used to control the one-way flow of the oil passage between the right chamber of the pulse cylinder 4 and the four-position, two-way reversing valve 2;
  • the pulse cylinder 4 is a component that accumulates and outputs oil, and is used to push the hydraulic motor 6 to rotate at a small angle.
  • the volume of the pulse cylinder 4 matches the small angle of a single rotation of the hydraulic motor 6; the two-position two-way hydraulic reversing valve 5 Used to switch the oil path between the pulse cylinder 4 and the hydraulic motor 6 on and off.
  • the hydraulic pump 1 is connected to the oil inlet port P of the four-position, two-way reversing valve 2, the oil return port T of the four-position, two-way reversing valve 2 is connected to the fuel tank 8, and the four-position, four-way reversing valve is connected to the oil return port T.
  • Port B of valve 2 is connected to the right chamber of pulse cylinder 4 through one-way valve 3
  • port A of two-position four-way directional valve 2 is connected to the left chamber of pulse cylinder 4, and the right chamber of pulse cylinder 4 is connected.
  • It is connected to the hydraulic motor 6 through the 2-position 2-way hydraulic directional valve 5; the control oil port of the 2-position 2-way hydraulic directional valve 5 is connected to the A port of the 4-2-position directional valve 2.
  • the ports are connected through oil pipe 9.
  • the control method of this system mainly includes the following steps:
  • valve cores in the four-position, two-way directional valve 2 and the two-position hydraulic directional valve 5 are in the right position; the pressure oil output by the hydraulic pump 1 passes through the four-position, two-way directional valve 2 and the single After valve 3, inject oil into the right chamber of pulse cylinder 4 and fill the right chamber of pulse cylinder 4 with oil. The oil entering the right chamber pushes the piston of pulse cylinder 4 to move from right to left.
  • the oil in the left chamber of the pulse cylinder 4 is extruded by the piston and returns to the oil tank 8 through the four-position, two-way reversing valve 2; at this time, the two-position, two-way hydraulic reversing valve 5 in the right position causes the pulse cylinder 4 to
  • the oil circuit between the hydraulic motors 6 is in a disconnected state, and the oil in the right chamber of the pulse cylinder 4 will not enter the hydraulic motor 6, so (the pulse cylinder 4) is always in a state of oil filling and energy storage.
  • the operation causes the valve core in the four-position two-way reversing valve 2 to switch to the left position.
  • the pressure oil output by the hydraulic pump 1 enters the two-position hydraulic reversing valve through the four-position four-way reversing valve 2 and the oil pipe 9. 5's control port, so that the two-position two-way hydraulic reversing valve 5 switches to the left position under the action of oil.
  • the pressure oil output by the hydraulic pump 1 is injected into the left chamber of the pulse cylinder 4 through the two-position four-way reversing valve 2 and fills the left chamber of the pulse cylinder 4 with oil; the oil entering the left chamber pushes the piston of the pulse cylinder 4 from left to Move to the right, and the oil in the right chamber of pulse cylinder 4 is squeezed out by the piston.
  • the oil in the right chamber of the pulse cylinder 4 passes through the two-position two-way hydraulic reversing valve 5. Enter the hydraulic motor 6, and then push the hydraulic motor 6 to rotate at a slight angle, that is, the step-by-step slight angle rotation of the rotation angle is realized.
  • the operation causes the valve core in the two-position four-way directional valve 2 to switch to the right position again, and inputs pressure oil into the right chamber of the pulse cylinder 4 through the hydraulic pump 1, so that the left chamber of the pulse cylinder 4 returns oil and relieves pressure; at this time,
  • the valve core of the two-position two-way hydraulic reversing valve 5 automatically returns to the right position under the action of the spring, and the entire control system returns to the initial state of the "oil filling and energy storage process".
  • This solution is also equipped with a relief valve 7, which is used to adjust the driving force of the hydraulic motor 6; if the system pressure reaches the setting value of the relief valve, the excess oil can return to the tank 8 through the relief valve 7 , thus ensuring the pressure safety of the system.
  • the relief valve 7 is arranged between the hydraulic pump 1 and the oil inlet of the four-position directional valve 2 .
  • the two-position four-way reversing valve 2 in this solution is a manual reversing valve. By loosening the operating handle on it, the valve core can be controlled to automatically switch to the right position under the action of the spring.
  • This control method drives the hydraulic motor each time through the coordinated control of the pulse cylinder, manual reversing valve and hydraulic reversing valve. Through a slight angle, step control of the rotation angle is realized; the hydraulic reversing valve realizes automatic linkage control of the two-stage oil circuit from the hydraulic pump to the pulse cylinder, and from the pulse cylinder to the hydraulic motor, improving the control and adjustment efficiency; It lays a technical foundation for accurate guided drilling and automated precise control of the rotary mechanism.

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  • Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Earth Drilling (AREA)

Abstract

A micro-angle stepping control method for a hydraulic motor. A two-position four-way reversing valve (2), a one-way valve (3), a pulse oil cylinder (4) and a two-position two-way hydraulic reversing valve (5) are sequentially arranged between a hydraulic pump (1) and a hydraulic motor (6). By means of the cooperative control of the pulse oil cylinder (4), a manual reversing valve and the hydraulic reversing valve, the hydraulic motor (6) is driven to rotate by a tiny angle each time, so that stepping control over a rotation angle is realized. Automatic linkage control of two oil paths from the hydraulic pump (1) to the pulse oil cylinder (4) and from the pulse oil cylinder (4) to the hydraulic motor (6) is realized by the hydraulic reversing valve, so that the control and regulation efficiency is improved, and a technical foundation is laid for accurate guide drilling and automatic accurate control of a slewing mechanism.

Description

一种液压马达微角度步进控制方法A hydraulic motor micro-angle step control method 技术领域Technical field
本发明属于液压传动领域，具体涉及一种液压马达微角度步进控制方法。The invention belongs to the field of hydraulic transmission, and specifically relates to a micro-angle step control method of a hydraulic motor.
背景技术Background technique
现有煤矿钻机的动力头等回转装置大多采用液压马达驱动，所采用的液压系统没有精确控制功能，马达旋转的角度不可控，难以满足煤矿钻机准确导向钻进和自动化控制的需求。Most of the power first-class rotary devices of existing coal mine drilling rigs are driven by hydraulic motors. The hydraulic system used does not have precise control functions and the angle of motor rotation is uncontrollable. It is difficult to meet the needs of accurate guided drilling and automatic control of coal mine drilling rigs.
已有的公开技术中，对于钻机动力头、转动关节等旋转部件的角度测量或控制都是采用旋转编码器或组合的接近开关，该技术必须采用电控方式，涉及的系统较复杂，在煤矿井下适用范围十分有限。如202010125678.8、201610475239.3、201410097402.8。In existing public technologies, rotary encoders or combined proximity switches are used to measure or control the angle of rotating parts such as drilling rig power heads and rotating joints. This technology must use electronic control, and the systems involved are relatively complex. In coal mines, The scope of underground application is very limited. Such as 202010125678.8, 201610475239.3, 201410097402.8.
发明内容Contents of the invention
有鉴于此，本发明的目的在于提供一种液压马达微角度步进控制方法，以解决现有煤矿钻机缺少精确控制功能，马达旋转角度不可控的问题。In view of this, the purpose of the present invention is to provide a hydraulic motor micro-angle step control method to solve the problem that existing coal mine drilling rigs lack precise control functions and the motor rotation angle is uncontrollable.
为达到上述目的，本发明提供如下技术方案：In order to achieve the above objects, the present invention provides the following technical solutions:
一种液压马达微角度步进控制方法，主要包括以下步骤：A hydraulic motor micro-angle step control method mainly includes the following steps:
在液压泵1与液压马达6之间依次设置两位四通换向阀2、单向阀3、脉冲油缸4以及两位两通液动换向阀5；其中液压泵1与两位四通换向阀2的进油口相接，两位四通换向阀2的回油口与油箱8相接，两位四通换向阀2的B口通过单向阀3与脉冲油缸4的右腔相接通，两位四通换向阀2的A口与脉冲油缸4的左腔相接通，脉冲油缸4的右腔又通过两位两通液动换向阀5与液压马达6相接通；两位两通液动换向阀5的控制油口与两位四通换向阀2的A口间通过油管9相接通；Between the hydraulic pump 1 and the hydraulic motor 6, a four-position, two-way directional valve 2, a one-way valve 3, a pulse cylinder 4 and a two-position, four-way hydraulic reversing valve 5 are arranged in sequence; among them, the hydraulic pump 1 and the four-position, four-way reversing valve are The oil inlet of the four-position valve 2 is connected to the oil return port of the four-position valve 2 and the oil tank 8. Port B of the four-position valve 2 is connected to the right side of the pulse cylinder 4 through the one-way valve 3. The chambers are connected, port A of the four-position, two-way reversing valve 2 is connected with the left chamber of the pulse cylinder 4, and the right chamber of the pulse cylinder 4 is connected with the hydraulic motor 6 through the two-position, two-way hydraulic reversing valve 5. The control oil port of the two-position, two-way hydraulic reversing valve 5 and the A port of the four-position, two-way reversing valve 2 are connected through the oil pipe 9;
充油蓄能过程：Oil charging and energy storage process:
使两位四通换向阀2与两位两通液动换向阀5中的阀芯均处于右位；Make the valve cores in the four-position two-way directional valve 2 and the two-position hydraulic directional valve 5 in the right position;
液压泵1输出的压力油依次通过两位四通换向阀2以及单向阀3后，注入脉冲油缸4的右腔中并为脉冲油缸4的右腔充油，进入右腔的油液推动脉冲油缸4的活塞从右向左移动；The pressure oil output by the hydraulic pump 1 passes through the two-position four-way reversing valve 2 and the one-way valve 3 in sequence, and is injected into the right chamber of the pulse cylinder 4 and fills the right chamber of the pulse cylinder 4 with oil. The oil entering the right chamber is pushed The piston of pulse cylinder 4 moves from right to left;
脉冲油缸4左腔中的油液被挤出，经过两位四通换向阀2回到油箱8中；The oil in the left chamber of the pulse cylinder 4 is squeezed out and returns to the oil tank 8 through the four-position, two-position reversing valve 2;
处于右位的两位两通液动换向阀5使脉冲油缸4与液压马达6间的油路为断开状态，脉冲油缸4右腔中的油液不会进入液压马达6，故而一直处于充油蓄能的状态；The two-position two-way hydraulic reversing valve 5 in the right position disconnects the oil circuit between the pulse cylinder 4 and the hydraulic motor 6. The oil in the right chamber of the pulse cylinder 4 will not enter the hydraulic motor 6, so it is always in a charged state. The state of oil storage;
脉冲转动过程： Pulse rotation process:
使两位四通换向阀2中的阀芯切换至左位，同时，液压泵1输出的压力油依次通过两位四通换向阀2以及油管9进入两位两通液动换向阀5的控制油口、以使两位两通液动换向阀5切换至左位；Switch the valve core in the four-position two-way reversing valve 2 to the left position. At the same time, the pressure oil output by the hydraulic pump 1 passes through the four-position two-way reversing valve 2 and the oil pipe 9 and enters the two-position hydraulic reversing valve 5. control port to switch the two-position, two-way hydraulic reversing valve 5 to the left position;
液压泵1输出的压力油通过两位四通换向阀2注入脉冲油缸4的左腔中并为脉冲油缸4的左腔充油；进入左腔的油液推动脉冲油缸4的活塞从左向右移动；The pressure oil output by the hydraulic pump 1 is injected into the left chamber of the pulse cylinder 4 through the two-position four-way reversing valve 2 and fills the left chamber of the pulse cylinder 4 with oil; the oil entering the left chamber pushes the piston of the pulse cylinder 4 from left to move right;
脉冲油缸4右腔中的油液被活塞挤出，切换至左位的两位两通液动换向阀5使脉冲油缸4与液压马达6间的油路为接通状态，脉冲油缸4右腔中的油液经过两位两通液动换向阀5进入液压马达6，以推动液压马达6旋转一个微小的角度；The oil in the right chamber of the pulse cylinder 4 is squeezed out by the piston. Switch to the left two-position two-way hydraulic reversing valve 5 to connect the oil path between the pulse cylinder 4 and the hydraulic motor 6. The right chamber of the pulse cylinder 4 The oil in the oil enters the hydraulic motor 6 through the two-position two-way hydraulic reversing valve 5 to push the hydraulic motor 6 to rotate at a slight angle;
还原过程：Restore process:
使两位四通换向阀2中的阀芯再次切换至右位，通过液压泵1向脉冲油缸4的右腔输入压力油，使脉冲油缸4的左腔回油卸压；而两位两通液动换向阀5的阀芯则在弹簧作用下自动回复到右位，整个控制系统回到“充油蓄能过程”的初始状态；Switch the valve core in the two-position four-way directional valve 2 to the right position again, and input pressure oil into the right chamber of the pulse cylinder 4 through the hydraulic pump 1, so that the left chamber of the pulse cylinder 4 returns oil and relieves pressure; The valve core of the hydraulic reversing valve 5 automatically returns to the right position under the action of the spring, and the entire control system returns to the initial state of the "oil filling and energy storage process";
多次重复“充油蓄能过程”、“脉冲转动过程”以及“还原过程”步骤，通过多次累积使液压马达6旋转至需要的角度。The steps of "oil filling and energy storage process", "pulse rotation process" and "reduction process" are repeated multiple times, and the hydraulic motor 6 is rotated to the required angle through multiple accumulations.
进一步，通过在液压泵1与两位四通换向阀2的进油口之间设置溢流阀7，以使多余的压力油经过溢流阀返回油箱8。Furthermore, a relief valve 7 is provided between the hydraulic pump 1 and the oil inlet of the four-position directional valve 2 so that the excess pressure oil returns to the oil tank 8 through the relief valve.
进一步，两位四通换向阀2为手动换向阀，通过松开其上的操作手柄，其阀芯在弹簧的作用下自动切换至右位。Furthermore, the two-position four-way reversing valve 2 is a manual reversing valve. By releasing the operating handle on it, its valve core automatically switches to the right position under the action of the spring.
本发明的有益效果在于：The beneficial effects of the present invention are:
该控制方法通过脉冲油缸、手动换向阀和液动换向阀的协同控制，驱动液压马达每次转过一个微小的角度，从而实现了旋转角度的步进控制；液动换向阀则实现了液压泵到脉冲油缸、以及脉冲油缸到液压马达两段油路的自动联动控制，提高了控制调节效率；为准确导向钻进和回转机构的自动化精确控制奠定了技术基础。This control method drives the hydraulic motor to rotate through a tiny angle each time through the coordinated control of the pulse cylinder, manual reversing valve and hydraulic reversing valve, thus achieving step control of the rotation angle; the hydraulic reversing valve realizes the hydraulic The automatic linkage control of the two sections of oil circuits from the pump to the pulse cylinder and from the pulse cylinder to the hydraulic motor improves the control and adjustment efficiency; it lays a technical foundation for accurate guided drilling and automated and precise control of the rotary mechanism.
本发明的其他优点、目标和特征在某种程度上将在随后的说明书中进行阐述，并且在某种程度上，基于对下文的考察研究对本领域技术人员而言将是显而易见的，或者可以从本发明的实践中得到教导。本发明的目标和其他优点可以通过下面的说明书来实现和获得。Other advantages, objects, and features of the present invention will, to the extent that they are set forth in the description that follows, and to the extent that they will become apparent to those skilled in the art upon examination of the following, or may be derived from This invention is taught by practicing it. The objects and other advantages of the invention may be realized and obtained by the following description.
附图说明Description of drawings
为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作优选的详细描述，其中：In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings, in which:
图1为本发明的系统示意图。 Figure 1 is a schematic diagram of the system of the present invention.
附图标记：
液压泵1、两位四通换向阀2、单向阀3、脉冲油缸4、两位两通液动换向阀5、液压马
达6、溢流阀7、油箱8、油管9。Reference signs:
Hydraulic pump 1, four-position directional valve 2, one-way valve 3, pulse cylinder 4, 2-position hydraulic directional valve 5, hydraulic motor 6, relief valve 7, fuel tank 8, oil pipe 9.
具体实施方式Detailed ways
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需要说明的是，以下实施例中所提供的图示仅以示意方式说明本发明的基本构想，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. The following embodiments and the features in the embodiments can be combined with each other as long as there is no conflict.
其中，附图仅用于示例性说明，表示的仅是示意图，而非实物图，不能理解为对本发明的限制；为了更好地说明本发明的实施例，附图某些部件会有省略、放大或缩小，并不代表实际产品的尺寸；对本领域技术人员来说，附图中某些公知结构及其说明可能省略是可以理解的。The drawings are only for illustrative purposes, and represent only schematic diagrams rather than actual drawings, which cannot be understood as limitations of the present invention. In order to better illustrate the embodiments of the present invention, some components of the drawings will be omitted. The enlargement or reduction does not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.
本发明实施例的附图中相同或相似的标号对应相同或相似的部件；在本发明的描述中，需要理解的是，若有术语“上”、“下”、“左”、“右”、“前”、“后”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此附图中描述位置关系的用语仅用于示例性说明，不能理解为对本发明的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。In the drawings of the embodiments of the present invention, the same or similar numbers correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms "upper", "lower", "left" and "right" The orientation or positional relationship indicated by "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must be It has a specific orientation and is constructed and operated in a specific orientation. Therefore, the terms describing the positional relationships in the drawings are only for illustrative purposes and cannot be understood as limitations of the present invention. For those of ordinary skill in the art, they can determine the specific position according to the specific orientation. Understand the specific meaning of the above terms.
请参阅图1，为一种液压马达微角度步进控制系统，该系统是在液压泵1与液压马达6之间依次设置两位四通换向阀2、单向阀3、脉冲油缸4以及两位两通液动换向阀5；其中，液压泵1是系统的动力元件，为系统内各元件提供压力油液；液压马达6是旋转输出的执行元件。两位四通换向阀2用于切换脉冲油缸4的进油油路方向；单向阀3用以控制脉冲油缸4右腔与两位四通换向阀2之间油路单向流动；脉冲油缸4则是蓄积、输出油液的元件，用于推动液压马达6转动微小角度，脉冲油缸4的容积与液压马达6单次转动的微小角度相匹配；两位两通液动换向阀5用以切换脉冲油缸4到液压马达6之间油路的通断。Please refer to Figure 1, which is a hydraulic motor micro-angle step control system. This system is sequentially provided with a two-position four-way reversing valve 2, a one-way valve 3, a pulse cylinder 4 and a hydraulic pump 1 and a hydraulic motor 6. Two-position two-way hydraulic directional valve 5; among them, the hydraulic pump 1 is the power component of the system, providing pressure oil for each component in the system; the hydraulic motor 6 is the actuator of the rotation output. The four-position, two-way reversing valve 2 is used to switch the direction of the oil inlet of the pulse cylinder 4; the one-way valve 3 is used to control the one-way flow of the oil passage between the right chamber of the pulse cylinder 4 and the four-position, two-way reversing valve 2; The pulse cylinder 4 is a component that accumulates and outputs oil, and is used to push the hydraulic motor 6 to rotate at a small angle. The volume of the pulse cylinder 4 matches the small angle of a single rotation of the hydraulic motor 6; the two-position two-way hydraulic reversing valve 5 Used to switch the oil path between the pulse cylinder 4 and the hydraulic motor 6 on and off.
具体的，液压泵1与两位四通换向阀2的进油口P口相接，两位四通换向阀2的回油口T口与油箱8相接，两位四通换向阀2的B口通过单向阀3与脉冲油缸4的右腔相接通，两位四通换向阀2的A口与脉冲油缸4的左腔相接通，脉冲油缸4的右腔又通过两位两通液动换向阀5与液压马达6相接通；两位两通液动换向阀5的控制油口与两位四通换向阀2的A 口间通过油管9相接通。Specifically, the hydraulic pump 1 is connected to the oil inlet port P of the four-position, two-way reversing valve 2, the oil return port T of the four-position, two-way reversing valve 2 is connected to the fuel tank 8, and the four-position, four-way reversing valve is connected to the oil return port T. Port B of valve 2 is connected to the right chamber of pulse cylinder 4 through one-way valve 3, port A of two-position four-way directional valve 2 is connected to the left chamber of pulse cylinder 4, and the right chamber of pulse cylinder 4 is connected. It is connected to the hydraulic motor 6 through the 2-position 2-way hydraulic directional valve 5; the control oil port of the 2-position 2-way hydraulic directional valve 5 is connected to the A port of the 4-2-position directional valve 2. The ports are connected through oil pipe 9.
该系统的控制方法主要包括以下步骤：The control method of this system mainly includes the following steps:
S1、充油蓄能过程：S1. Oil charging and energy storage process:
初始时，使两位四通换向阀2与两位两通液动换向阀5中的阀芯均处于右位；液压泵1输出的压力油依次通过两位四通换向阀2以及单向阀3后，注入脉冲油缸4的右腔中并为脉冲油缸4的右腔充油，进入右腔的油液推动脉冲油缸4的活塞从右向左移动。Initially, the valve cores in the four-position, two-way directional valve 2 and the two-position hydraulic directional valve 5 are in the right position; the pressure oil output by the hydraulic pump 1 passes through the four-position, two-way directional valve 2 and the single After valve 3, inject oil into the right chamber of pulse cylinder 4 and fill the right chamber of pulse cylinder 4 with oil. The oil entering the right chamber pushes the piston of pulse cylinder 4 to move from right to left.
脉冲油缸4左腔中的油液被活塞挤出，经过两位四通换向阀2回到油箱8中；此时，处于右位的两位两通液动换向阀5使脉冲油缸4与液压马达6间的油路为断开状态，脉冲油缸4右腔中的油液不会进入液压马达6，故而(脉冲油缸4)一直处于充油蓄能的状态。The oil in the left chamber of the pulse cylinder 4 is extruded by the piston and returns to the oil tank 8 through the four-position, two-way reversing valve 2; at this time, the two-position, two-way hydraulic reversing valve 5 in the right position causes the pulse cylinder 4 to The oil circuit between the hydraulic motors 6 is in a disconnected state, and the oil in the right chamber of the pulse cylinder 4 will not enter the hydraulic motor 6, so (the pulse cylinder 4) is always in a state of oil filling and energy storage.
S2、脉冲转动过程：S2. Pulse rotation process:
操作使两位四通换向阀2中的阀芯切换至左位，同时，液压泵1输出的压力油依次通过两位四通换向阀2以及油管9进入两位两通液动换向阀5的控制油口、以使两位两通液动换向阀5在油液作用下切换至左位。The operation causes the valve core in the four-position two-way reversing valve 2 to switch to the left position. At the same time, the pressure oil output by the hydraulic pump 1 enters the two-position hydraulic reversing valve through the four-position four-way reversing valve 2 and the oil pipe 9. 5's control port, so that the two-position two-way hydraulic reversing valve 5 switches to the left position under the action of oil.
液压泵1输出的压力油通过两位四通换向阀2注入脉冲油缸4的左腔中并为脉冲油缸4的左腔充油；进入左腔的油液推动脉冲油缸4的活塞从左向右移动，脉冲油缸4右腔中的油液被活塞挤出。切换至左位的两位两通液动换向阀5使脉冲油缸4与液压马达6间的油路为接通状态，脉冲油缸4右腔中的油液经过两位两通液动换向阀5进入液压马达6，进而推动液压马达6旋转一个微小的角度，即实现了转动角度的步进式微小角度转动。The pressure oil output by the hydraulic pump 1 is injected into the left chamber of the pulse cylinder 4 through the two-position four-way reversing valve 2 and fills the left chamber of the pulse cylinder 4 with oil; the oil entering the left chamber pushes the piston of the pulse cylinder 4 from left to Move to the right, and the oil in the right chamber of pulse cylinder 4 is squeezed out by the piston. Switch to the left position of the two-position two-way hydraulic reversing valve 5 to connect the oil path between the pulse cylinder 4 and the hydraulic motor 6. The oil in the right chamber of the pulse cylinder 4 passes through the two-position two-way hydraulic reversing valve 5. Enter the hydraulic motor 6, and then push the hydraulic motor 6 to rotate at a slight angle, that is, the step-by-step slight angle rotation of the rotation angle is realized.
S3、还原过程：S3. Restore process:
操作使两位四通换向阀2中的阀芯再次切换至右位，通过液压泵1向脉冲油缸4的右腔输入压力油，使脉冲油缸4的左腔回油卸压；此时，两位两通液动换向阀5的阀芯则在弹簧作用下自动回复到右位，整个控制系统再次回到“充油蓄能过程”的初始状态。The operation causes the valve core in the two-position four-way directional valve 2 to switch to the right position again, and inputs pressure oil into the right chamber of the pulse cylinder 4 through the hydraulic pump 1, so that the left chamber of the pulse cylinder 4 returns oil and relieves pressure; at this time, The valve core of the two-position two-way hydraulic reversing valve 5 automatically returns to the right position under the action of the spring, and the entire control system returns to the initial state of the "oil filling and energy storage process".
多次重复“充油蓄能过程”、“脉冲转动过程”以及“还原过程”步骤，通过多次累积使液压马达6旋转至需要的角度。The steps of "oil filling and energy storage process", "pulse rotation process" and "reduction process" are repeated multiple times, and the hydraulic motor 6 is rotated to the required angle through multiple accumulations.
本方案中还设有溢流阀7，溢流阀7用以调节液压马达6的驱动力；若系统压力达到溢流阀的设定值，多余的油液可经过溢流阀7返回油箱8中，这样即可确保系统的压力安全。该溢流阀7设置在液压泵1与两位四通换向阀2的进油口之间。This solution is also equipped with a relief valve 7, which is used to adjust the driving force of the hydraulic motor 6; if the system pressure reaches the setting value of the relief valve, the excess oil can return to the tank 8 through the relief valve 7 , thus ensuring the pressure safety of the system. The relief valve 7 is arranged between the hydraulic pump 1 and the oil inlet of the four-position directional valve 2 .
本方案中的两位四通换向阀2为手动换向阀，通过松开其上的操作手柄，可控制其阀芯在弹簧的作用下自动切换至右位。The two-position four-way reversing valve 2 in this solution is a manual reversing valve. By loosening the operating handle on it, the valve core can be controlled to automatically switch to the right position under the action of the spring.
该控制方法通过脉冲油缸、手动换向阀和液动换向阀的协同控制，驱动液压马达每次转 过一个微小的角度，从而实现了旋转角度的步进控制；液动换向阀则实现了液压泵到脉冲油缸、以及脉冲油缸到液压马达两段油路的自动联动控制，提高了控制调节效率；为准确导向钻进和回转机构的自动化精确控制奠定了技术基础。This control method drives the hydraulic motor each time through the coordinated control of the pulse cylinder, manual reversing valve and hydraulic reversing valve. Through a slight angle, step control of the rotation angle is realized; the hydraulic reversing valve realizes automatic linkage control of the two-stage oil circuit from the hydraulic pump to the pulse cylinder, and from the pulse cylinder to the hydraulic motor, improving the control and adjustment efficiency; It lays a technical foundation for accurate guided drilling and automated precise control of the rotary mechanism.
最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified. Modifications or equivalent substitutions without departing from the purpose and scope of the technical solution shall be included in the scope of the claims of the present invention.

Claims (3)

  1. 一种液压马达微角度步进控制方法，其特征在于主要包括以下步骤：A hydraulic motor micro-angle step control method, which is characterized by mainly including the following steps:
    在液压泵(1)与液压马达(6)之间依次设置两位四通换向阀(2)、单向阀(3)、脉冲油缸(4)以及两位两通液动换向阀(5)；其中液压泵(1)与两位四通换向阀(2)的进油口相接，两位四通换向阀(2)的回油口与油箱(8)相接，两位四通换向阀(2)的B口通过单向阀(3)与脉冲油缸(4)的右腔相接通，两位四通换向阀(2)的A口与脉冲油缸(4)的左腔相接通，脉冲油缸(4)的右腔又通过两位两通液动换向阀(5)与液压马达(6)相接通；两位两通液动换向阀(5)的控制油口与两位四通换向阀(2)的A口间通过油管(9)相接通；Between the hydraulic pump (1) and the hydraulic motor (6), a four-position, two-way directional valve (2), a one-way valve (3), a pulse cylinder (4), and a two-position, two-way hydraulic directional valve (5) are arranged in sequence. ); where the hydraulic pump (1) is connected to the oil inlet of the four-position, two-position directional valve (2), and the oil return port of the two-position, four-way directional valve (2) is connected to the fuel tank (8). Port B of the four-way directional valve (2) is connected to the right chamber of the pulse cylinder (4) through the check valve (3), and port A of the two-position four-way directional valve (2) is connected to the pulse cylinder (4). The left chamber of the pulse cylinder (4) is connected to the hydraulic motor (6) through the 2-position hydraulic directional valve (5); the 2-position hydraulic directional valve (5) The control oil port is connected to the A port of the two-position four-way directional valve (2) through the oil pipe (9);
    充油蓄能过程：Oil charging and energy storage process:
    使两位四通换向阀(2)与两位两通液动换向阀(5)中的阀芯均处于右位；Make the valve cores in both the four-position, two-way directional valve (2) and the two-position hydraulic directional valve (5) in the right position;
    液压泵(1)输出的压力油依次通过两位四通换向阀(2)以及单向阀(3)后，注入脉冲油缸(4)的右腔中并为脉冲油缸(4)的右腔充油，进入右腔的油液推动脉冲油缸(4)的活塞从右向左移动；The pressure oil output by the hydraulic pump (1) passes through the four-position reversing valve (2) and the one-way valve (3) in sequence, and then is injected into the right chamber of the pulse cylinder (4) and becomes the right chamber of the pulse cylinder (4). Filling with oil, the oil entering the right chamber pushes the piston of the pulse cylinder (4) to move from right to left;
    脉冲油缸(4)左腔中的油液被挤出，经过两位四通换向阀(2)回到油箱(8)中；The oil in the left chamber of the pulse cylinder (4) is squeezed out and returns to the oil tank (8) through the four-position, two-position reversing valve (2);
    处于右位的两位两通液动换向阀(5)使脉冲油缸(4)与液压马达(6)间的油路为断开状态，脉冲油缸(4)右腔中的油液不会进入液压马达(6)，故而一直处于充油蓄能的状态；The two-position two-way hydraulic reversing valve (5) in the right position disconnects the oil circuit between the pulse cylinder (4) and the hydraulic motor (6), and the oil in the right chamber of the pulse cylinder (4) will not enter. The hydraulic motor (6) is therefore always in a state of oil filling and energy storage;
    脉冲转动过程：Pulse rotation process:
    使两位四通换向阀(2)中的阀芯切换至左位，同时，液压泵(1)输出的压力油依次通过两位四通换向阀(2)以及油管(9)进入两位两通液动换向阀(5)的控制油口、以使两位两通液动换向阀(5)切换至左位；Switch the valve core in the four-position two-way directional valve (2) to the left position. At the same time, the pressure oil output by the hydraulic pump (1) enters the two-position four-way directional valve (2) and the oil pipe (9) in sequence. The control port of the two-position hydraulic directional valve (5) is used to switch the two-position hydraulic directional valve (5) to the left position;
    液压泵(1)输出的压力油通过两位四通换向阀(2)注入脉冲油缸(4)的左腔中并为脉冲油缸(4)的左腔充油；进入左腔的油液推动脉冲油缸(4)的活塞从左向右移动；The pressure oil output by the hydraulic pump (1) is injected into the left chamber of the pulse cylinder (4) through the four-position reversing valve (2) and fills the left chamber of the pulse cylinder (4) with oil; the oil entering the left chamber pushes The piston of the pulse cylinder (4) moves from left to right;
    脉冲油缸(4)右腔中的油液被活塞挤出，切换至左位的两位两通液动换向阀(5)使脉冲油缸(4)与液压马达(6)间的油路为接通状态，脉冲油缸(4)右腔中的油液经过两位两通液动换向阀(5)进入液压马达(6)，以推动液压马达(6)旋转一个微小的角度；The oil in the right chamber of the pulse cylinder (4) is squeezed out by the piston. Switch to the left two-position 2-way hydraulic reversing valve (5) to make the oil path between the pulse cylinder (4) and the hydraulic motor (6) connect. In the open state, the oil in the right chamber of the pulse cylinder (4) enters the hydraulic motor (6) through the two-position two-way hydraulic reversing valve (5) to push the hydraulic motor (6) to rotate at a slight angle;
    还原过程：Restore process:
    使两位四通换向阀(2)中的阀芯再次切换至右位，通过液压泵(1)向脉冲油缸(4)的右腔输入压力油，使脉冲油缸(4)的左腔回油卸压；而两位两通液动换向阀(5)的阀芯则在弹簧作用下自动回复到右位，整个控制系统回到“充油蓄能过程”的初始状态；Switch the valve core in the two-position four-way directional valve (2) to the right position again, input pressure oil into the right chamber of the pulse cylinder (4) through the hydraulic pump (1), and return the pressure oil to the left chamber of the pulse cylinder (4). The oil pressure is relieved; while the valve core of the two-position two-way hydraulic reversing valve (5) automatically returns to the right position under the action of the spring, and the entire control system returns to the initial state of the "oil filling and energy storage process";
    多次重复“充油蓄能过程”、“脉冲转动过程”以及“还原过程”步骤，通过多次累积 使液压马达(6)旋转至需要的角度。Repeat the steps of "oil filling and energy storage process", "pulse rotation process" and "reduction process" many times. Rotate the hydraulic motor (6) to the required angle.
  2. 根据权利要求1所述的液压马达低速步进式旋转控制方法，其特征在于：通过在液压泵(1)与两位四通换向阀(2)的进油口之间设置溢流阀(7)，以使多余的压力油经过溢流阀返回油箱(8)。The low-speed step-by-step rotation control method of a hydraulic motor according to claim 1, characterized in that: by setting a relief valve ( 7), so that excess pressure oil returns to the tank (8) through the relief valve.
  3. 根据权利要求1所述的液压马达低速步进式旋转控制方法，其特征在于：两位四通换向阀(2)为手动换向阀，通过松开其上的操作手柄，其阀芯在弹簧的作用下自动切换至右位。 The low-speed step-by-step rotation control method of a hydraulic motor according to claim 1, characterized in that: the two-position four-way reversing valve (2) is a manual reversing valve, and by loosening the operating handle on it, its valve core moves Automatically switches to the right position under the action of spring.
PCT/CN2023/083775 2022-08-16 2023-03-24 Micro-angle stepping control method for hydraulic motor WO2024036970A1 (en)

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CN115405578A (en) * 2022-08-16 2022-11-29 中煤科工集团重庆研究院有限公司 Micro-angle stepping control method for hydraulic motor

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