CN103386914A - Lifting stationarity control system and mining dump truck - Google Patents
Lifting stationarity control system and mining dump truck Download PDFInfo
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- CN103386914A CN103386914A CN2013103491744A CN201310349174A CN103386914A CN 103386914 A CN103386914 A CN 103386914A CN 2013103491744 A CN2013103491744 A CN 2013103491744A CN 201310349174 A CN201310349174 A CN 201310349174A CN 103386914 A CN103386914 A CN 103386914A
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Abstract
The invention discloses a lifting stationarity control system and a mining dump truck and belongs to the field of mechanical control. The Lifting stationarity control system comprises a truck bed 1, a frame 2, a lifting mechanism 3, a controller 4, and an angular displacement sensor 5, wherein the truck bed 1 is hinged to the frame 2; the lifting mechanism 3 can extend and contract to drive the truck bed 1 to ascend or descend relative to the frame 2; the controller 4 is connected with the lifting mechanism 3; the angular displacement sensor 5 is arranged on the truck bed 1 and the frame 2 and is connected with the controller 4; the angular displacement sensor 5 is used for detecting an angular displacement signal of the truck bed 1 relative to the frame 2 and transmitting the signal to the controller 4; and the controller 4 is used for controlling the movement velocity of the truck bed 1 through the lifting mechanism 3 according to the signal. According to the technical scheme of the invention, angle valves collected by the angular displacement sensor are used as controller input signals and signal acquisition section is wide, so that the defects that the rotation angle of an electronic control handle is small and the controllability of a value element is bad are avoided, the effects of throttling and buffering are realized, and the service life of parts is prolonged.
Description
The invention belongs to the mechanical equipment control field, relate to a kind of stationarity control system, relate in particular to a kind of lifting stationarity control system and dumping car.
Background technology
Quarry tipper is mining trolley, belong to one of mining equipment, being mainly used in mine in the open has been that a kind of non-highway heavy-duty tipper that uses with the Ore Transportation task is peeled off in the rock earthwork, be applicable to all kinds of mines, hydraulic engineering, have the characteristics such as length of run is short, turn radius is little, load is heavy, physical dimension is large.
The lifting of vehicle and discharging are driven and are completed by hydraulic efficiency pressure system, lifting hydraulic system comprises dynamical element: Hydraulic Pump, control element: lifting valve, lifting priority valve etc., power element: hydraulic actuating cylinder, working medium: hydraulic oil, and the hydraulic services such as filter, fil.
Railway carriage is in motion process, because railway carriage and material exist certain speed and inertia, when body lifting to top limit position or while falling to the bottom limit position, easily produce larger shock and vibration, its harm is mainly manifested in two aspects: 1. the service life that has shortened Hydraulic Elements, vehicle frame, railway carriage and railway carriage cushion blocking; 2., owing to producing larger vibration, reduced the operation comfort of chaufeur.Therefore, the hydraulic efficiency impact of necessary elimination lifting end position, the stationarity of raising lifting process.
At present, the method for the alleviation lifting hydraulic efficiency impact of using on mine car has three kinds: design buffer structure in load lifting cylinder, as increasing cushion collar, cutoff port etc. 1.; 2. the end of run in lifting and decline arranges approach switch, with the connection signal of approach switch, as the closing signal of main valve; 3. passing ratio electric control handle human intervention, namely when railway carriage moves near end position, reduce the amplitude of fluctuation of lifting handle in advance.But all there is certain drawback in above method: 1. design buffer structure in load lifting cylinder, strengthened the complexity of load lifting cylinder, and cushion collar taken the lifting stroke, affected the railway carriage angle of overturn, cutoff port affects again the assembling of sliding shaft sleeve; On the other hand,, for the compensation manufacturing errors, prevent from hitting cylinder, load lifting cylinder is equipped with safety travel, and namely after railway carriage fell fully, load lifting cylinder can not be retracted fully, and this will make the buffer structure of descending stroke terminal ineffective.2. the end of run in lifting and decline arranges approach switch, due to chaufeur in actual mechanical process, dump efficiency in order to improve, generally throttle is floored, make railway carriage and material obtain larger speed and inertia, do not wait the main valve plug action, just broken through controlling point, make throttling buffering lose effect; 3. passing ratio electric control handle human intervention, because the lifting handle has four control positioies: " lifting ", " maintenance ", " floating ", " forced landing ", the pivot angle that each position can be distributed is limited, even slightly pull handle, the lifting spool also will obtain larger incoming signal, the poor controllability of spool.
Summary of the invention
In view of this, the angle value that the present invention gathers by angular-motion transducer is as controller input signal, the acquisition of signal interval is wide, avoided the electric control handle rotational angle little, the shortcoming of spool poor controllability, play the effect of throttling buffering, avoided rigid impact violent between parts, improved the service life of parts.
For achieving the above object, concrete technical scheme is as follows:
on the one hand, a kind of lifting stationarity control system is provided, comprise railway carriage, vehicle frame, lifting mechanism, controller and angular-motion transducer, one end and the described vehicle frame of described railway carriage are hinged, one end of described lifting mechanism is connected with described railway carriage, the other end of described lifting mechanism is connected with described vehicle frame, described lifting mechanism elongates or shortens, driving described railway carriage rises or descends with respect to described vehicle frame, described controller is connected with described lifting mechanism, described angular-motion transducer is located on described railway carriage and vehicle frame, described angular-motion transducer is connected with described controller, described angular-motion transducer detects the angular displacement signal of described railway carriage with respect to vehicle frame, and transmit the signal to controller, described controller is controlled the kinematic velocity of described railway carriage by described lifting mechanism according to described signal.
Preferably, described lifting mechanism comprises the load lifting cylinder that is connected successively, the lifting valve that the described load lifting cylinder of control moves and the lifting pilot valves of controlling the valve port opening of described lifting valve, and described controller is connected with described lifting pilot valves.
Preferably, described load lifting cylinder is first-stage cylinder and secondary cylinder, and described first-stage cylinder is plunger case, and described secondary cylinder is piston cylinder.
Preferably, described load lifting cylinder comprises rod chamber and rodless cavity.
Preferably, described lifting valve comprises pilot operated directional control valve, check valve, by pass valve.
Preferably, described pilot operated directional control valve is provided with two actuator ports, and described two actuator ports are connected with rodless cavity with the rod chamber of described load lifting cylinder respectively.
Preferably, described lifting pilot valves comprises two electric proportional pressure-reducing valves that are connected with described controller, also is provided with two guide's hydraulic fluid ports on described pilot operated directional control valve, and described two electric proportional pressure-reducing valves are connected with described pilot operated directional control valve by two described guide's hydraulic fluid ports.
Preferably, also comprise reducing valve and safety valve in described lifting pilot valves.
On the other hand, provide a kind of quarry tipper, comprised lifting stationarity control system as above.
With respect to prior art, the advantage of technical scheme of the present invention has:
When 1, body lifting or decline were near end position, the valve port opening of lifting valve can reduce gradually, played the effect of throttling buffering, had avoided rigid impact violent between parts, had improved the service life of parts;
2, use angle signal that angular-motion transducer gathers as the input of controller, the acquisition of signal interval is wide, and the spool aperture is easy to control, and has avoided the electric control handle rotational angle little, the shortcoming of spool poor controllability;
3, be connected in the piston crank mechanism of vehicle frame between railway carriage, can compensate certain manufacturing errors, be easy to install.
Description of drawings
The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not form improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of the embodiment of the present invention.
Wherein, 1 is that railway carriage, 2 is that vehicle frame, 3 is that lifting mechanism, 4 is that controller, 5 is that angular-motion transducer, 6 is that load lifting cylinder, 7 is that lifting valve, 8 is that lifting pilot valves, 9 is that pilot operated directional control valve, 10 is that check valve, 11 is that by pass valve, 12 is that reducing valve, 13 is that safety valve, 14 is that electric proportional pressure-reducing valve, 15 is piston crank mechanism.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making under the creative work prerequisite the every other embodiment that obtains, belong to the scope of protection of the invention.
Need to prove, in the situation that do not conflict, embodiment and the feature in embodiment in the present invention can make up mutually.
Below with reference to accompanying drawing, embodiments of the invention are done concrete explaination.
A kind of lifting stationarity control system of embodiments of the invention, comprise railway carriage 1, vehicle frame 2, lifting mechanism 3, controller 4 and angular-motion transducer 5 as shown in Figure 1.
One end and the vehicle frame 2 of railway carriage 1 are hinged, and an end of lifting mechanism 3 is connected with railway carriage 1, and the other end of lifting mechanism 3 is connected with vehicle frame 2, and lifting mechanism 3 elongates or shortens, and drive railway carriage 1 and rise or descend with respect to vehicle frame 2.Controller 4 is connected with lifting mechanism 3.Angular-motion transducer 5 is located on railway carriage 1 and vehicle frame 2, and angular-motion transducer 5 is connected with controller 4.
Angular-motion transducer 5 detects the angular displacement signal of railway carriage 1 with respect to vehicle frame 2, and signal is passed to controller 4.Controller 4 is controlled the kinematic velocity of railway carriage 1 by lifting mechanism 3 according to signal.
The angle value that embodiments of the invention gather by angular-motion transducer is as controller input signal, the acquisition of signal interval is wide, avoided the electric control handle rotational angle little, the shortcoming of spool poor controllability, play the effect of throttling buffering, avoid rigid impact violent between parts, improved the service life of parts.
As shown in fig. 1, in an embodiment of the present invention, lifting mechanism 3 comprises the lifting pilot valves 8 of the valve port opening of the load lifting cylinder 6 that is connected successively, the lifting valve 7 of controlling load lifting cylinder 6 actions and control lifting valve 7.Controller 4 is connected with lifting pilot valves 8.Lifting valve 7 is comprised of pilot operated directional control valve 9, check valve 10, by pass valve 11.Lifting pilot valves 8, by reducing valve 12, safety valve 13, is preferably by pass valve and two electric proportional pressure-reducing valves 14 compositions.
Pilot operated directional control valve 9 in lifting valve 7 is three six logical guiding valves, and in order to control the flow direction of fluid in hoisting system, wherein: the P mouth is connected with lifting pump, for hoisting system provides pressure oil; The T mouth is connected with hydraulic reservoir, and the oil return of hoisting system is got back to fuel tank through this mouth; A mouth, B mouth are the actuator port of load lifting cylinder, be connected with rodless cavity with the rod chamber of load lifting cylinder 6 respectively, when the work of the left position of pilot operated directional control valve 9, fluid enters the rod chamber of load lifting cylinder 6 through the A mouth, load lifting cylinder 6 shrinks, and railway carriage 1 descends, when the work of the right position of pilot operated directional control valve 9, fluid enters the rodless cavity of load lifting cylinder 6 through the B mouth, load lifting cylinder 6 elongations, and railway carriage rises; The C mouth is connected with cooling system, and when pilot operated directional control valve 9 meta work, the rod chamber of load lifting cylinder 6 and rodless cavity are all blocked, at this moment, railway carriage 1 is in " maintenance " state, and the fluid that is provided by the P mouth of lifting valve 7 enters cooling system through the C mouth, participates in the cooling work of drg.
A mouth and b mouth are the pilot control hydraulic fluid port of pilot operated directional control valve 9, and when the oil-feed of a mouth, the left position of pilot operated directional control valve 9 is in running order, otherwise anti-, the required top pressure of control port is 3MPa.Check valve 10 in lifting valve 7 plays the effect of protection lifting pump.When the outer load of load lifting cylinder 6 increases suddenly, while causing the recoil of hydraulic efficiency pressure system high pressure, this valve can cut out, and stops shock wave.By pass valve 11 in lifting valve 7 is safety valve, and setting pressure is 18MPa, and during higher than setting value, this valve is opened overflow, the safety of protection system element when system pressure.
Reducing valve 12 in lifting pilot valves 8, setting pressure are 3MPa, its P mouth oil-feed, and internal drainage flows back to fuel tank through inner passage by the T mouth of valve group.Safety valve 13 in lifting pilot valves 8 is preferably by pass valve, and setting pressure is 3.5MPa.Electric proportional pressure-reducing valve 14 in lifting pilot valves 8, the coil resistance of proportion electro-magnet are 8.8 Ω, and maximum controlling current is 1050mA, and when 0～1050mA changed, delivery pressure changed continuously between 0～3MPa when coil current.
Load lifting cylinder 6 is secondary cylinder, and first-stage cylinder is plunger case, and secondary cylinder is piston cylinder; During installation, as shown in fig. 1, piston rod is connected with vehicle frame 2, and cylinder barrel is connected with railway carriage 1.
Angular-motion transducer 5 is preferred to be connected and vehicle frame 2 and railway carriage 1 by piston crank mechanism 15.The stator of angular-motion transducer 5 is fixed in the rear tailstock of vehicle frame 2, and rotor is connected in railway carriage 1 through piston crank mechanism 15.Angular-motion transducer 5 is according to the variation of the lifting angle of railway carriage 1, the analog voltage signal of exportable 0～24V, and this signal directly sends to controller 4.
One end of piston crank mechanism 15 is fixed on the rotor of angular-motion transducer 5, and the other end is fixed on railway carriage 1; " connecting rod " two ends of piston crank mechanism 15 are with the fixing sleeve that can 360 degree rotations of the form of screw thread pair, and are furnished with jam nut, and oscillating bearing is installed in sleeve; The piston crank mechanism of this structure, can compensate certain manufacturing errors, is easy to install.
The workflow of the lifting stationarity control system of the embodiment of the present invention is: by angular-motion transducer 5, gather railway carriage 1 lifting angle value, adjust the pulse amplitude of controller 4 outputs by lifting angular displacement signal value, change the delivery pressure of lifting pilot valves 8 by pulse amplitude, retrain the valve port opening of lifting valve 7 by the delivery pressure of lifting pilot valves 8, control the input flow rate of load lifting cylinder 6 by the valve port opening of lifting valve 7.
Also comprise a kind of dumping car in embodiments of the invention, be provided with lifting stationarity control system described above.Because above-mentioned lifting stationarity control system has above-mentioned technique effect, therefore, the dumping car that is provided with this lifting stationarity control system also should possess corresponding technique effect, and its specific implementation process is similar to the above embodiments, does not hereby repeat.
Above specific embodiments of the invention are described in detail, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and substituting also all among category of the present invention.Therefore, impartial conversion and the modification done without departing from the spirit and scope of the invention, all should contain within the scope of the invention.
Claims (9)
1. lifting stationarity control system, it is characterized in that, comprise railway carriage (1), vehicle frame (2), lifting mechanism (3), controller (4) and angular-motion transducer (5), one end of described railway carriage (1) and described vehicle frame (2) are hinged, one end of described lifting mechanism (3) is connected with described railway carriage (1), the other end of described lifting mechanism (3) is connected with described vehicle frame (2), described lifting mechanism (3) elongates or shortens, driving described railway carriage (1) rises or descends with respect to described vehicle frame (2), described controller (4) is connected with described lifting mechanism (3), described angular-motion transducer (5) is located on described railway carriage (1) and vehicle frame (2), described angular-motion transducer (5) is connected with described controller (4), described angular-motion transducer (5) detects the angular displacement signal of described railway carriage (1) with respect to vehicle frame (2), and transmit the signal to controller (4), described controller (4) is controlled the kinematic velocity of described railway carriage (1) by described lifting mechanism (3) according to described signal.
2. lifting stationarity control system as claimed in claim 1, it is characterized in that, described lifting mechanism (3) comprises the lifting pilot valves (8) of the valve port opening of the load lifting cylinder (6) that is connected successively, the lifting valve (7) of controlling described load lifting cylinder (6) action and the described lifting valve of control (7), and described controller (4) is connected with described lifting pilot valves (8).
3. lifting stationarity control system as claimed in claim 2, is characterized in that, described load lifting cylinder (6) is first-stage cylinder and secondary cylinder, and described first-stage cylinder is plunger case, and described secondary cylinder is piston cylinder.
4. lifting stationarity control system as claimed in claim 2, is characterized in that, described load lifting cylinder (6) comprises rod chamber and rodless cavity.
5. lifting stationarity control system as claimed in claim 2, is characterized in that, described lifting valve (7) comprises pilot operated directional control valve (9), check valve (10), by pass valve (11).
6. lifting stationarity control system as claimed in claim 5, is characterized in that, described pilot operated directional control valve (9) is provided with two actuator ports, and described two actuator ports are connected with rodless cavity with the rod chamber of described load lifting cylinder (6) respectively.
7. lifting stationarity control system as claimed in claim 2, it is characterized in that, described lifting pilot valves (8) comprises two the electric proportional pressure-reducing valves (14) that are connected with described controller (4), also be provided with two guide's hydraulic fluid ports on described pilot operated directional control valve (9), described two electric proportional pressure-reducing valves (14) are connected with described pilot operated directional control valve (9) by two described guide's hydraulic fluid ports.
8. lifting stationarity control system as claimed in claim 7, is characterized in that, also comprises reducing valve (12) and safety valve (13) in described lifting pilot valves (8).
9. a quarry tipper, is characterized in that, comprises lifting stationarity control system as described in claim 1 to 8 any one.
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| CN2013103491744A CN103386914A (en) | 2013-08-12 | 2013-08-12 | Lifting stationarity control system and mining dump truck |
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| CN104129332A (en) * | 2014-07-24 | 2014-11-05 | 三一矿机有限公司 | Lifting control structure and mining dump truck |
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| CN105936232A (en) * | 2015-03-06 | 2016-09-14 | 海沃机械（中国）有限公司 | Method and system for generating a service indicator |
| CN106061792A (en) * | 2014-03-28 | 2016-10-26 | 日立建机株式会社 | Hoist device for dump truck |
| CN106240427A (en) * | 2016-08-11 | 2016-12-21 | 长沙中联恒通机械有限公司 | A kind of overall self-loading and unloading vehicle arm support control system and loading, unloading method |
| CN106314245A (en) * | 2015-06-16 | 2017-01-11 | 陕西重型汽车有限公司 | Auxiliary lifting system of dump truck |
| CN106595725A (en) * | 2016-12-09 | 2017-04-26 | 中国电子科技集团公司第三十八研究所 | Multistage hydraulic antenna lifting mechanism motion stability detection device and detection method thereof |
| CN107588315A (en) * | 2017-09-15 | 2018-01-16 | 内蒙古北方重型汽车股份有限公司 | Mine car hub bearing thin oil lubricant circulating cooling filter |
| CN108312938A (en) * | 2018-04-13 | 2018-07-24 | 徐州徐工矿山机械有限公司 | A kind of quarry tipper hydraulic pressure dumping control system |
| CN111156208A (en) * | 2018-11-08 | 2020-05-15 | 陕西汽车集团有限责任公司 | Unmanned mining vehicle lifting control system and method and mining vehicle |
| CN111452699A (en) * | 2020-04-24 | 2020-07-28 | 东风商用车有限公司 | Electronic control lifting control system and method for dump truck |
| CN112455308A (en) * | 2020-12-08 | 2021-03-09 | 安徽江淮汽车集团股份有限公司 | Dumper lifting device and dumper |
| CN113086026A (en) * | 2019-12-23 | 2021-07-09 | 岳阳市永金起重永磁铁有限公司 | Container tail door sealing mechanism with electromagnet auxiliary device and dumper |
| CN113155506A (en) * | 2021-05-11 | 2021-07-23 | 成都天仁民防科技有限公司 | Detection method for lifting non-stationarity of flood-proof wind booth |
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| CN106061792A (en) * | 2014-03-28 | 2016-10-26 | 日立建机株式会社 | Hoist device for dump truck |
| CN106061792B (en) * | 2014-03-28 | 2018-04-27 | 日立建机株式会社 | The lifting device of dump truck |
| CN104828717A (en) * | 2014-06-18 | 2015-08-12 | 北汽福田汽车股份有限公司 | Hydraulic control system and wheeled crane |
| CN104129332A (en) * | 2014-07-24 | 2014-11-05 | 三一矿机有限公司 | Lifting control structure and mining dump truck |
| CN105936232A (en) * | 2015-03-06 | 2016-09-14 | 海沃机械（中国）有限公司 | Method and system for generating a service indicator |
| CN105936232B (en) * | 2015-03-06 | 2024-04-23 | 海沃机械（中国）有限公司 | Method and system for generating a maintenance indication |
| CN106314245A (en) * | 2015-06-16 | 2017-01-11 | 陕西重型汽车有限公司 | Auxiliary lifting system of dump truck |
| CN106240427A (en) * | 2016-08-11 | 2016-12-21 | 长沙中联恒通机械有限公司 | A kind of overall self-loading and unloading vehicle arm support control system and loading, unloading method |
| CN106595725A (en) * | 2016-12-09 | 2017-04-26 | 中国电子科技集团公司第三十八研究所 | Multistage hydraulic antenna lifting mechanism motion stability detection device and detection method thereof |
| CN107588315A (en) * | 2017-09-15 | 2018-01-16 | 内蒙古北方重型汽车股份有限公司 | Mine car hub bearing thin oil lubricant circulating cooling filter |
| CN108312938B (en) * | 2018-04-13 | 2023-09-12 | 徐州徐工矿山机械有限公司 | Hydraulic dumping control system of mining dump truck |
| CN108312938A (en) * | 2018-04-13 | 2018-07-24 | 徐州徐工矿山机械有限公司 | A kind of quarry tipper hydraulic pressure dumping control system |
| CN111156208A (en) * | 2018-11-08 | 2020-05-15 | 陕西汽车集团有限责任公司 | Unmanned mining vehicle lifting control system and method and mining vehicle |
| CN111156208B (en) * | 2018-11-08 | 2022-07-12 | 陕西汽车集团股份有限公司 | Unmanned mining vehicle lifting control system and method and mining vehicle |
| CN113086026A (en) * | 2019-12-23 | 2021-07-09 | 岳阳市永金起重永磁铁有限公司 | Container tail door sealing mechanism with electromagnet auxiliary device and dumper |
| CN111452699A (en) * | 2020-04-24 | 2020-07-28 | 东风商用车有限公司 | Electronic control lifting control system and method for dump truck |
| CN112455308B (en) * | 2020-12-08 | 2022-03-22 | 安徽江淮汽车集团股份有限公司 | Dumper lifting device and dumper |
| CN112455308A (en) * | 2020-12-08 | 2021-03-09 | 安徽江淮汽车集团股份有限公司 | Dumper lifting device and dumper |
| CN113155506A (en) * | 2021-05-11 | 2021-07-23 | 成都天仁民防科技有限公司 | Detection method for lifting non-stationarity of flood-proof wind booth |
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Effective date of registration: 20151105 Address after: 110000, No. 25, development road, Shenyang economic and Technological Development Zone, Liaoning Applicant after: Sany Heavy Equipment Co.,Ltd. Address before: 215300 18 building, No. 9999 Lake Road, Kunshan Development Zone, Jiangsu, Suzhou Applicant before: Sany Mining Machinery Co., Ltd. |
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