CN118560577B - Oil pump driving structure and control method of unmanned electric mining dump truck - Google Patents
Oil pump driving structure and control method of unmanned electric mining dump truck Download PDFInfo
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- CN118560577B CN118560577B CN202411047204.0A CN202411047204A CN118560577B CN 118560577 B CN118560577 B CN 118560577B CN 202411047204 A CN202411047204 A CN 202411047204A CN 118560577 B CN118560577 B CN 118560577B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000005065 mining Methods 0.000 title claims abstract description 16
- 239000003921 oil Substances 0.000 claims description 165
- 239000000463 material Substances 0.000 claims description 27
- 230000005484 gravity Effects 0.000 claims description 16
- 239000010720 hydraulic oil Substances 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 239000010729 system oil Substances 0.000 claims 2
- 238000009434 installation Methods 0.000 abstract description 39
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 5
- 230000002411 adverse Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/09—Means for mounting load bearing surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
- B60P1/16—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element actuated by fluid-operated mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/16—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
- B60T13/16—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs
- B60T13/20—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid using pumps directly, i.e. without interposition of accumulators or reservoirs with control of pump driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides an oil pump driving structure and a control method of an unmanned electric mining dump truck, wherein the oil pump driving structure comprises a mounting beam, a lifting oil pump and a steering brake oil pump, the lifting oil pump and the steering brake oil pump are mounted at two ends of the mounting beam, the oil pump driving structure further comprises a driving motor, and a lifting pump electromagnetic clutch and a steering brake pump electromagnetic clutch are respectively arranged between the driving motor and the lifting oil pump and the steering brake oil pump. The beneficial effects are that: according to the invention, the driving motor, the lifting oil pump and the steering brake oil pump are integrally arranged in the outer side area of the front gantry beam, the middle position of the frame is vacated, and the driving motor, the lifting oil pump and the steering brake oil pump are only used as the installation area of the battery pack, so that the installation quantity of the battery pack can be increased, and the cruising ability and the working efficiency of a vehicle are further improved; when the vehicle is in different working conditions, corresponding combination modes are selected, the running consumption of the motor is fully utilized, the motor efficiency is maximized, meanwhile, the electric quantity loss is reduced, and the cruising ability is further improved.
Description
Technical Field
The invention relates to an oil pump driving structure and a control method of an unmanned electric mining dump truck, and belongs to the technical field of engineering machinery.
Background
The hydraulic pump driving mode of the existing electric wide-body vehicle is that the power take-off port of the gearbox takes off power, and the gearbox in the transmission structure is always the main component of the vehicle; the oil pump is always in an operating state, namely in an energy consumption state.
The rigid vehicle hydraulic pump is mainly characterized in that the output end of a main generator is connected with a transmission shaft, and the transmission shaft drives two hydraulic pumps connected in series; even if the pure electric rigid vehicle and the hybrid rigid vehicle which are improved and upgraded are both of the structure, even if one working condition is in a stagnation state, the power source-oil pump is always in an operation state, and the electric power consumption is increased needlessly.
Vehicles of these structures have a significant limitation in the arrangement of the battery capacity of these vehicles due to the fact that the pump stack and most of the hydraulic system components are concentrated in the mid-frame region, which continues to be the layout of conventional vehicles.
Some new energy mining dump trucks drive the steering, braking and lifting hydraulic pumps separately, conventionally, the steering braking oil pump is driven by one motor, and the lifting oil pump is driven by one motor, so that two groups of oil pump working units occupy a certain space structure, and from the working requirement of the hundred-ton vehicle, the whole working unit and the motor controller occupy at least one space structure of 2x600x450x450 mm. The drive unit is also equipped with a corresponding number of auxiliary valves, lines and cables. The installation influence on the battery pack is large, and in order to provide installation space for the components, the assembly of the battery pack can only be reduced, so that the endurance time of the vehicle is shortened, and the efficient operation of mining transportation work is not facilitated.
Disclosure of Invention
The invention aims to: aiming at the defects in the prior art, the invention provides an oil pump driving structure and a control method of an unmanned electric mining dump truck, and hydraulic pump sets are separated from a system by changing the structural layout of the hydraulic oil pumps of a rigid dump truck and a wide body vehicle, so that a power taking device is eliminated, and the pump sets can be independently controlled to reduce unnecessary consumption.
The technical scheme is as follows: the oil pump driving structure of the unmanned electric mining dump truck comprises a mounting cross beam, a lifting oil pump and a steering brake oil pump, wherein the mounting cross beam is transversely arranged between longitudinal beams at two sides of the outer side of a front gantry beam of a frame, the lifting oil pump and the steering brake oil pump are arranged at two ends of the mounting cross beam,
The device also comprises a single driving motor which is arranged between the lifting oil pump and the steering brake oil pump and fixedly arranged in the middle of the mounting cross beam, and output shafts are arranged at two ends of the driving motor;
a lifting pump electromagnetic clutch and a steering brake pump electromagnetic clutch are respectively arranged between the driving motor and the lifting oil pump and between the driving motor and the steering brake oil pump;
The two sides of the lifting pump electromagnetic clutch are respectively connected with an output shaft at one end of the driving motor and a rotating shaft of the lifting oil pump, and the two sides of the steering brake pump electromagnetic clutch are respectively connected with an output shaft at the other end of the driving motor and the rotating shaft of the steering brake oil pump.
According to the invention, the driving motor, the lifting oil pump and the steering brake oil pump are integrally arranged in the outer side area of the front gantry beam, so that the positions of the original motor and the pump structure arranged in the middle of the frame are changed, the middle position of the frame is vacated, and the driving motor, the lifting oil pump and the steering brake oil pump are only used as the installation area of the battery pack, so that the installation quantity of the battery pack can be increased, and the cruising ability and the working efficiency of a vehicle are further improved; compared with the conventional configuration of a single pump corresponding to a single motor, the single driving motor drives the lifting oil pump and the steering brake oil pump, the motor is redundant in power, is continuously in a working state and high in electric quantity consumption, the single motor is selectively connected by utilizing the corresponding electromagnetic clutch, the corresponding combination mode is selected when the vehicle is in different working conditions, the running consumption of the motor is fully utilized, the motor efficiency is maximized, the electric quantity loss is reduced, and the cruising ability is further improved.
The installation beam is a concave installation beam with two horizontal ends and a concave middle part, the driving motor is installed at the concave part of the installation beam, and the lifting oil pump and the steering brake oil pump are respectively installed at the horizontal parts at two sides of the installation beam.
Through setting up the installation crossbeam into concave font, to vertical extension installation space, for driving motor provides sufficient installation region, make the output shaft at driving motor both ends simultaneously can carry out power transmission with lifting oil pump and steering brake oil pump through the electromagnetic clutch of both sides, provide sufficient horizontal installation space for the installation of other valves and necessary subassembly.
The lifting oil pump and the steering brake oil pump are fixedly connected with two ends of the mounting cross beam through the lifting pump support and the steering brake pump support respectively.
Lifting oil pump and steering brake oil pump are through corresponding lifting pump support and steering brake pump support installation, can strengthen the steadiness of installation, and is abominable in mine environment, and road conditions are relatively poor, and the adverse effect that the resistance environment that the pump was brought that passes through support installation in the course of working can be better promotes the stability of vehicle operation.
The overload coefficient of the driving motor is set to be 1.25-1.35.
The overload coefficient of the driving motor is selected in the range of 1.25-1.35, and enough power output can be provided while the size of the motor is controlled as much as possible so as to ensure the power requirements of the lifting oil pump and the steering brake oil pump; the motor size is controlled by utilizing the overload coefficient of the driving motor, so that the installation space is saved for the outside installation area of the front gantry beam, and meanwhile, the power requirement is also met.
According to the running working conditions of the vehicle, the vehicle is divided into a parking charging working condition, a driving working condition and a parking discharging working condition;
Under the parking and charging working condition, the vehicle is parked in a material loading area according to the instruction of a remote control center, at the moment, the electromagnetic clutch of the steering brake pump is engaged, the driving motor provides power input for the steering brake oil pump, and the steering brake oil pump acts on a vehicle brake system;
Under the driving working condition, the vehicle runs along a path according to the instruction of the remote control center, at the moment, the electromagnetic clutch of the steering brake pump is engaged, the driving motor provides power input for the steering brake oil pump, and the steering brake oil pump acts on the steering system of the vehicle;
Under the parking unloading working condition, the vehicle stops in front of the safety gear according to the instruction of the remote control center to carry out unloading work, at the moment, the electromagnetic clutch of the lifting pump and the electromagnetic clutch of the steering brake pump are both engaged, the driving motor works in an overload mode, power input is provided for the lifting oil pump and the steering brake oil pump, the lifting oil pump acts on the lifting oil cylinder, and the steering brake oil pump acts on the vehicle brake system and the lifting oil cylinder respectively.
In the parking charging working condition, the steering brake oil pump acts on a vehicle brake system of any one of a front shaft and a rear shaft; the vehicle brake system of the other axle is kept in an unlocked state;
Different oil pressure supply modes of a vehicle braking system are set according to the running road conditions of the vehicle, wherein the oil pressure supply modes comprise steering braking oil pump supply or accumulator supply; and after the braking of the vehicle is finished, carrying out material loading, and entering a driving working condition when the loading of the container reaches the designated loading capacity.
In the loading process of the vehicle, the vehicle can shake due to material impact, if the front axle and the rear axle of the vehicle are locked, vibration caused by the impact can directly act on a brake caliper of a vehicle brake system to bring unnecessary damage to the brake caliper, so that the vehicle brake system on one shaft is only locked in the loading process, and the brake system in the unlocking state of the other shaft is used for buffering and damping, so that the impact caused by the material loading is counteracted, the vehicle brake system is protected, and the vehicle is stably stopped in a loading area.
In the driving working condition, a remote control center sends a driving command, a whole vehicle controller receives the driving command and opens a brake electromagnetic valve on an oil tank circuit, hydraulic oil of a vehicle brake system returns to an oil tank, the vehicle is braked and unlocked, the vehicle controller receives the driving command for 2 seconds, a steering brake pump electromagnetic clutch is engaged, power output is provided for a steering brake oil pump, and steering and braking are controlled according to driving requirements.
The engagement of the electromagnetic clutch after the command is received for 2 seconds is delayed to avoid the impact, which affects the oil passage.
The parking unloading working conditions comprise lifting unloading working conditions;
When the vehicle is driven into a parking range defined by a safety gear, the steering brake oil pump acts on a vehicle brake system, and the vehicle brake system is locked;
Then lifting and unloading work is started, the vehicle controller receives a lifting instruction for 2 seconds, an electromagnetic clutch of a lifting pump is engaged, and an overload work of a driving motor provides power output;
Because the time for lifting the container to the highest point is shorter and is 23-25 seconds, the overload work is carried out in the overload coefficient of the driving motor in a short time by the driving motor according to the floating change of the material load in the time interval, and the driving motor cannot be influenced, so that the volume control of the driving motor can be realized, and sufficient power output can be provided.
The container dumping angle is monitored in real time by an angle sensor arranged on the container, when the angle sensor of the container detects that the current container dumping angle reaches 45 degrees, the material is slidingly transferred to the tail of the container under the action of gravity, the gravity center of the container is transferred to the tail of the container, an electromagnetic clutch of a steering brake pump is disconnected, and the power of a driving motor is reduced to 1/3 of the maximum power until lifting and discharging are completed;
In order to realize the protection of a driving motor and the saving of electric quantity of a battery, when a container is lifted to 45 degrees, after the gravity center is transferred to the tail part of the container, the lifting force requirement is reduced, at the moment, an electromagnetic clutch of a steering brake oil pump is disconnected, an accumulator provides oil pressure for a vehicle brake system, a brake state is kept, and the lifting action in a range of 45 degrees to 56 degrees is completed by a lifting oil pump; when the lifting angle is 45 degrees at most, after the lifting angle is 45 degrees, the lifting pump electromagnetic clutch and the steering brake pump electromagnetic clutch are disconnected, the self-weight bucket collecting stage is carried out, the load of the driving motor is reduced, and the driving motor is protected and the electric quantity is saved by reducing the power of the driving motor.
When the dumping angle reaches beta degrees, the electromagnetic clutch of the lifting pump is disconnected, and the bucket collecting stage is started, wherein beta is larger than or equal to 45 degrees and smaller than or equal to 56 degrees.
When the container is a container with a horizontal tail, the dumping angle is set to 45 degrees, the gravity center of the material is transferred to the tail of the container to realize dumping, and when the container is a container with a certain tail, the maximum dumping angle can be set to 56 degrees, and at the moment, the tail angle of the container is 11 degrees.
The gravity bucket collecting working condition is also included;
when the container is lifted, the electromagnetic clutch of the lifting pump is disconnected, the electromagnetic clutch of the steering brake pump is continuously connected, the steering brake oil pump acts on the vehicle brake system, the lifting oil cylinder descends by means of the self weight of the container until the container in-place sensor detects that the container has descended to a designated position, and the container is completely descended and enters driving working conditions.
The working condition of the power bucket is also included;
When the container is lifted, a remote control center sends a bucket receiving instruction, when the residual materials at the tail of the container are not completely removed, the gravity of the container is limited, when the bucket receiving instruction is received, the reading of an angle sensor is unchanged, the container positioning sensor does not detect the container positioning information, the container is determined to be in a state that the residual materials are not completely removed, the remote control center sends a power descending instruction, a vehicle controller receives the power descending instruction for 2 seconds, an electromagnetic clutch of a lifting pump is engaged, a hydraulic oil is pumped into a cavity of a first section of telescopic rod of a lifting oil cylinder, the first section of telescopic rod is forcedly retracted, and the residual materials ballasted at the tail of the container are dumped;
when the first section of telescopic rod is completely retracted under the action of the lifting oil pump, the electromagnetic clutch of the lifting pump is disconnected, the self-weight bucket is retracted until the container in-place sensor detects that the container has fallen to the designated position, and the container is completely lowered and enters the driving working condition.
The beneficial effects are that: according to the invention, the driving motor, the lifting oil pump and the steering brake oil pump are integrally arranged in the outer side area of the front gantry beam, so that the positions of the original motor and the pump structure arranged in the middle of the frame are changed, the middle position of the frame is vacated, and the driving motor, the lifting oil pump and the steering brake oil pump are only used as the installation area of the battery pack, so that the installation quantity of the battery pack can be increased, and the cruising ability and the working efficiency of a vehicle are further improved; compared with the conventional configuration of a single pump corresponding to a single motor, the single driving motor drives the lifting oil pump and the steering brake oil pump, the motor is redundant in power, is continuously in a working state and high in electric quantity consumption, the single motor is selectively connected by utilizing the corresponding electromagnetic clutch, the corresponding combination mode is selected when the vehicle is in different working conditions, the running consumption of the motor is fully utilized, the motor efficiency is maximized, the electric quantity loss is reduced, and the cruising ability is further improved.
The overload coefficient of the driving motor is selected in the range of 1.25-1.35, and enough power output can be provided while the size of the motor is controlled as much as possible so as to ensure the power requirements of the lifting oil pump and the steering brake oil pump; the motor size is controlled by utilizing the overload coefficient of the driving motor, so that the installation space is saved for the outside installation area of the front gantry beam, and meanwhile, the power requirement is also met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 shows the present invention oil pump driving structure diagram.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The oil pump driving structure of the unmanned electric mining dump truck comprises a mounting cross beam 1, a lifting oil pump 2 and a steering brake oil pump 3, wherein the mounting cross beam 1 is transversely arranged between two side longitudinal beams at the outer side of a front gantry beam of the truck frame, the lifting oil pump 2 and the steering brake oil pump 3 are arranged at two ends of the mounting cross beam 1,
The hydraulic steering system further comprises a single driving motor 4 which is arranged between the lifting oil pump 2 and the steering brake oil pump 3 and fixedly arranged in the middle of the mounting cross beam 1, and output shafts are arranged at two ends of the driving motor 4;
A lifting pump electromagnetic clutch 5 and a steering brake pump electromagnetic clutch 6 are respectively arranged between the driving motor 4 and the lifting oil pump 2 and the steering brake oil pump 3;
The two sides of the lifting pump electromagnetic clutch 5 are respectively connected with an output shaft at one end of the driving motor 4 and a rotating shaft of the lifting oil pump 2, and the two sides of the steering brake pump electromagnetic clutch 6 are respectively connected with an output shaft at the other end of the driving motor 4 and a rotating shaft of the steering brake oil pump 3.
According to the invention, the driving motor 4, the lifting oil pump 2 and the steering brake oil pump 3 are integrally arranged in the outer side area of the front gantry beam, so that the positions of the original motor and the pump structure arranged in the middle of the frame are changed, the middle position of the frame is vacated, and the driving motor and the pump structure are only used as the installation area of the battery pack, so that the installation quantity of the battery pack can be increased, and the cruising ability and the working efficiency of a vehicle are further improved; compared with the conventional configuration of a single pump corresponding to a single motor, the single driving motor 4 drives the lifting oil pump 2 and the steering brake oil pump 3, the motor has redundant power, is continuously in a working state and has high electricity consumption, the single motor is selectively connected by utilizing the corresponding electromagnetic clutch, the corresponding combination mode is selected when the vehicle is in different working conditions, the running consumption of the motor is fully utilized, the motor efficiency is maximized, the electricity consumption is reduced, and the cruising ability is further improved.
The installation beam 1 is a concave installation beam 1 with two horizontal ends and a concave middle part, the driving motor 4 is installed at the concave part of the installation beam 1, and the lifting oil pump 2 and the steering brake oil pump 3 are respectively installed at the horizontal parts at two sides of the installation beam 1.
Through setting up installation crossbeam 1 to concave font, to vertical extension installation space, for driving motor 4 provides sufficient installation region, make the output shaft at driving motor 4 both ends simultaneously can carry out power transmission with lifting oil pump 2 and steering brake oil pump 3 through the electromagnetic clutch of both sides, provide sufficient horizontal installation space for the installation of other valves and necessary subassembly.
The lifting oil pump 2 and the steering brake oil pump 3 are fixedly connected with two ends of the mounting cross beam 1 through a lifting pump bracket 7 and a steering brake pump bracket 8 respectively.
The lifting oil pump 2 and the steering brake oil pump 3 are installed through the corresponding lifting pump support 7 and steering brake pump support 8, so that the installation stability can be enhanced, the mine site environment is severe, the road condition is poor, the adverse effect caused by the environment can be better resisted through the support installation in the working process of the pump, and the running stability of a vehicle is improved.
The overload coefficient of the driving motor 4 is set to be 1.25-1.35.
The overload coefficient of the driving motor 4 is selected to be in the range of 1.25-1.35, and enough power output can be provided while controlling the size of the motor as much as possible so as to ensure the power requirements of the lifting oil pump 2 and the steering brake oil pump 3, in the scheme, the overload coefficient of the driving motor 4 is selected to be 1.25, when the two are combined, the motor is in overload operation, so that power output in a short period is realized, the power of the driving motor 4 is adjusted according to the unloading condition, the whole overload operation of the driving motor 4 is avoided, the excessive load is caused to the driving motor 4, and the subsequent use of the driving motor 4 is influenced; the size of the motor is controlled by using the overload coefficient of the driving motor 4, so that the installation space is saved for the outside installation area of the front gantry beam, and meanwhile, the power requirement is met.
According to the running working conditions of the vehicle, the vehicle is divided into a parking charging working condition, a driving working condition and a parking discharging working condition;
Under the parking charging working condition, the vehicle is parked in a material loading area according to the instruction of a remote control center, at the moment, a steering brake pump electromagnetic clutch 6 is engaged, a driving motor 4 provides power input for a steering brake oil pump 3, and the steering brake oil pump 3 acts on a vehicle brake system;
under the driving working condition, the vehicle runs along a path according to the instruction of the remote control center, at the moment, the electromagnetic clutch of the steering brake pump is engaged, the driving motor 4 provides power input for the steering brake oil pump 3, and the steering brake oil pump 3 acts on a steering system of the vehicle;
Under the parking unloading working condition, the vehicle stops in front of the safety gear to carry out unloading work according to a command of a remote control center, at the moment, the lifting pump electromagnetic clutch 5 and the steering brake pump electromagnetic clutch are both engaged, the driving motor 4 works in an overload mode, power input is provided for the lifting oil pump 2 and the steering brake oil pump 3, the lifting oil pump 2 acts on the lifting oil cylinder, and the steering brake oil pump 3 acts on a vehicle brake system and the lifting oil cylinder respectively.
In the parking and charging working condition, the steering brake oil pump 3 acts on a vehicle brake system of any one of a front shaft and a rear shaft; the vehicle brake system of the other axle is kept in an unlocked state;
When the vehicle waits for loading or is in the loading process, the obstacle detection system can set different oil pressure supply modes of the vehicle braking system according to the road condition of the vehicle, wherein the different oil pressure supply modes comprise steering braking oil pump supply or energy accumulator supply;
When the loading area is a flat road surface, the vehicle is stable after stopping, at the moment, according to the command of the remote control center, the electromagnetic clutch of the steering brake pump is disconnected after stopping, the driving motor stops, electric energy is saved, and the accumulator provides oil pressure for the vehicle brake system to realize vehicle braking;
when the loading area is a ramp road surface, the vehicle cannot be guaranteed to stably park, at the moment, the electromagnetic clutch of the steering brake pump is continuously engaged after parking according to a command of the remote control center, the motor provides low-power output, the steering brake oil pump provides oil pressure for a vehicle brake system, vehicle braking is achieved, and unnecessary influence caused by that a vehicle slides away from the loading area is avoided.
And after the braking of the vehicle is finished, carrying out material loading, and entering a driving working condition when the loading of the container reaches the designated loading capacity.
In the loading process of the vehicle, the vehicle can shake due to material impact, if the front axle and the rear axle of the vehicle are locked, vibration caused by the impact can directly act on a brake caliper of a vehicle brake system to bring unnecessary damage to the brake caliper, so that the vehicle brake system on one shaft is only locked in the loading process, and the brake system in the unlocking state of the other shaft is used for buffering and damping, so that the impact caused by the material loading is counteracted, the vehicle brake system is protected, and the vehicle is stably stopped in a loading area.
In the driving working condition, a remote control center sends a driving command, a whole vehicle controller receives the driving command and opens a brake electromagnetic valve on an oil tank circuit, hydraulic oil of a vehicle brake system returns to an oil tank, the vehicle is braked and unlocked, the whole vehicle controller receives the driving command for 2 seconds, a steering brake pump electromagnetic clutch 6 is engaged, power output is provided for a steering brake oil pump 3, and steering and braking are controlled according to driving requirements.
The engagement of the electromagnetic clutch after the command is received for 2 seconds is delayed to avoid the impact, which affects the oil passage.
The parking unloading working conditions comprise lifting unloading working conditions;
When the vehicle is stopped in a stopping range regulated by a safety gear, the steering brake oil pump 3 acts on a vehicle brake system, and the vehicle brake system is locked;
Then lifting and unloading work is started, the vehicle controller receives a lifting instruction for 2 seconds, the lifting pump electromagnetic clutch 5 is engaged, and the overload work of the driving motor 4 provides power output;
Because the time for lifting the container to the highest point is shorter and is 23-25 seconds, the driving motor 4 performs overload work in the overload coefficient of the driving motor 4 in a short time according to the floating change of the material load in the time interval, and the driving motor 4 cannot be influenced, so that the volume control of the driving motor 4 can be realized, and sufficient power output can be provided.
The container dumping angle is monitored in real time by an angle sensor arranged on the container, when the angle sensor of the container detects that the current container dumping angle reaches 45 degrees, the material is slidingly transferred to the tail of the container under the action of gravity, the gravity center of the container is transferred to the tail of the container, the steering brake pump electromagnetic clutch 6 is disconnected, and the power of the driving motor 4 is reduced to 1/3 of the maximum power until the lifting and discharging are completed;
In order to realize the protection of the driving motor 4 and the saving of the electric quantity of a battery, when a container is lifted to 45 degrees, after the gravity center is transferred to the tail part of the container, the lifting force requirement is reduced, at the moment, the electromagnetic clutch of the steering brake oil pump 3 is disconnected, the accumulator provides oil pressure for a vehicle brake system, the brake state is kept, and the lifting action in the interval of 45 degrees to 56 degrees is completed by the lifting oil pump 2; when the lifting angle is 45 degrees at maximum, after lifting to 45 degrees, the lifting pump electromagnetic clutch 5 and the steering brake pump electromagnetic clutch 6 are disconnected, the self-weight bucket-collecting stage is carried out, the load of the driving motor 4 is reduced, and the driving motor 4 is protected and the electric quantity is saved by reducing the power of the driving motor 4.
When the dumping angle reaches beta degrees, the electromagnetic clutch 5 of the lifting pump is disconnected and enters a bucket collecting stage, wherein beta is larger than or equal to 45 degrees and smaller than or equal to 56 degrees.
When the container is a container with a horizontal tail, the dumping angle is set to 45 degrees, the gravity center of the material is transferred to the tail of the container to realize dumping, and when the container is a container with a certain tail, the maximum dumping angle can be set to 56 degrees, and at the moment, the tail angle of the container is 11 degrees.
The gravity bucket collecting working condition is also included;
When the container is lifted, the lifting pump electromagnetic clutch 5 is disconnected, the steering brake pump electromagnetic clutch 6 is continuously connected, the steering brake oil pump 3 acts on the vehicle brake system, the lifting oil cylinder descends by means of the self weight of the container until the container in-situ sensor detects that the container has descended to a designated position, and the container is completely descended and enters the driving working condition.
The working condition of the power bucket is also included;
when the container is lifted, a remote control center sends a bucket receiving instruction, when the residual materials at the tail of the container are not completely removed, the gravity of the container is limited, when the bucket receiving instruction is received, the reading of an angle sensor is unchanged, the container positioning sensor does not detect the container positioning information, the container is determined to be in a state that the residual materials are not completely removed, the remote control center sends a power descending instruction, a vehicle controller receives the power descending instruction for 2 seconds, a lifting pump electromagnetic clutch 5 is engaged, a hydraulic oil is pumped into a first section of telescopic rod cavity of a lifting oil cylinder, the first section of telescopic rod is forcedly retracted, and the residual materials ballasted at the tail of the container are dumped;
When the first telescopic rod is completely retracted under the action of the lifting oil pump 2, the lifting pump electromagnetic clutch 5 is disconnected, the self-weight bucket is retracted until the container in-place sensor detects that the container has fallen to the designated position, and the container is completely lowered and enters the driving working condition.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A control method of an oil pump driving structure of an unmanned electric mining dump truck is characterized by comprising the following steps of: comprises a mounting cross beam (1), a lifting oil pump (2) and a steering brake oil pump (3), wherein the mounting cross beam (1) is transversely arranged between two side longitudinal beams at the outer side of a front gantry beam of a frame, the lifting oil pump (2) and the steering brake oil pump (3) are arranged at two ends of the mounting cross beam (1),
The hydraulic steering device further comprises a single driving motor (4) which is fixedly arranged in the middle of the mounting cross beam (1) and is arranged between the lifting oil pump (2) and the steering brake oil pump (3), and output shafts are arranged at two ends of the driving motor (4);
A lifting pump electromagnetic clutch (5) and a steering brake pump electromagnetic clutch (6) are respectively arranged between the driving motor (4) and the lifting oil pump (2) and the steering brake oil pump (3);
Two sides of the lifting pump electromagnetic clutch (5) are respectively connected with an output shaft at one end of the driving motor (4) and a rotating shaft of the lifting oil pump (2), and two sides of the steering brake pump electromagnetic clutch (6) are respectively connected with an output shaft at the other end of the driving motor (4) and the rotating shaft of the steering brake oil pump (3);
According to the running working conditions of the vehicle, the vehicle is divided into a parking charging working condition, a driving working condition and a parking discharging working condition;
Under the parking charging working condition, the vehicle is parked in a material loading area according to the instruction of a remote control center, at the moment, a steering brake pump electromagnetic clutch (6) is engaged, a driving motor (4) provides power input for a steering brake oil pump (3), and the steering brake oil pump (3) acts on a vehicle brake system;
Under the driving working condition, the vehicle runs along a path according to the instruction of the remote control center, at the moment, the electromagnetic clutch (6) of the steering brake pump is connected, the driving motor (4) provides power input for the steering brake oil pump (3), and the steering brake oil pump (3) acts on a steering system of the vehicle;
under the parking unloading working condition, the vehicle stops in front of a safety gear to carry out unloading work according to a command of a remote control center, at the moment, a lifting pump electromagnetic clutch (5) and a steering brake pump electromagnetic clutch (6) are both connected, a driving motor (4) works in an overload mode, power input is provided for a lifting oil pump (2) and a steering brake oil pump (3), the lifting oil pump (2) acts on the lifting oil cylinder, and the steering brake oil pump (3) acts on a vehicle brake system and the lifting oil cylinder respectively;
in the parking charging working condition, the steering brake oil pump (3) acts on a vehicle brake system of any one of a front shaft or a rear shaft; the vehicle brake system of the other axle is kept in an unlocked state;
Different vehicle braking system oil pressure supply modes are set according to the road conditions of the vehicle, and the different vehicle braking system oil pressure supply modes comprise steering braking oil pump supply or accumulator supply; after the braking of the vehicle is finished, carrying out material loading, and entering a driving working condition when the material loading weight of the container reaches the specified loading weight;
the parking unloading working conditions comprise lifting unloading working conditions;
When the vehicle is stopped in a stopping range regulated by a safety gear, a steering brake oil pump (3) acts on a vehicle brake system, and the vehicle brake system is locked;
Then starting lifting and unloading work, enabling the whole vehicle controller to receive a lifting instruction for 2 seconds, enabling a lifting pump electromagnetic clutch (5) to be connected, and enabling a driving motor (4) to overload work to provide power output;
The container dumping angle is monitored in real time by an angle sensor arranged on the container, when the angle sensor of the container detects that the current container dumping angle reaches 45 degrees, the material is slidingly transferred to the tail of the container under the action of gravity, the gravity center of the container is transferred to the tail of the container, an electromagnetic clutch (6) of a steering brake pump is disconnected, and the power of a driving motor (4) is reduced to 1/3 of the maximum power until lifting and dumping are completed; when the dumping angle reaches beta degrees, the electromagnetic clutch (5) of the lifting pump is disconnected, and the bucket collecting stage is started, wherein beta is more than or equal to 45 degrees and less than or equal to 56 degrees.
2. The oil pump driving structure of an unmanned electric mining dump truck according to claim 1, characterized in that: the mounting cross beam (1) is a concave mounting cross beam (1) with two horizontally-arranged middle concave ends, the driving motor (4) is arranged at the concave part of the mounting cross beam (1), and the lifting oil pump (2) and the steering brake oil pump (3) are respectively arranged at the horizontal parts at two sides of the mounting cross beam (1).
3. The oil pump driving structure of an unmanned electric mining dump truck according to claim 2, characterized in that: the lifting oil pump (2) and the steering brake oil pump (3) are fixedly connected with two ends of the mounting cross beam (1) through the lifting pump bracket (7) and the steering brake pump bracket (8) respectively.
4. The oil pump driving structure of an unmanned electric mining dump truck according to claim 1, characterized in that: the overload coefficient of the driving motor (4) is set to be 1.25-1.35.
5. The control method of the oil pump driving structure of the unmanned electric mining dump truck according to claim 1, characterized by: in the driving working condition, a remote control center sends a driving command, a whole vehicle controller receives the driving command and opens a brake electromagnetic valve on an oil tank circuit, hydraulic oil of a vehicle brake system returns to an oil tank, the vehicle is braked and unlocked, the whole vehicle controller receives the driving command for 2 seconds, a steering brake pump electromagnetic clutch (6) is engaged, power output is provided for a steering brake oil pump (3), and steering and braking are controlled according to driving requirements.
6. The control method of the oil pump driving structure of the unmanned electric mining dump truck according to claim 5, characterized by: the gravity bucket collecting working condition is also included;
When the container is lifted, the lifting pump electromagnetic clutch (5) is disconnected, the steering brake pump electromagnetic clutch (6) is continuously connected, the steering brake oil pump (3) acts on the vehicle brake system, the lifting oil cylinder descends by means of the self weight of the container until the container in-place sensor detects that the container has descended to a specified position, and the container is completely descended and enters a driving working condition.
7. The control method of the oil pump driving structure of the unmanned electric mining dump truck according to claim 6, characterized by comprising the steps of: the working condition of the power bucket is also included;
when the container is lifted, a remote control center sends a bucket receiving instruction, when the residual materials at the tail of the container are not completely removed, the gravity of the container is limited, when the bucket receiving instruction is received, the reading of an angle sensor is unchanged, the container positioning sensor does not detect the positioning information of the container, the container is determined to be in a state that the residual materials are not completely removed, the remote control center sends a power descending instruction, the whole vehicle controller receives the power descending instruction for 2 seconds, a lifting pump electromagnetic clutch (5) is engaged, a hydraulic oil is pumped into a first section of telescopic rod cavity of a lifting oil cylinder, the first section of telescopic rod is forcedly retracted, and the residual materials ballasted at the tail of the container are dumped;
when the first section of telescopic rod is completely retracted under the action of the lifting oil pump (2), the lifting pump electromagnetic clutch (5) is disconnected, the self-weight bucket is retracted until the container in-place sensor detects that the container has fallen to a designated position, and the container is completely lowered and enters the driving working condition.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394660A (en) * | 2015-07-31 | 2017-02-15 | 比亚迪股份有限公司 | Vehicle braking and steering combined system |
| CN109421790A (en) * | 2017-08-29 | 2019-03-05 | 天津市松正电动汽车技术股份有限公司 | A kind of hybrid vehicle servo steering system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB863284A (en) * | 1958-07-24 | 1961-03-22 | Barry Wehmiller Mach Co | An apparatus for simultaneously unloading and loading pallets |
| CN1301200C (en) * | 2002-09-13 | 2007-02-21 | 本田技研工业株式会社 | hybrid vehicle |
| US9505446B2 (en) * | 2015-04-15 | 2016-11-29 | Toyota Jidosha Kabushiki Kaisha | Powertrain unit |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106394660A (en) * | 2015-07-31 | 2017-02-15 | 比亚迪股份有限公司 | Vehicle braking and steering combined system |
| CN109421790A (en) * | 2017-08-29 | 2019-03-05 | 天津市松正电动汽车技术股份有限公司 | A kind of hybrid vehicle servo steering system |
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