阅读说明：本技术 液压马达的控制方法、装置、系统及作业车辆 (Hydraulic motor control method, device and system and working vehicle ) 是由 左夺 佟巍 邱国庆 于 2021-04-16 设计创作，主要内容包括：本发明涉及液压控制技术领域,提供一种液压马达的控制方法、装置、系统及作业车辆。液压马达的控制方法包括获取液压马达的实际转速和实际供油压力；基于实际转速和实际供油压力,调整液压马达的供油压力。该液压马达的控制方法能够精准地实现对液压马达堵转情况判断,进而通过对供油压力的调整,避免了液压马达由于堵转造成的损坏。同时也省去了操作人员就地查看的步骤,提高了安全性。而且,该控制方法无需改变相应的机械结构,使得该控制方法更加简单可行。(The invention relates to the technical field of hydraulic control, and provides a method, a device and a system for controlling a hydraulic motor and an operating vehicle. The control method of the hydraulic motor comprises the steps of obtaining the actual rotating speed and the actual oil supply pressure of the hydraulic motor; the oil supply pressure of the hydraulic motor is adjusted based on the actual rotation speed and the actual oil supply pressure. The control method of the hydraulic motor can accurately judge the locked-rotor condition of the hydraulic motor, and further avoids the damage of the hydraulic motor caused by locked-rotor through adjusting the oil supply pressure. Meanwhile, the step of checking by operators on the spot is omitted, and the safety is improved. Moreover, the control method does not need to change a corresponding mechanical structure, so that the control method is simpler and more feasible.)

1. A control method of a hydraulic motor, characterized by comprising:

acquiring the actual rotating speed and the actual oil supply pressure of the hydraulic motor;

adjusting the oil supply pressure of the hydraulic motor based on the actual rotation speed and the actual oil supply pressure.

2. The method of controlling a hydraulic motor according to claim 1, wherein the hydraulic motor includes a star wheel motor and a sled motor;

the step of acquiring an actual rotation speed and an actual oil supply pressure of the hydraulic motor includes:

acquiring the actual rotating speed and the actual oil supply pressure of the star wheel motor;

and acquiring the actual rotating speed and the actual oil supply pressure of the primary motor.

3. The method of controlling a hydraulic motor of claim 2, wherein the spider motor includes a first spider motor and a second spider motor;

the step of obtaining the actual rotating speed and the actual oil supply pressure of the star wheel motor comprises the following steps:

acquiring a first actual rotating speed and a first actual oil supply pressure of the first star wheel motor;

acquiring a second actual rotating speed and a second actual oil supply pressure of the second star wheel motor;

the step of acquiring the actual rotating speed and the actual oil supply pressure of the primary motor comprises the following steps:

and acquiring a third actual rotating speed and a third actual oil supply pressure of the primary motor.

4. The control method of the hydraulic motor according to claim 3, wherein the step of adjusting the oil supply pressure of the hydraulic motor based on the actual rotation speed and the actual oil supply pressure includes:

determining that the first actual rotating speed is less than a first preset rotating speed and the first actual oil supply pressure is greater than or equal to a first preset oil supply pressure, and adjusting the oil supply pressure of the first star wheel motor;

and determining that the second actual rotating speed is less than a second preset rotating speed and the second actual oil supply pressure is greater than or equal to a second preset oil supply pressure, and reducing the oil supply pressure of the second star wheel motor.

5. The control method of the hydraulic motor according to claim 3, wherein the step of adjusting the oil supply pressure of the hydraulic motor based on the actual rotation speed and the actual oil supply pressure includes:

and determining that the third actual rotating speed is less than a third preset rotating speed and the third actual oil supply pressure is greater than or equal to a third preset oil supply pressure, and adjusting the oil supply pressure of the first motor.

6. A control device of a hydraulic motor, characterized by comprising:

the acquisition module is used for acquiring the actual rotating speed and the actual oil supply pressure of the hydraulic motor;

and the adjusting module is used for adjusting the oil supply pressure of the hydraulic motor based on the actual rotating speed and the actual oil supply pressure.

7. A control system for a hydraulic motor, comprising:

a rotation speed sensor installed at a hydraulic motor and detecting an actual rotation speed of the hydraulic motor;

a pressure sensor installed in an oil supply path of the hydraulic motor and detecting an actual oil supply pressure of the hydraulic motor;

and the controller is suitable for being connected to the oil supply oil way through an electric control valve, and the controller is suitable for adjusting the conduction direction of the electric control valve based on detection signals of the rotating speed sensor and the pressure sensor.

8. The control system for a hydraulic motor of claim 7, further comprising a multiplex valve;

the hydraulic motor comprises a first star wheel motor, a second star wheel motor and a conveying motor;

the rotating speed sensors are respectively arranged on the first star wheel motor, the second star wheel motor and the first transmission motor;

the pressure sensors are respectively arranged on the first star wheel motor, the second star wheel motor and the first transmission motor;

the controller is suitable for being connected to the oil supply oil circuit of the first star wheel motor, the second star wheel motor and the first transmission motor respectively through the electric control valve and the multi-way valve.

9. The control system for a hydraulic motor of claim 8, further comprising an oil tank in communication with the multiplex valve and a pilot handle connected between the oil tank and the multiplex valve.

10. A work vehicle characterized by comprising a control system of a hydraulic motor according to any one of claims 7 to 9.

Technical Field

The invention relates to the technical field of hydraulic control, in particular to a method, a device and a system for controlling a hydraulic motor and an operating vehicle.

Background

At present, a heading machine is widely applied to mine tunnels and engineering tunnel excavation projects as main tunnel excavation equipment. At the tunnelling in-process, the shovel board is received the material star gear and is in equipment front end blanking region, and the operator is difficult for observing the star gear behavior, and is same, and a fortune driving motor is because operational environment is dim, and the sight is obstructed, is difficult for judging the running state, when star gear motor and a fortune motor lead to the motor locked rotor because of the material jamming, is difficult for in time discovering. This condition firstly affects the production efficiency and secondly is liable to cause motor damage, resulting in a faulty shutdown.

Disclosure of Invention

The invention provides a control method of a hydraulic motor, which is used for solving the defect of poor anti-blocking effect of the hydraulic motor in the prior art and realizing the accurate anti-blocking control of the hydraulic motor.

An embodiment of a first aspect of the present invention provides a control method for a hydraulic motor, including:

acquiring the actual rotating speed and the actual oil supply pressure of the hydraulic motor;

adjusting the oil supply pressure of the hydraulic motor based on the actual rotation speed and the actual oil supply pressure.

According to one embodiment of the invention, the hydraulic motor comprises a star wheel motor and a transport motor;

the step of acquiring an actual rotation speed and an actual oil supply pressure of the hydraulic motor includes:

acquiring the actual rotating speed and the actual oil supply pressure of the star wheel motor; and acquiring the actual rotating speed and the actual oil supply pressure of the primary motor.

According to one embodiment of the invention, the spider motor comprises a first spider motor and a second spider motor;

the step of obtaining the actual rotating speed and the actual oil supply pressure of the star wheel motor comprises the following steps:

acquiring a first actual rotating speed and a first actual oil supply pressure of the first star wheel motor;

acquiring a second actual rotating speed and a second actual oil supply pressure of the second star wheel motor;

the step of acquiring the actual rotating speed and the actual oil supply pressure of the primary motor comprises the following steps:

and acquiring a third actual rotating speed and a third actual oil supply pressure of the primary motor.

According to an embodiment of the present invention, the step of adjusting the oil supply pressure of the hydraulic motor based on the actual rotation speed and the actual oil supply pressure includes:

determining that the first actual rotating speed is less than a first preset rotating speed and the first actual oil supply pressure is greater than or equal to a first preset oil supply pressure, and adjusting the oil supply pressure of the first star wheel motor;

and determining that the second actual rotating speed is less than a second preset rotating speed and the second actual oil supply pressure is greater than or equal to a second preset oil supply pressure, and reducing the oil supply pressure of the second star wheel motor.

According to an embodiment of the present invention, the step of adjusting the oil supply pressure of the hydraulic motor based on the actual rotation speed and the actual oil supply pressure includes:

and determining that the third actual rotating speed is less than a third preset rotating speed and the third actual oil supply pressure is greater than or equal to a third preset oil supply pressure, and adjusting the oil supply pressure of the first motor.

An embodiment of a second aspect of the present invention provides a control apparatus for a hydraulic motor, including:

the acquisition module is used for acquiring the actual rotating speed and the actual oil supply pressure of the hydraulic motor;

and the adjusting module is used for adjusting the oil supply pressure of the hydraulic motor based on the actual rotating speed and the actual oil supply pressure.

An embodiment of a third aspect of the present invention provides a control system for a hydraulic motor, including:

a rotation speed sensor installed at a hydraulic motor and detecting an actual rotation speed of the hydraulic motor;

a pressure sensor installed in an oil supply path of the hydraulic motor and detecting an actual oil supply pressure of the hydraulic motor;

and the controller is suitable for being connected to the oil supply oil way through an electric control valve, and the controller is suitable for adjusting the conduction direction of the electric control valve based on detection signals of the rotating speed sensor and the pressure sensor.

According to one embodiment of the invention, the control system of the hydraulic motor further comprises a multiplex valve;

the hydraulic motor comprises a first star wheel motor, a second star wheel motor and a conveying motor;

the rotating speed sensors are respectively arranged on the first star wheel motor, the second star wheel motor and the first transmission motor;

the pressure sensors are respectively arranged on the first star wheel motor, the second star wheel motor and the first transmission motor;

the controller is suitable for being connected to the oil supply oil circuit of the first star wheel motor, the second star wheel motor and the first transmission motor respectively through the electric control valve and the multi-way valve.

According to one embodiment of the invention, the control system of the hydraulic motor further comprises an oil tank communicating with the multi-way valve and a pilot handle connected between the oil tank and the multi-way valve.

A fourth aspect embodiment of the invention provides a work vehicle including the control system of the hydraulic motor described above.

According to the control method of the hydraulic motor provided by the embodiment of the first aspect of the invention, the actual rotating speed and the actual oil supply pressure of the hydraulic motor are acquired, and further the actual rotating speed and the actual oil supply pressure of the hydraulic motor can be judged, so that the stalling condition of the hydraulic motor can be accurately judged, and further the damage to the hydraulic motor caused by stalling of the hydraulic motor is avoided by adjusting the oil supply pressure. Meanwhile, the step of checking by operators on the spot is omitted, and the safety is improved. Moreover, the control method does not need to change a corresponding mechanical structure, so that the control method is simpler and more feasible.

According to the hydraulic control device provided by the embodiment of the second aspect of the invention, the actual rotating speed and the actual oil supply pressure of the hydraulic motor can be acquired in real time through the acquisition module, whether the hydraulic motor is locked up can be judged through the adjustment module based on the parameters acquired by the acquisition module, and the oil supply pressure of the hydraulic motor can be adjusted under the condition that the hydraulic motor is locked up, so that the hydraulic motor is prevented from being damaged due to locked up rotation.

According to the control system of the hydraulic motor provided by the embodiment of the third aspect of the invention, the actual rotating speed of the hydraulic motor is collected through the rotating speed sensor, the actual oil supply pressure of the hydraulic motor is collected through the pressure sensor, and the oil supply pressure of the hydraulic motor is controlled through the controller based on the detection parameters of the rotating speed sensor and the pressure sensor, so that the condition of the locked rotor of the hydraulic motor can be accurately judged, and the damage of the hydraulic motor caused by the locked rotor of the hydraulic motor is avoided. Meanwhile, the step of checking by operators on the spot is omitted, and the safety is improved.

According to the working vehicle provided by the embodiment of the fourth aspect of the invention, the control system of the hydraulic motor in the embodiment of the third aspect of the invention is adopted, so that the judgment on the locked-rotor condition of the hydraulic motor can be accurately realized, and further, the damage of the hydraulic motor caused by the locked-rotor condition of the hydraulic motor is avoided by adjusting the oil supply pressure. Meanwhile, the step of checking by operators on the spot is omitted, and the safety is improved. In addition, the mechanical structure in the working vehicle does not need to be changed, the cost is low, and the operation is reliable.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a structural view of a heading machine provided by the present invention;

FIG. 2 is a schematic flow chart of a method of controlling a hydraulic motor provided by the present invention;

fig. 3 is a schematic configuration diagram of a control apparatus of a hydraulic motor provided by the present invention;

FIG. 4 is a schematic block diagram of a control system for a hydraulic motor provided by the present invention;

FIG. 5 is a schematic block diagram of another hydraulic motor control system provided by the present invention;

fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.

Reference numerals:

1: a heading machine; 10: a body portion; 20: a shovel plate portion;

30: a cutting part; 40: a traveling section; 50: first conveyor

100: a first spider motor; 102: a second spider motor; 104: a motor;

106: an acquisition module; 108: an adjustment module; 110: a first rotational speed sensor;

112: a second rotational speed sensor; 114: a third rotational speed sensor; 116: a first pressure sensor;

118: a second pressure sensor; 120: a third pressure sensor; 122: a first multiplex valve;

124: a second multiplex valve; 126: a third multiplex valve; 128: a controller;

130: a first electrically controlled valve; 132: a second electrically controlled valve; 134: a third electrically controlled valve;

136: an oil tank; 138: a pilot handle; 300: a processor;

302: a memory; 304: a communication interface; 306: a communication bus.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Fig. 1 is a structural diagram of a heading machine provided by the invention. As shown in fig. 1, the heading machine 1 includes a body portion 10, a shovel plate portion 20 and a cutting portion 30 which are arranged at the front end of the body portion 10, a walking portion 40 which is arranged at the bottom of the body portion 10, and a first conveyor 50 which is arranged on the body portion 10 and transports mineral aggregates collected by the shovel plate portion 20 to the rear end of the body portion 10, a first star wheel motor 100 and a second star wheel motor are arranged on the shovel plate portion 20, the first conveyor 50 is a scraper conveyor, a first conveyor motor 104 which drives a scraper chain to rotate is arranged on the first conveyor 50, in the heading process, the shovel plate receives star wheels which are located in a blanking area at the front end of the equipment, an operator cannot easily observe the operation condition of the star wheels, and similarly, the first conveyor motor is dim in working environment, the sight is blocked, the operation condition is not easily judged, and when the star wheel motor and the first conveyor motor cause motor to be blocked due to material jamming, the timely discovery is not easy to find.

As shown in fig. 2, an embodiment of the first aspect of the present invention provides a control method for a hydraulic motor, including:

step 100, acquiring the actual rotating speed and the actual oil supply pressure of the hydraulic motor;

and 200, adjusting the oil supply pressure of the hydraulic motor based on the actual rotating speed and the actual oil supply pressure.

According to the control method of the hydraulic motor provided by the embodiment of the first aspect of the invention, the actual rotating speed and the actual oil supply pressure of the hydraulic motor are acquired, and further the actual rotating speed and the actual oil supply pressure of the hydraulic motor can be judged, so that the stalling condition of the hydraulic motor can be accurately judged, and further the damage to the hydraulic motor caused by stalling of the hydraulic motor is avoided by adjusting the oil supply pressure. Meanwhile, the step of checking by operators on the spot is omitted, and the safety is improved. Moreover, the control method does not need to change a corresponding mechanical structure, so that the control method is simpler and more feasible.

Specifically, in the present embodiment, the hydraulic motors primarily include a star wheel motor and a carrier motor 104.

In step 100, the actual rotation speed of the star wheel motor may be detected by a rotation speed sensor installed at a position of the star wheel motor, and the actual oil supply pressure of the star wheel motor may be detected by a pressure sensor installed in an oil supply path of the star wheel motor. Meanwhile, the detection of the actual rotation speed of the primary motor 104 may be realized by a rotation speed sensor installed at the position of the primary motor 104, and the detection of the actual oil supply pressure of the primary motor 104 may be realized by a pressure sensor installed in an oil supply path of the primary motor 104.

It is understood that the step of acquiring the actual rotation speed and the actual oil supply pressure of the hydraulic motor includes:

step 110, acquiring the actual rotating speed and the actual oil supply pressure of the star wheel motor;

step 120, the actual speed and the actual supply pressure of the primary motor 104 are obtained.

That is, the actual rotation speeds and the actual oil supply pressures of the star wheel motor and the one-wheel motor 104 can be accurately obtained through the steps 110 and 120.

In one embodiment of the invention, the spider motors specifically include a first spider motor 100 and a second spider motor 102. That is, it is understood that the first and second spider motors 100 and 102 are two independent spider motors, and accordingly, the rotational speed sensor for detecting the actual rotational speed of the first spider motor 100 and the rotational speed sensor for detecting the actual rotational speed of the second spider motor 102 are also two different rotational speed sensors, respectively.

Accordingly, the pressure sensor for detecting the actual oil supply pressure of the first starwheel motor 100 and the pressure sensor for detecting the actual oil supply pressure of the second starwheel motor 102 are also two different pressure sensors.

Similarly, the rotation speed sensor and the pressure sensor installed at the position of the first star wheel motor 104, and the rotation speed sensor and the pressure sensor installed at the position of the first star wheel motor 100 and the position of the second star wheel motor 102 are independent components.

According to an embodiment of the invention, the step of obtaining the actual rotation speed and the actual supply pressure of the star wheel motor further comprises:

step 111, acquiring a first actual rotating speed and a first actual oil supply pressure of the first star wheel motor 100;

and step 112, acquiring a second actual rotating speed and a second actual oil supply pressure of the second star wheel motor 102.

Specifically, in step 111, a first actual rotational speed of the first starwheel motor 100 may be obtained by a rotational speed sensor installed at the position of the first starwheel motor 100, and a first actual oil supply pressure of the first starwheel motor 100 may be obtained by a pressure sensor installed at the position of the first starwheel motor 100.

In step 112, a second actual rotational speed of the second starwheel motor 102 may be obtained via a rotational speed sensor mounted at the location of the second starwheel motor 102, and a second actual supply pressure of the second starwheel motor 102 may be obtained via a pressure sensor mounted at the location of the second starwheel motor 102.

According to an embodiment of the present invention, the step of obtaining an actual rotational speed and an actual fuel supply pressure of a prime mover 104 further comprises:

step 121, a third actual rotation speed and a third actual oil supply pressure of the primary motor 104 are obtained.

Specifically, in step 121, a third actual rotational speed of a motor 104 may be obtained by a rotational speed sensor installed at a position of the motor 104, and a third actual oil supply pressure of the motor 104 may be obtained by a pressure sensor installed at a position of the motor 104.

In step 200, the oil supply pressure of the hydraulic motor is adjusted based on the actual rotational speed and the actual oil supply pressure.

Specifically, in step 200, the controller 128 may adjust the oil supply pressure of the first starwheel motor 100, the oil supply pressure of the second starwheel motor 102, and the oil supply pressure of the first motor 104 based on the first actual rotation speed and the first actual oil supply pressure of the first starwheel motor 100 obtained in step 111, the second actual rotation speed and the second actual oil supply pressure of the second starwheel motor 102 obtained in step 112, and the third actual rotation speed and the third actual oil supply pressure of the first motor 104 obtained in step 121.

According to an embodiment of the present invention, the step of adjusting the oil supply pressure of the hydraulic motor based on the actual rotation speed and the actual oil supply pressure further comprises:

step 210, determining that the first actual rotating speed is less than a first preset rotating speed and the first actual oil supply pressure is greater than or equal to a first preset oil supply pressure, and adjusting the oil supply pressure of the first star wheel motor 100;

step 220, determining that the second actual rotating speed is less than a second preset rotating speed and the second actual oil supply pressure is greater than or equal to a second preset oil supply pressure, and reducing the oil supply pressure of the second star wheel motor 102;

step 230, determining that the third actual rotational speed is less than the third predetermined rotational speed and the third actual oil supply pressure is greater than or equal to the third predetermined oil supply pressure, and adjusting the oil supply pressure of the one-way motor 104.

Specifically, in step 210, the magnitude of the first actual rotation speed and the first preset rotation speed of the first star wheel motor 100 may be determined by the controller 128, for example, the first preset rotation speed may be 3 rpm. In addition, the controller 128 may determine the magnitude of the first actual oil supply pressure and the first preset oil supply pressure of the first starwheel motor 100, for example, the first preset oil supply pressure may be 25 mpa.

When the first actual rotating speed of the first star wheel motor 100 is less than 3 revolutions per minute and the first actual oil supply pressure is greater than or equal to 25 MPa, the oil supply path of the first star wheel motor 100 is directly cut off, and a locked-rotor alarm is given out at the same time.

In step 220, the second actual rotation speed of the second star wheel motor 102 and the second preset rotation speed may be determined by the controller 128, for example, the second preset rotation speed may be 3 rpm. In addition, the magnitude of the second actual oil supply pressure and the second preset oil supply pressure of the second star wheel motor 102 may be determined by the controller 128, for example, the second preset oil supply pressure may be 25 mpa.

When the second actual rotation speed of the second star wheel motor 102 is less than 3 revolutions per minute and the second actual oil supply pressure is greater than or equal to 25 mpa, the oil supply path of the second star wheel motor 102 is directly cut off, and a locked-rotor alarm is given out.

In step 230, the third actual speed and the third predetermined speed of the first motor 104 may be determined by the controller 128, for example, the third predetermined speed may be 3 rpm. Additionally, the controller 128 may determine the magnitude of a third actual supply pressure and a third predetermined supply pressure of the one-way motor 104, for example, the third predetermined supply pressure may be 25 mpa.

When the third actual rotating speed of the first motor 104 is less than 3 r/min and the third actual oil supply pressure is greater than or equal to 25 MPa, the oil supply path of the first motor 104 is directly cut off, and a rotation blockage alarm is given out at the same time.

Of course, in some other embodiments, it may also be determined whether the first star wheel motor 100 is locked or not by obtaining whether the change rate of the first actual rotation speed of the first star wheel motor 100 in the unit time exceeds the threshold value through the controller 128, and obtaining whether the change rate of the first actual oil supply pressure of the first star wheel motor 100 in the unit time also exceeds the threshold value through the controller 128. For example, the first actual rotation speed of the first star motor 100 is rapidly reduced in unit time, and at the same time, the first actual oil supply pressure of the first star motor 100 is rapidly increased in unit time, and it can also be determined that the first star motor 100 is locked.

Similarly, the method for determining the locked-rotor of the second star wheel motor 102 and the first star wheel motor 104 can also be implemented based on the above-mentioned manner, and will not be described herein again.

As shown in fig. 3, an embodiment of a second aspect of the present invention provides a control device for a hydraulic motor, including:

an obtaining module 106, configured to obtain an actual rotation speed and an actual oil supply pressure of the hydraulic motor;

and the adjusting module 108 is used for adjusting the oil supply pressure of the hydraulic motor based on the actual rotating speed and the actual oil supply pressure.

According to the hydraulic control device provided by the embodiment of the second aspect of the present invention, the obtaining module 106 can obtain the actual rotation speed and the actual oil supply pressure of the hydraulic motor in real time, the adjusting module 108 can judge whether the hydraulic motor is locked or not based on the parameters obtained by the obtaining module 106, and the oil supply pressure of the hydraulic motor can be adjusted to avoid the damage to the hydraulic motor caused by the locked rotation of the hydraulic motor when the hydraulic motor is locked.

As shown in fig. 4 and 5, a third aspect embodiment of the present invention provides a control system of a hydraulic motor, including a rotation speed sensor, a pressure sensor, and a controller 128; the rotating speed sensor is arranged on the hydraulic motor and used for detecting the actual rotating speed of the hydraulic motor; the pressure sensor is arranged on an oil supply oil path of the hydraulic motor and used for detecting the actual oil supply pressure of the hydraulic motor; the controller 128 is adapted to be connected to the oil supply path through an electric control valve, and the controller 128 is adapted to adjust the conducting direction of the electric control valve based on the detection signals of the rotation speed sensor and the pressure sensor.

According to the control system of the hydraulic motor provided by the embodiment of the third aspect of the present invention, the actual rotation speed of the hydraulic motor is collected through the rotation speed sensor, the actual oil supply pressure of the hydraulic motor is collected through the pressure sensor, and the oil supply pressure of the hydraulic motor is controlled through the controller 128 based on the detection parameters of the rotation speed sensor and the pressure sensor, so that the stalling condition of the hydraulic motor can be accurately determined, and the damage to the hydraulic motor caused by stalling of the hydraulic motor is avoided. Meanwhile, the step of checking by operators on the spot is omitted, and the safety is improved.

Specifically, the control system of the hydraulic motor further includes a multiplex valve, an oil tank 136, and a pilot handle 138; the hydraulic motor comprises a first star wheel motor 100, a second star wheel motor 102 and a conveying motor 104; correspondingly, the rotation speed sensors are respectively arranged on the first star wheel motor 100, the second star wheel motor 102 and the first star wheel motor 104; the pressure sensors are respectively arranged on the first star wheel motor 100, the second star wheel motor 102 and the first star wheel motor 104; the oil tank 136 communicates with the multiplex valve, and the pilot handle 138 is connected between the oil tank 136 and the multiplex valve.

As described above, since the rotation speed sensors and the pressure sensors installed at the positions of the first star wheel motor 100, the second star wheel motor 102 and the first transport motor 104 are all independent from each other, in the embodiment of the present invention, the rotation speed sensors include the first rotation speed sensor 110 disposed at the position of the first star wheel motor 100, the second rotation speed sensor 112 disposed at the position of the second star wheel motor 102 and the third rotation speed sensor 114 disposed at the position of the first transport motor 104.

Accordingly, the pressure sensors include a first pressure sensor 116 disposed at the location of the first starwheel motor 100, a second pressure sensor 118 disposed at the location of the second starwheel motor 102, and a third pressure sensor 120 disposed at the location of the first starwheel motor 104.

The number of the multi-way valves and the number of the electric control valves are also three, that is, the multi-way valves respectively include a first multi-way valve 122 connected to the oil supply path of the first star wheel motor 100, a second multi-way valve 124 connected to the oil supply path of the second star wheel motor 102, and a third multi-way valve 126 connected to the oil supply path of the first star wheel motor 104.

The electronic control valves include a first electronic control valve 130 connected in the oil supply path of the first starwheel motor 100, a second electronic control valve 132 connected in the oil supply path of the second starwheel motor 102, and a third electronic control valve 134 connected in the oil supply path of the first motor 104, respectively.

Referring to fig. 4, fig. 4 shows a schematic structure of a control system of a hydraulic motor according to an embodiment of the third aspect of the present invention.

In this embodiment, the upper half of fig. 4 is an oil supply circuit of the first star wheel motor 100, the pilot oil in the oil tank 136 enters the pilot handle 138, and the pilot handle 138 controls the first multi-way valve 122 to change direction, so as to output pressure oil for the first star wheel motor 100, thereby realizing normal operation of the device. The first rotation speed sensor 110 and the first pressure sensor 116 feed back the first actual rotation speed and the first actual oil supply pressure of the first star wheel motor 100 to the controller 128 in real time, when the first actual rotation speed of the first star wheel motor 100 detected by the controller 128 is smaller than a first preset rotation speed and the first actual oil supply pressure is greater than or equal to the first preset oil supply pressure, the controller 128 outputs a signal to control the first electronic control valve 130 to reverse, so that the pilot control oil path pressure oil of the first multi-way valve 122 is unloaded, the first multi-way valve 122 is controlled to reset, the oil supply to the first star wheel motor 100 is stopped, the first star wheel motor 100 is forced to stop rotating, a stall alarm is sent, and an operator is prompted to handle a stall condition.

The middle part of fig. 4 is an oil supply loop of the second star wheel motor 102, pilot oil in the oil tank 136 enters a pilot handle 138, the pilot handle 138 controls the first multi-way valve 122 to change direction, pressure oil is output for the second star wheel motor 102, and normal operation of the device is achieved. The second rotation speed sensor 112 and the second pressure sensor 118 feed back the second actual rotation speed and the second actual oil supply pressure of the second star wheel motor 102 to the controller 128 in real time, when the second actual rotation speed of the second star wheel motor 102 detected by the controller 128 is less than the second preset rotation speed and the second actual oil supply pressure is greater than or equal to the second preset oil supply pressure, the controller 128 outputs a signal to control the second electronic control valve 132 to reverse, so that the pilot control oil path pressure oil of the first multi-way valve 122 is unloaded, the first multi-way valve 122 is controlled to reset, the oil supply to the second star wheel motor 102 is stopped, the second star wheel motor 102 is forced to stop rotating, and a stall alarm is sent to prompt an operator to handle the stall condition.

The lower part of fig. 4 is an oil supply loop of the primary motor 104, the pilot oil in the oil tank 136 enters the pilot handle 138, the second multi-way valve 124 is controlled by the pilot handle 138 to change the direction, and the pressurized oil is output for the primary motor 104, so that the normal operation of the equipment is realized. The third rotation speed sensor 114 and the third pressure sensor 120 feed back the third actual rotation speed and the third actual oil supply pressure of the first motor 104 to the controller 128 in real time, and when the third actual rotation speed of the first motor 104 detected by the controller 128 is less than the third preset rotation speed and the third actual oil supply pressure is greater than or equal to the third preset oil supply pressure, the controller 128 outputs a signal to control the third electronic control valve 134 to reverse, so that the pilot control oil path pressure oil of the second multi-way valve 124 is unloaded, and the second multi-way valve 124 is controlled to reset, and the oil supply to the first motor 104 is stopped, and the first motor 104 is forced to stop rotating, and a lock alarm is sent to prompt an operator to handle a lock condition.

Referring to fig. 5, fig. 5 shows a schematic structure of a control system of another hydraulic motor according to an embodiment of the third aspect of the present invention.

In this embodiment, the upper half of fig. 5 is an oil supply circuit for the first star wheel motor 100, and the controller 128 outputs a signal to control the first electronically controlled valve 130 to operate, so as to output pressure oil to the first star wheel motor 100, thereby realizing normal operation of the device. The first rotation speed sensor 110 and the first pressure sensor 116 feed back the first actual rotation speed and the first actual oil supply pressure to the controller 128 in real time, and when the first actual rotation speed detected by the system is less than the first preset rotation speed and the first actual oil supply pressure is greater than or equal to the first preset oil supply pressure, the controller 128 outputs a signal to control the first electrically controlled valve 130 to reset, and stops supplying oil to the first star wheel motor 100 to force the first star wheel motor 100 to stop rotating. And gives out a locked-rotor alarm to prompt an operator to handle the locked-rotor working condition.

In the middle part of fig. 5, the oil supply circuit for the second star wheel motor 102 is provided, and the controller 128 outputs a signal to control the second electronic control valve 132 to act, so that the second star wheel motor 102 outputs pressure oil to realize normal operation of the device. The second rotation speed sensor 112 and the second pressure sensor 118 feed back the second actual rotation speed and the second actual oil supply pressure to the controller 128 in real time, and when the second actual rotation speed detected by the system is less than the second preset rotation speed and the second actual oil supply pressure is greater than or equal to the second preset oil supply pressure, the controller 128 outputs a signal to control the second electrically controlled valve 132 to reset, and stops supplying oil to the second star wheel motor 102 to force the second star wheel motor 102 to stop rotating. And gives out a locked-rotor alarm to prompt an operator to handle the locked-rotor working condition.

The lower part of fig. 5 is an oil supply circuit for the first motor 104, and the controller 128 outputs a signal to control the third electrically controlled valve 134 to output pressurized oil for the first motor 104, so as to realize normal operation of the device. The third rotation speed sensor 114 and the third pressure sensor 120 feed back the third actual rotation speed and the third actual oil supply pressure to the controller 128 in real time, and when the third actual rotation speed detected by the system is less than the third preset rotation speed and the third actual oil supply pressure is greater than or equal to the third preset oil supply pressure, the controller 128 outputs a signal to control the third electronic control valve 134 to reset, and stops supplying oil to the first transportation motor 104 to force the first transportation motor 104 to stop rotating. And gives out a locked-rotor alarm to prompt an operator to handle the locked-rotor working condition.

An embodiment of a fourth aspect of the invention provides a work vehicle including the control system of the hydraulic motor in the embodiment of the third aspect of the invention.

For example, the working vehicle may be a heading machine, a coal mining machine, or other equipment, and the working vehicle provided in the embodiment of the fourth aspect of the present invention can accurately determine the locked-rotor condition of the hydraulic motor by using the control system of the hydraulic motor in the embodiment of the third aspect of the present invention, and further avoid the damage to the hydraulic motor due to the locked-rotor of the hydraulic motor by adjusting the oil supply pressure. Meanwhile, the step of checking by operators on the spot is omitted, and the safety is improved. In addition, the mechanical structure in the working vehicle does not need to be changed, the cost is low, and the operation is reliable.

Fig. 6 is a schematic physical structure diagram illustrating an electronic device, and as shown in fig. 6, an embodiment of the fifth aspect of the present invention further provides an electronic device, where the electronic device may include: a processor 300(processor), a communication Interface 304(communication Interface), a memory 302(memory), and a communication bus 306, wherein the processor 300, the communication Interface 304, and the memory 302 complete communication with each other through the communication bus 306. The processor 300 may call logic instructions in the memory 302 to perform the following method:

acquiring the actual rotating speed and the actual oil supply pressure of the hydraulic motor;

the oil supply pressure of the hydraulic motor is adjusted based on the actual rotation speed and the actual oil supply pressure.

Furthermore, the logic instructions in the memory 302 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Embodiments of the present invention also provide a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the methods provided by the above-mentioned method embodiments, for example, including:

acquiring the actual rotating speed and the actual oil supply pressure of the hydraulic motor;

the oil supply pressure of the hydraulic motor is adjusted based on the actual rotation speed and the actual oil supply pressure.

The sixth aspect of the present invention provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by the processor 300 to execute the control method of the hydraulic motor provided in the above embodiments, for example, the method includes:

acquiring the actual rotating speed and the actual oil supply pressure of the hydraulic motor;

the oil supply pressure of the hydraulic motor is adjusted based on the actual rotation speed and the actual oil supply pressure.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.