CN102729823B - Engineering vehicle and traveling speed control system thereof - Google Patents
Engineering vehicle and traveling speed control system thereof Download PDFInfo
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- CN102729823B CN102729823B CN201210219929.4A CN201210219929A CN102729823B CN 102729823 B CN102729823 B CN 102729823B CN 201210219929 A CN201210219929 A CN 201210219929A CN 102729823 B CN102729823 B CN 102729823B
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Abstract
The invention provides an engineering vehicle and a traveling speed control system thereof. The traveling speed control system comprises an offset sensing device and a controller, wherein the offset sensing device is used for sensing the offset information of a pedal of the engineering vehicle; the controller is used for receiving the offset information, determining given frequencies which correspond to the offset information according to the corresponding relation between all preset offsets and the given frequencies, and sending the corresponding given frequency to a frequency changer of the engineering vehicle so as to control the traveling speed of the engineering vehicle. Frequency control can be realized by the engineering vehicle provided by the invention.
Description
Technical field
The present invention relates to engineering truck field, be specifically related to a kind of engineering truck and speed of travel control system thereof.
Background technology
At present, the traveling control system of engineering truck adopts following several mode mostly:
1), use CAN operating handle forward or pusher signal is sent to controller, given frequency is sent to frequency converter according to the front and back action side-play amount of handle by controller, and transducer drive movable motor travels by speed;
2), arrange at a slow speed, middling speed, high speed third gear explosion-proof switch, control motor speed by DC speed regulation.
Above-mentioned 1st), in kind mode, due to handle normally plastic casing, in operating environment severe under ore deposit, damage than being easier to; Above-mentioned 2nd) in kind mode because gear is limited, generally can only realize regulating several grades of speed, can not frequency control be realized.
Summary of the invention
In order to overcome above-mentioned defect and the deficiency of prior art, the first object of the present invention is to provide a kind of speed of travel control system that can realize the engineering truck of frequency control, comprise: side-play amount sensing device, for sensing the offset information of the stretcher of engineering truck; Controller, for receiving described offset information, and according to each side-play amount preset and the corresponding relation of given frequency, determine the given frequency that described offset information is corresponding, and send to the frequency converter of described engineering truck to control the speed of travel of described engineering truck the given frequency of described correspondence.
Further, described speed of travel control system also comprises: rotating speed sensing apparatus, for sensing the tach signal of the wheel reduction gear of described engineering truck, and sent to by described tach signal described frequency converter to adjust the speed of travel of described engineering truck to adapting with described corresponding given frequency.
Further, described rotating speed sensing apparatus comprises the first rotating speed sensing apparatus and the second rotating speed sensing apparatus; The tach signal of described revolver side reducer for sensing the tach signal of the revolver side reducer of described engineering truck, and is sent to described frequency converter by described first rotating speed sensing apparatus; The tach signal of described right wheel reduction gear for sensing the tach signal of the right wheel reduction gear of described engineering truck, and is sent to described frequency converter by described second rotating speed sensing apparatus.
Further, described rotating speed sensing apparatus is incremental encoder or tachogen.
Further, described side-play amount sensing device is angular transducer, and described offset information is offset information; Or described side-play amount sensing device is displacement pickup, described offset information is shift offset information.
Further, described angular transducer is arranged in Flameproof box, and described angular transducer is connected with stretcher by pipe link mechanism.
Further, described angular transducer is contactless Hall angular transducer.
Further, institute's displacement sensors is arranged on the stretcher of described engineering truck
In order to overcome above-mentioned defect and the deficiency of prior art, the second object of the present invention is to provide a kind of engineering truck, is provided with any one speed of travel control system above-mentioned.
Further, described engineering truck is down-hole trackless.
The speed of travel control system of engineering truck of the present invention exports continuous signal by adopting side-play amount sensing device, and correspondingly, controller sends to the given frequency of frequency converter to be different frequency informations, thus realizes (frequency conversion) speed governing continuously.
Accompanying drawing explanation
Fig. 1 is the example structure schematic diagram of the speed of travel control system of engineering truck of the present invention;
Fig. 2 is the scheme of installation of angular transducer in the speed of travel control system of engineering truck of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, the speed of travel control system embodiment of engineering truck of the present invention comprises: side-play amount sensing device 1, for sensing the offset information of the stretcher of engineering truck; Controller 3, for receiving this offset information, and according to each side-play amount preset and the corresponding relation of given frequency, determine the given frequency that offset information is corresponding, and send to the frequency converter 5 of engineering truck with the speed of travel of dominant project vehicle the given frequency of correspondence.
Wherein, the corresponding relation of above-mentioned each side-play amount and given frequency is stored in advance in controller 3, determine frequency of b 1 as side-play amount a1 is corresponding, side-play amount a2 correspondence determines frequency of b 2, side-play amount a3 correspondence determines frequency of b 3, the like, the corresponding relation of multiple side-play amount and given frequency can be comprised; Receive the offset information of side-play amount sensing device 1 transmission at controller 3, during as a1, then can determine the given frequency corresponding with the offset information that side-play amount sensing device 1 sends, as b1 according to the above-mentioned corresponding relation prestored.The given frequency drives movable motor 7 that above-mentioned frequency converter 5 sends according to controller 3 and wheel side speed reducer 9 work, to realize the control of the speed of travel of engineering truck, for prior art, not repeating them here.During concrete operations, above-mentioned frequency converter 5 can be connected by CAN with between controller 3.
The offset information exported due to above-mentioned side-play amount sensing device 1 is continuous signal, correspondingly, controller 3 sends to the given frequency of frequency converter 5 to be different frequency informations (frequency conversion), thus realizes (frequency conversion) speed governing continuously by the synergy of frequency converter 5, movable motor 7 and wheel side speed reducer 9.
According to the existing operating characteristic of frequency converter 5, side-play amount sensing device 1 in Fig. 1, controller 3, frequency converter 5, movable motor 7 and wheel side speed reducer 9 carry out signal transmission successively, form open loop link, even if frequency converter 5 exports given frequency, the rotating speed of movable motor 7 also (can be generally 1% ~ 5%) and change in the scope of rated slip; Therefore, preferably, above-mentioned frequency converter 5 can adopt the frequency converter with feedback function, correspondingly, above-mentioned speed of travel control system also comprises: rotating speed sensing apparatus 2, for sensing the tach signal of the wheel reduction gear 9 of engineering truck, and tach signal is sent (feedback) to frequency converter 5 to adjust the speed of travel of engineering truck to adapting with above-mentioned corresponding given frequency, namely ensure that the rotating speed of movable motor 7 is substantially corresponding with above-mentioned corresponding given frequency, does not have deviation.Wherein, the tach signal that frequency converter 5 feeds back according to rotating speed sensing apparatus 2 is adjusted to the existing feedback function of frequency converter 5 to the speed of travel, do not repeat them here.
By utilizing rotating speed sensing apparatus 2 as the positioner of the real-time speed of travel of engineering truck, with side-play amount sensing device 1 synergy, achieve the closed loop adjustment of the speed of travel of engineering truck, can guarantee that the real-time speed of travel of engineering truck and controller 3 send to the given frequency of frequency converter 5 substantially corresponding, improve adjusting speed accuracy, ensure that movable motor 7 operates being bordering under given speed, and then ensure the accuracy requirement of engineering vehicle walking speed.
Continue with reference to figure 1, during concrete operations, frequency converter 5, movable motor 7 and wheel side speed reducer 9 are generally and are symmetrical set in engineering truck, and namely frequency converter 5 comprises left frequency converter 51, right frequency converter 53; Movable motor 7 comprises left movable motor 71, right movable motor 73; Wheel side speed reducer 9 comprises revolver side speed reducer 91, right wheel side speed reducer 93; Wherein, left frequency converter 51 correspondence controls left movable motor 71 and revolver side speed reducer 91; Right frequency converter 53 correspondence controls right movable motor 73 and right wheel side speed reducer 93; Correspondingly, rotating speed sensing apparatus 2 comprises the first rotating speed sensing apparatus 21 and the second rotating speed sensing apparatus 23; Wherein, the tach signal of revolver side reducer 91 for sensing the tach signal of the revolver side reducer 91 of engineering truck, and is sent to left frequency converter 51 by the first rotating speed sensing apparatus 21; The tach signal of right wheel reduction gear 93 for sensing the tach signal of the right wheel reduction gear 93 of engineering truck, and is sent to right frequency converter 53 by the second rotating speed sensing apparatus 93.
During concrete operations, above-mentioned first rotating speed sensing apparatus 21 and the second rotating speed sensing apparatus 23 can be incremental encoder or tachogen.First rotating speed sensing apparatus 21 and the second rotating speed sensing apparatus 23 can correspondence be arranged on revolver side speed reducer 91 and right wheel side speed reducer 93 respectively, to ensure the accuracy sensed.
In addition, above-mentioned side-play amount sensing device 1 can be angular transducer 11 or displacement pickup (not shown) etc. as shown in Figure 2.Wherein, when adopting angular transducer 11, above-mentioned offset information is the offset information of stretcher, and when adopting displacement pickup, above-mentioned offset information is the relative displacement information (also can be called shift offset information) of stretcher.Angular transducer 11 and displacement pickup are existing sensing device, and the structure of the two and mechanism repeat no more.Be understandable that, the installation site of above-mentioned side-play amount sensing device 1 can be arranged according to actual needs, only need ensure to realize corresponding function.As: displacement pickup can be arranged on the stretcher of engineering truck, moves along with the movement of stretcher, to detect the relative displacement of stretcher.Certainly, displacement pickup can also be arranged on the position beyond stretcher, and on the extended line as motion of foot track, displacement pickup senses the relative displacement of stretcher by the distance change detected between self and stretcher.
As shown in Figure 2, when above-mentioned side-play amount sensing device 1 adopts angular transducer 11, in order to prevent angular transducer 11 damaged, can be arranged in Flameproof box 41 by angular transducer 11, angular transducer 11 is connected with stretcher 43 by pipe link mechanism 42.Like this, when stretcher 43 is trampled, pipe link mechanism 42 drives angular transducer 11 to move, to realize the sensing of offset.Above-mentioned angular transducer 11 is arranged on the working environment at coal mines that in Flameproof box 41, particularly suitable safety is not high; if above-mentioned speed of travel control system is when down-hole trackless (as shuttle car); can degree of protection sensor 11 effectively, avoid it to damage.
Preferably, in order to improve the accuracy of collection signal, the contactless Hall angular transducer that above-mentioned angular transducer 11 can adopt antijamming capability strong, accurately to determine the side-play amount of stretcher 43.
The principle of work of above-mentioned speed of travel control system is summarized as follows (adopting angular transducer 11 to be illustrated for side-play amount sensing device 1): angular transducer 11 detects the offset of stretcher 43, and send the offset detected to controller 3, the given frequency corresponding with this offset determined by controller 3, and the given frequency of this correspondence is sent to left frequency converter 51 and right frequency converter 53, left frequency converter 51 and right frequency converter 53 drive left movable motor 71 according to given frequency correspondence, right movable motor 73 travels by speed; The tach signal of revolver side reducer 91 and right wheel reduction gear 93 correspondence is sent to left frequency converter 51 and right frequency converter 53 to adjust the speed of travel of engineering truck by the first rotating speed sensing apparatus 21, second rotating speed sensing apparatus 23 respectively.
Various embodiments of the present invention export continuous signal by adopting side-play amount sensing device, and correspondingly, controller sends to the given frequency of frequency converter to be different frequency informations (frequency conversion), thus realizes (frequency conversion) speed governing continuously; Preferably, by utilizing rotating speed sensing apparatus and side-play amount sensing device, controller, frequency converter, movable motor and wheel side speed reducer to form closed speed control system, and utilizing the existing feedback function of frequency converter, improving the precision of engineering vehicle walking speed; Preferably, be arranged on by angular transducer in Flameproof box, angular transducer is not fragile, durable.
These are only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a speed of travel control system for engineering truck, is characterized in that, comprising:
Side-play amount sensing device (1), for sensing the offset information of the stretcher of engineering truck;
Controller (3), for receiving described offset information, and according to each side-play amount preset and the corresponding relation of given frequency, determine the given frequency that described offset information is corresponding, and send to the frequency converter of described engineering truck (5) to control the speed of travel of described engineering truck the given frequency of described correspondence;
Rotating speed sensing apparatus (2), for sensing the tach signal of the wheel reduction gear (9) of described engineering truck, and sent to by described tach signal described frequency converter (5) to adjust the speed of travel of described engineering truck to adapting with described corresponding given frequency.
2. speed of travel control system according to claim 1, is characterized in that, described rotating speed sensing apparatus (2) comprises the first rotating speed sensing apparatus (21) and the second rotating speed sensing apparatus (23);
The tach signal of described revolver side reducer (91) for sensing the tach signal of the revolver side reducer (91) of described engineering truck, and is sent to described frequency converter (5) by described first rotating speed sensing apparatus (21);
The tach signal of described right wheel reduction gear (93) for sensing the tach signal of the right wheel reduction gear (93) of described engineering truck, and is sent to described frequency converter (5) by described second rotating speed sensing apparatus (23).
3. speed of travel control system according to claim 2, is characterized in that, described rotating speed sensing apparatus (2) is incremental encoder or tachogen.
4. the speed of travel control system according to any one of the claims 1-3, is characterized in that,
Described side-play amount sensing device (1) is angular transducer (11), and described offset information is offset information; Or
Described side-play amount sensing device (1) is displacement pickup, and described offset information is shift offset information.
5. speed of travel control system according to claim 4, it is characterized in that, described angular transducer (11) is arranged in Flameproof box (41), and described angular transducer (11) is connected with stretcher (43) by pipe link mechanism (42).
6. speed of travel control system according to claim 5, is characterized in that, described angular transducer (11) is contactless Hall angular transducer.
7. speed of travel control system according to claim 4, is characterized in that, institute's displacement sensors is arranged on the stretcher of described engineering truck.
8. an engineering truck, is characterized in that, is provided with the speed of travel control system of the engineering truck according to any one of claim 1-7.
9. engineering truck according to claim 8, is characterized in that, described engineering truck is down-hole trackless.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210219929.4A CN102729823B (en) | 2012-06-28 | 2012-06-28 | Engineering vehicle and traveling speed control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210219929.4A CN102729823B (en) | 2012-06-28 | 2012-06-28 | Engineering vehicle and traveling speed control system thereof |
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| CN102729823A CN102729823A (en) | 2012-10-17 |
| CN102729823B true CN102729823B (en) | 2015-07-08 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105946915B (en) * | 2016-04-29 | 2017-12-05 | 华中农业大学 | The light-duty carrying dolly of walking electric based on wheel hub motor and controller |
| CN114545986A (en) * | 2022-03-08 | 2022-05-27 | 山西平阳重工机械有限责任公司 | Graded voltage adjusting device and positioner control system adopting same |
Citations (3)
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|---|---|---|---|---|
| CN1558048A (en) * | 2004-01-18 | 2004-12-29 | 三一重工股份有限公司 | Limit load adjustment method of all hydraulic bulldozer and apparatus thereof |
| CN1861445A (en) * | 2004-10-28 | 2006-11-15 | 特克斯特朗有限公司 | Ac drive system for electrically operated vehicle |
| CN201224332Y (en) * | 2008-04-17 | 2009-04-22 | 交通部水运科学研究所 | Electronic throttle apparatus of straddle carrier |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59126154A (en) * | 1982-12-29 | 1984-07-20 | Yanmar Diesel Engine Co Ltd | Travelling speed change gear for full-turning system vehicle |
| JP2744707B2 (en) * | 1991-02-05 | 1998-04-28 | 日立建機株式会社 | Engine speed control device for hydraulically driven vehicle |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1558048A (en) * | 2004-01-18 | 2004-12-29 | 三一重工股份有限公司 | Limit load adjustment method of all hydraulic bulldozer and apparatus thereof |
| CN1861445A (en) * | 2004-10-28 | 2006-11-15 | 特克斯特朗有限公司 | Ac drive system for electrically operated vehicle |
| CN201224332Y (en) * | 2008-04-17 | 2009-04-22 | 交通部水运科学研究所 | Electronic throttle apparatus of straddle carrier |
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Effective date of registration: 20160803 Address after: 413000 Yiyang high tech Zone in the eastern part of the New District of integrated services building, Room 502, Hunan Patentee after: Yiyang science and Technology Achievement Transformation Service Center Patentee after: Sany Heavy Equipment Co.,Ltd. Address before: Yansai Lake Street 110027 economic and Technological Development Zone Liaoning city Shenyang province No. 31 Patentee before: Sany Heavy Equipment Co.,Ltd. |