CN112519740A - Man-machine interactive line control brake system and method for coal mine trackless auxiliary transport robot - Google Patents
Man-machine interactive line control brake system and method for coal mine trackless auxiliary transport robot Download PDFInfo
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- CN112519740A CN112519740A CN202011560487.0A CN202011560487A CN112519740A CN 112519740 A CN112519740 A CN 112519740A CN 202011560487 A CN202011560487 A CN 202011560487A CN 112519740 A CN112519740 A CN 112519740A
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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
- B60T13/66—Electrical control in fluid-pressure brake systems
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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
- B60T13/14—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 accumulators or reservoirs fed by pumps
- B60T13/148—Arrangements for pressure supply
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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
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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Abstract
The invention provides a man-machine interactive line-control brake system and a method for a trackless auxiliary transport robot of a coal mine, and belongs to the technical field of brake control of trackless auxiliary transport robots in coal mines. The invention can improve the running safety of the trackless auxiliary transport robot for the coal mine.
Description
Technical Field
The invention belongs to the technical field of brake control of a trackless auxiliary transport robot under a coal mine, and particularly discloses a man-machine interactive line-control brake system and method of a trackless auxiliary transport robot for a coal mine.
Background
The underground trackless auxiliary transportation equipment for the coal mine has the characteristics of high efficiency, multiple purposes, flexibility, advanced technology and the like, is widely applied in foreign countries with advanced coal mining technology, such as America, Australia, British, south Africa and the like, and is rapidly developed. In the middle and later period of the 90 s, in order to change the situation that the coal mine auxiliary transportation mode lags behind the development of the mining technology, large-scale mining areas such as Shendong, Yanzhou, Jincheng and the like are introduced into complete sets of trackless rubber-tyred transportation equipment in sequence, and the trackless rubber-tyred transportation equipment is successfully applied to a horizontal tunnel, a vertical shaft and an inclined shaft, so that the auxiliary transportation and the production efficiency of all mine personnel are obviously improved after the novel auxiliary transportation mode is used.
With the great progress of independent innovation research of coal mining technology and equipment in China, the fields of fully mechanized mining automation technology, fully mechanized excavation series equipment and the like realize great breakthrough, obtain good application effect and economic benefit, enable the coal mining technology and the excavation equipment in China to integrally reach the international advanced level, and realize the automation of the production process of the fully mechanized coal mining face. In recent years, the introduction of the intelligent mine idea particularly makes a sound of new stages of intelligent, informatization and unmanned construction in the coal industry. Meanwhile, the intelligent mine construction also puts forward development requirements of continuity, standardization, intellectualization, less humanization and informatization on the coal mine auxiliary transportation system so as to realize intelligent scheduling and distribution of underground coal mine personnel and materials, automatic installation and withdrawal of fully-mechanized mining face equipment and automatic material guarantee of a fully-mechanized excavation face.
At present, the coal mine auxiliary transportation system is still in a mechanized development stage, is difficult to adapt to the requirements of development of new technologies such as an intelligent fully-mechanized coal mining face and an unmanned tunneling face, and becomes a development bottleneck of intelligent mine construction. The existing trackless auxiliary transportation system is difficult to adapt to the development needs of new technologies such as intelligent fully-mechanized unmanned working faces, unmanned tunneling faces and the like, and needs to develop an intelligent trackless auxiliary transportation system combining the Internet of things and automatic equipment to make up for short boards of intelligent mines. The main problems of the current trackless auxiliary transport system are as follows: the underground coal mine material distribution and delivery system has the advantages that underground coal mine material requirements are various, the transportation workload is large, the transportation randomness is high, the material distribution process is mainly based on a mechanical system, the automation and informatization degrees are low, and the standard is difficult to meet the standard of standardized and intelligentized modern logistics; secondly, the underground transportation equipment mainly has explosion-proof diesel engine power, the energy consumption of the system is high, the pollution of vehicle tail gas and noise is serious, and the physical and psychological health of related employees is seriously threatened; the auxiliary transportation equipment is subject to the underground explosion-proof requirement, the electrification and informatization degrees are generally low, mechanical and hydraulic systems are mainly used, the system is complicated, the links are more, the pipelines are densely distributed, the reliability is low, and the maintenance amount is large; and fourthly, the main transportation equipment mainly takes driving operation and manual scheduling of a driver, the automation degree is low, and the requirement of less humanization is difficult to realize.
The brake-by-wire system is an assembly of all components which are braked by wire or kept in place, and is an important guarantee for the safe operation of the trackless auxiliary transportation robot for the coal mine. The coal mine trackless auxiliary transport robot breaks through a manual control brake system operated by a former driver, and uses a wire control CAN bus to remotely control the brake system, so that once the brake system of the coal mine trackless auxiliary transport robot fails, serious coal mine accidents and property loss are often caused. Therefore, the brake performance of the brake-by-wire system of the trackless auxiliary transportation robot for the coal mine is an important factor for restricting the development of auxiliary transportation of the mine.
Disclosure of Invention
The invention aims to provide a man-machine interactive line control brake system and a man-machine interactive line control brake method for a trackless auxiliary transport robot for a coal mine, which are used for improving the running safety of the trackless auxiliary transport robot for the coal mine.
In order to achieve the purpose, the invention provides a man-machine interactive line control brake system of a trackless auxiliary transport robot for a coal mine, which comprises a hydraulic pump, a two-way liquid charging valve, a brake energy accumulator I, a brake energy accumulator II, a brake energy accumulator III, a pedal brake valve, a pressure reducing valve, a parking normally-open ball valve, an electric control proportional pressure reducing valve I, an electric control proportional pressure reducing valve II, a manual brake valve, a hydraulic control pressure self-adaptive selection valve I, a hydraulic control pressure self-adaptive selection valve II, a hydraulic control pressure self-adaptive selection valve III, a front axle wheel side brake, a rear axle wheel side brake, a parking brake and a hydraulic oil tank, wherein the hydraulic pump is connected with the; the hydraulic oil tank provides hydraulic oil for the hydraulic oil pump; the hydraulic pump provides high-pressure hydraulic oil for the two-way liquid filling valve; the port A1, the port A2 and the port SW of the two-way liquid charging valve are respectively connected with a braking energy accumulator I, a braking energy accumulator II and a braking energy accumulator III; an oil path is led out between the two-way liquid charging valve and the brake accumulator I and is respectively connected with a ZDP1 port of the foot brake valve and a JYP1 port of the electric control proportional pressure reducing valve I, a ZDA1 port of the foot brake valve and a JYA1 port of the electric control proportional pressure reducing valve I are respectively connected with an XZB1 port and an XZA1 port of the hydraulic control pressure self-adaptive selector valve I, and an XZC1 port of the hydraulic control pressure self-adaptive selector valve I is connected with a front axle wheel brake; an oil path is led out between the two-way liquid charging valve and the brake accumulator II and is respectively connected with a ZDP2 port of the foot brake valve and a JYP2 port of the electric control proportional pressure reducing valve II, a ZDA2 port of the foot brake valve and a JYA2 port of the electric control proportional pressure reducing valve II are respectively connected with an XZB2 port and an XZA2 port of the hydraulic control pressure self-adaptive selector valve II, and an XZC2 port of the hydraulic control pressure self-adaptive selector valve II is connected with a rear axle wheel side brake; an oil path is led out between the two-way liquid charging valve and the braking energy accumulator III and is connected with a JYP3 port of the pressure reducing valve, a JYA3 port of the pressure reducing valve is respectively connected with a QFP1 port of the parking normally-open ball valve and an SDP1 port of the manual braking valve, a QFA1 port of the parking normally-open ball valve and an SDA1 port of the manual braking valve are respectively connected with an XZA3 port and an XZB3 port of the hydraulic control pressure self-adaptive selector valve III, and an XZC3 port of the hydraulic control pressure self-adaptive selector valve III is connected with a parking brake; the ZDT1 and ZDT2 ports of the foot brake valve, the QFT1 port of the parking normally open ball valve and the SDT1 port of the manual brake valve are connected back to the hydraulic oil tank; the front axle wheel-side brake and the rear axle wheel-side brake are hydraulic braking and spring releasing brakes, and the parking brake is spring braking and hydraulic releasing brakes.
Furthermore, the man-machine interactive line control brake system of the trackless auxiliary transportation robot for the coal mine further comprises a hand pump, wherein an S1 port of the hand pump is connected with a hydraulic oil tank, and a P2 port of the hand pump is connected with a two-way liquid filling valve.
Furthermore, the man-machine interactive line control brake system of the coal mine trackless auxiliary transport robot also comprises a safety valve group; the port 1 of the safety valve group is connected with the port P of the hydraulic pump, the port 3 is connected with the connecting point of the two-way liquid charging valve and the hand pump, the port 4 is connected with the hydraulic oil tank, the port 1 is communicated with the port 3, and the port 1 is connected with the port 4 through the safety valve.
Furthermore, 2 ports of the safety valve group are communicated with 1 port, and 2 ports are connected with a pressure gauge I.
Furthermore, a low-pressure alarm switch is connected between the SW port of the two-way liquid charging valve and the connection point of the brake accumulator III and the pressure reducing valve.
Furthermore, an oil way is led out between the two-way liquid charging valve and the braking energy accumulator I and is connected with a pressure gauge II.
The invention also provides a parking brake releasing method of the trackless auxiliary transport robot for the coal mine, which is implemented based on the man-machine interactive line control brake system of the trackless auxiliary transport robot for the coal mine and comprises two methods:
the method I comprises the following steps: the parking normally-open ball valve is electrified and reversed, a QFP1 port of the parking normally-open ball valve is communicated with a QFA1 port, high-pressure hydraulic oil in a brake accumulator III is decompressed to a set pressure value through a pressure reducing valve, and then reaches the QFA1 port through a QFP1 port of the parking normally-open ball valve and then reaches an XZA3 port of a hydraulic control pressure self-adaptive selection valve III, an XZA3 port of the hydraulic control pressure self-adaptive selection valve III is compared with an XZB3 port, the oil pressure of the XZA3 port is higher than that of the XZB3 port, at the moment, an XZA3 port of the hydraulic control pressure self-adaptive selection valve III is communicated with an XZC3 port, the high-pressure hydraulic oil reaches a parking brake through an XZC3 port of the hydraulic control pressure self-adaptive selection valve III, and the parking brake;
and a method II: the high-pressure hydraulic oil in the brake accumulator III is decompressed to a set pressure value through a pressure reducing valve and then reaches an SDP1 port of a manual brake valve, a driver manually presses down a handle for operating the manual brake valve to change the direction of the valve, the SDP1 port of the manual brake valve is communicated with an SDA1, the high-pressure hydraulic oil reaches an XZB3 port of a hydraulic pressure self-adaptive selector valve III, the XZA3 port of the hydraulic pressure self-adaptive selector valve III is compared with an XZB3 port, the oil pressure at the XZB3 port is higher than that at an XZA3 port, the XZB3 port of the hydraulic pressure self-adaptive selector valve III is communicated with an XZC3 port at the moment, the high-pressure hydraulic oil reaches a parking brake through an XZC3 port of the hydraulic pressure self-adaptive selector valve III, and the parking brake is released under the action.
The invention also provides a parking braking method of the trackless auxiliary transport robot for the coal mine, which is implemented based on the man-machine interactive line-control braking system of the trackless auxiliary transport robot for the coal mine and comprises two methods:
the method I comprises the following steps: the parking normally-open ball valve is switched in a power-off mode, a QFA1 port of the parking normally-open ball valve is communicated with a QFT1 port, high-pressure hydraulic oil of the parking brake flows to an XZC3 port of the hydraulic control pressure self-adaptive selection valve III under the action of spring force, reaches a QFA1 port and a QFT1 port of the parking normally-open ball valve through an XZA3 port of the hydraulic control pressure self-adaptive selection valve III, returns to a hydraulic oil tank, and brakes the vehicle under the action of the spring;
and a method II: a driver manually lifts a handle for operating the manual brake valve to change the direction of the valve, an SDA1 port of the manual brake valve is communicated with an SDT1 port, high-pressure hydraulic oil of the parking brake flows from the parking brake to an XZC3 port of the hydraulic control pressure self-adaptive selection valve III under the action of spring force, then flows to an SDA1 port and an SDT1 port of the manual brake valve through an XZB3 port of the hydraulic control pressure self-adaptive selection valve III and returns to a hydraulic oil tank, and the parking brake brakes the vehicle under the action of a spring.
The invention also provides a driving deceleration or driving braking method of the coal mine trackless auxiliary transport robot, which is implemented by a man-machine interactive line-control braking system based on the coal mine trackless auxiliary transport robot and comprises two methods:
the method I comprises the following steps: the electric control proportional pressure reducing valve I and the electric control proportional pressure reducing valve II are electrified, a JYP1 port and a JYA1 port of the electric control proportional pressure reducing valve I are communicated, a JYP2 port and a JYA2 port of the electric control proportional pressure reducing valve II are communicated, and two paths of high-pressure hydraulic oil provided by the brake accumulator I and the brake accumulator II are respectively decompressed to a set pressure value through the electric control proportional pressure reducing valve I and the electric control proportional pressure reducing valve II; the hydraulic oil passing through the electric control proportional pressure reducing valve I reaches an XZA1 port of the hydraulic control pressure self-adaptive selector valve I, an XZA1 port of the hydraulic control pressure self-adaptive selector valve I is compared with an XZB1 port, the oil pressure at the XZA1 port is higher than that at the XZB1 port, at the moment, an XZA1 port of the hydraulic control pressure self-adaptive selector valve I is communicated with an XZC1 port, the high-pressure hydraulic oil reaches a front axle wheel brake through an XZC1 port of the hydraulic control pressure self-adaptive selector valve I to overcome the spring force, and front axle wheel braking is realized; the hydraulic oil reaches an XZB2 port of a hydraulic control pressure self-adaptive selector valve II through an electric control proportional pressure reducing valve II, an XZA2 port of the hydraulic control pressure self-adaptive selector valve II is compared with an XZB2 port, the oil pressure at the XZB2 port is higher than that at the XZA2 port, an XZB2 port of a hydraulic control pressure self-adaptive selector valve II 19 is communicated with an XZC2 port at the moment, and the high-pressure hydraulic oil reaches a rear axle wheel side brake through an XZC2 port of the hydraulic control pressure self-adaptive selector valve II to overcome the spring force so as to realize rear axle wheel side braking;
and a method II: the driver pedals a brake pedal of the foot brake valve, and the opening ZDP1 of the foot brake valve is communicated with the opening ZDA1, the opening ZDP2 and the opening ZDA2 in a linear proportional manner according to the stepping angle of the brake pedal; high-pressure oil of a brake accumulator I reaches a ZDP1 port of a foot brake valve, the high-pressure oil reaches an XZB1 port of a hydraulic pressure self-adaptive selector valve I from a ZDA1 port of the foot brake valve after pressure reduction, the XZB1 port of the hydraulic pressure self-adaptive selector valve I is compared with the XZB1 port, the oil pressure at the XZB1 port is higher than the oil pressure at the XZA1 port, the XZB1 port and the XZC1 port of the hydraulic pressure self-adaptive selector valve I are communicated at the moment, the high-pressure hydraulic oil reaches a front axle wheel brake through an XZC1 port of the hydraulic pressure self-adaptive selector valve I to overcome the spring force, and front axle wheel braking is realized; high-pressure oil of a brake accumulator II reaches a ZDP2 port of a foot brake valve, the high-pressure oil reaches an XZA2 port of a hydraulic control pressure self-adaptive selector valve II from a ZDA2 port of the foot brake valve after pressure reduction, an XZA2 port of the hydraulic control pressure self-adaptive selector valve II 19 is compared with an XZB2 port, the oil pressure at the XZA2 port is higher than that at an XZB2 port, the XZA2 port and the XZC2 port of the hydraulic control pressure self-adaptive selector valve II are communicated at the moment, the high-pressure hydraulic oil reaches a rear axle wheel brake through an XZC2 port of the hydraulic control pressure self-adaptive selector valve II to overcome the spring force, and the rear axle wheel side brake is realized.
The invention has the following beneficial effects:
the invention relates to a line-control brake system of a coal mine trackless auxiliary transport robot, which combines the Internet of things and automatic equipment, provides a feasible scheme for intelligently and remotely controlling a safety brake system of the coal mine trackless auxiliary transport robot, can realize personnel driving control and a line-control automatic control mode of the coal mine trackless auxiliary transport robot brake system, and realizes man-machine interactive line-control brake of the coal mine trackless auxiliary transport robot.
Drawings
Fig. 1 is a schematic diagram of a man-machine interactive brake-by-wire system of a trackless auxiliary transport robot for a coal mine.
Wherein, the names corresponding to the reference numbers are:
1-an oil absorption filter, 2-a hydraulic pump, 3-a safety valve group, 4-a pressure gauge I, 5-a two-way liquid filling valve, 6-a low-pressure alarm switch, 7-a pressure gauge II, 8-a brake accumulator I, 9-a brake accumulator II, 10-a brake accumulator III, 11-a hand pump, 12-a foot brake valve, 13-a pressure reducing valve, 14-a parking normally open ball valve, 15-an electronic control proportional pressure reducing valve I, 16-an electronic control proportional pressure reducing valve II, 17-a manual brake valve, 18-a hydraulic control pressure self-adaptive selection valve I, 19-a hydraulic control pressure self-adaptive selection valve II, 20-a hydraulic control pressure self-adaptive selection valve III, 21-a front axle wheel side brake, 22-a rear axle wheel side brake, 23-a parking brake and 24-a hydraulic oil tank.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides a colliery trackless auxiliary transport robot's human-computer interaction formula drive-by-wire braking system, includes: the hydraulic brake system comprises an oil absorption filter 1, a hydraulic pump 2, a safety valve group 3, a pressure gauge I4, a two-way liquid charging valve 5, a low-pressure alarm switch 6, a pressure gauge II 7, a brake energy accumulator I8, a brake energy accumulator II 9, a brake energy accumulator III 10, a hand pump 11, a foot brake valve 12, a pressure reducing valve 13, a parking normally-open ball valve 14, an electronic control proportional pressure reducing valve I15, an electronic control proportional pressure reducing valve II 16, a manual brake valve 17, a hydraulic control pressure self-adaptive selection valve I18, a hydraulic control pressure self-adaptive selection valve II 19, a hydraulic control pressure self-adaptive selection valve III 20, a front axle wheel side brake 21, a rear axle wheel side brake 22, a parking brake 23 and a hydraulic oil tank 24. The hydraulic brake system comprises a foot brake valve 12, a pressure reducing valve 13, a parking normally-open ball valve 14, an electronic control proportional pressure reducing valve I15, an electronic control proportional pressure reducing valve II 16, a manual brake valve 17, a hydraulic control pressure self-adaptive selection valve I18, a hydraulic control pressure self-adaptive selection valve II 19, an oil port of a valve is represented by the combination of three-position letters and numbers in a hydraulic control pressure self-adaptive selection valve III 20, the former two-position letters represent the name of the valve, the third-position letter is P, T and respectively represent an oil inlet and an oil return port, and A, B, C represents working oil ports.
An oil inlet (XY 1 port) of the oil absorption filter 1 is connected with a YK2 port of a hydraulic oil tank 24 through a hydraulic rubber pipe, an oil outlet (XY 2 port) of the oil absorption filter is connected with an S port of a hydraulic pump 2 through a hydraulic rubber pipe, a P port of the hydraulic pump 2 is connected with a1 port of a safety valve group 3 through a hydraulic rubber pipe, the 2 port of the safety valve group 3 is connected with a port (YLB 1 port) of a pressure gauge I4 through a pressure measuring hose, the 3 port of the safety valve group 3 is respectively connected with a P1 port of a hand pump 11 and a P0 port of a two-way liquid charging valve 5 through a hydraulic rubber pipe, an S1 port of the hand pump 11 is connected with a YK3 port of the hydraulic oil tank 24 through a hydraulic rubber pipe, the 4 port of the safety valve group 3 is connected with a YK1 port of the hydraulic rubber pipe, an A1 port of the two-way liquid charging valve 5 is connected with a port (XNQ 1 port) of a two-way liquid accumulator I8 through a hydraulic, the ZDP1 port of the foot-operated brake valve 12 and the JYP1 port of the electric control proportional pressure reducing valve I15 are connected between the two-way charging valve 5 and the brake accumulator I8 through a three-way joint and a hydraulic rubber pipe, the A2 port of the two-way charging valve is connected with the interface (XNQ 2 port) of the brake accumulator II 9 through a hydraulic rubber pipe, the ZDP2 port of the foot-operated brake valve 12 and the JYP2 port of the electric control proportional pressure reducing valve II 16 are connected between the two-way charging valve 5 and the brake accumulator II 9 through a three-way joint and a hydraulic rubber pipe, the SW port of the two-way charging valve 5 is connected with the interface (CG 1 port) of the low-pressure alarm switch 6, the ZDT1 port of the foot-operated brake valve 12 is blocked by a choke plug, the ZDT2 port of the foot-operated brake valve 12 is connected to a hydraulic oil tank through a hydraulic rubber pipe, the ZDA1 and ZDA2 ports of the foot-operated brake valve 12 are respectively connected with the XZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZ An XZA1 port of the pressure self-adaptive selector valve I18 and an XZB2 port of the hydraulic pressure self-adaptive selector valve II 19, an XZC1 port of the hydraulic pressure self-adaptive selector valve I18 is connected with interfaces (an XCA1 port and an XCB1 port) of the front axle wheel side brake 21 corresponding to the tires on two sides through a hydraulic rubber hose, an XZC2 port of the hydraulic pressure self-adaptive selector valve II 19 is connected with interfaces (an XCC1 port and an XCD1 port) of the rear axle wheel side brake 22 corresponding to the tires on two sides through a hydraulic rubber hose,
a CG1 port of the low-pressure alarm switch 6 is respectively connected with a port (XNQ 3 port) of a brake accumulator III 10 and a JYP3 port of a pressure reducing valve 13 through a three-way joint and a hydraulic rubber pipe, a JYT3 port of the pressure reducing valve 13 is connected with a YK4 port of a hydraulic oil tank 24 through a hydraulic rubber pipe, a JYA3 port of the pressure reducing valve 13 is respectively connected with a QFP1 port of a parking normally-open ball valve 14 and an SDP1 port of a manual brake valve 17 through a three-way joint and a hydraulic rubber pipe, a QFT1 port of the parking normally-open ball valve 14 and an SDT1 port of the manual brake valve 17 are connected with a YK5 port of the hydraulic oil tank 24 through a three-way joint and a hydraulic rubber pipe, a QFA1 port of the parking normally-open ball valve 14 is connected with an XZA3 port of a hydraulic self-adaptive parking selection valve III 20 through a hydraulic rubber pipe, a SDA1 port of the manual brake valve 17 is connected with an XZB3 port of the hydraulic self-adaptive parking selection valve 20 through a hydraulic rubber pipe, and an X.
The working process of the man-machine interactive brake-by-wire system is as follows.
After the coal mine trackless auxiliary transportation robot is powered on and started, the explosion-proof diesel engine works to drive the hydraulic pump 2 to rotate, the S port of the hydraulic pump 2 enables hydraulic oil to pass through the XY1 port and the XY2 port of the oil absorption filter 1 from the YK2 port of the hydraulic oil tank 24 under the action of siphoning and then to the S port of the hydraulic pump 2, the generated high-pressure hydraulic oil reaches the 1 port of the safety valve group 3 from the P port of the hydraulic pump 2, the first path reaches the 2 port of the safety valve group 3 to display the pressure of the P port at the outlet of the hydraulic pump 2, the second path reaches the P0 port of the double-path liquid filling valve 5 through the 3 port of the safety valve group 3, liquid filling is started for the braking energy accumulator I8, the braking energy accumulator II 9 and the braking energy accumulator III 10 until the liquid filling reaches the liquid filling line under the action of the double-path liquid filling valve 5, the low-pressure alarm switch 6 starts to alarm to prompt that the liquid filling is, the YLB2 mouth of manometer II 7 is connected the XNQ1 mouth of braking energy storage ware I8, shows the pressure condition of braking energy storage ware this moment, and when the oil pressure through relief valve group 3 was higher than the safe value, the relief valve in the relief valve group 3 was opened, was reduced pressure.
(1) When the trackless auxiliary transportation robot for the coal mine is ready to run, the parking brake needs to be released, and two methods can be adopted.
The method I comprises the following steps: the parking normally open ball valve 14 is electrified and reversed, high-pressure hydraulic oil in the brake accumulator III 10 flows out from a port XNQ3, is decompressed to a set pressure value through ports JYP3 and JYA3 of the decompression valve 13, the decompressed hydraulic oil reaches a port QFA1 through a port QFP1 of the parking normally open ball valve 14 and then reaches a port XZA3 of the hydraulic pressure adaptive selection valve III 20, the port XZA3 of the hydraulic pressure adaptive selection valve III 20 is compared with the port XZB3, the oil pressure at the port XZA3 is higher than that at the port XZB3, the port XZA3 and the port XZC3 of the hydraulic pressure adaptive selection valve III 20 are communicated at the moment, the high-pressure hydraulic oil reaches a port ZCA1 of the parking brake 23 through a port XZC3 of the trackless hydraulic pressure adaptive selection valve III 20, and the safety parking brake (spring brake and hydraulic release) releases the brake under the action of the high-pressure hydraulic oil, and the parking auxiliary transportation machine brake function of the parking by wire is released.
And a method II: after the high-pressure hydraulic oil in the brake accumulator III 10 flows out from an opening XNQ3, flows through JYP3 and JYA3 ports of a reducing valve 13 and is reduced to a set pressure value, the reduced-pressure hydraulic oil passes through an SDP1 port of a manual brake valve 17, a driver manually presses down a handle for operating the manual brake valve 17 to change the direction of the valve, the SDP1 port of the manual brake valve 17 is communicated with an SDA1, the high-pressure hydraulic oil reaches an XZB3 port of a hydraulic pressure self-adaptive selection valve III 20, the XZA3 port of the hydraulic pressure self-adaptive selection valve III 20 is compared with the XZB3 port, the oil pressure at the XZB3 port is higher than that at the XZA3 port, at the moment, the XZB3 port of the hydraulic pressure self-adaptive selection valve III 20 is communicated with the XZC3 port, the high-pressure hydraulic oil reaches a ZC1 port of a brake 23 through an XZC3 port of the hydraulic pressure self-adaptive selection valve III 20, and the hydraulic oil (spring parking brake and hydraulic release).
(2) When the trackless auxiliary transportation robot for the coal mine stops and needs parking braking, two methods can be adopted.
The method I comprises the following steps: the parking normally-open ball valve 14 is powered off and reversed, so that a QFA1 port of the parking normally-open ball valve 14 is communicated with a QFT1 port, a QFT1 port of the parking normally-open ball valve 14 is communicated with a YK5 port of a hydraulic oil tank 24, high-pressure hydraulic oil of the parking brake 23 flows from a ZCA1 port of the parking brake 23 to an XZC3 port of a hydraulic pressure adaptive selection valve III 20 under the action of spring force, then flows to a QFA1 port and a QFT1 port of the parking normally-open ball valve 14 through an XZA3 port of the hydraulic pressure adaptive selection valve III 20, returns to the hydraulic oil tank 24 through a YK5 port of the hydraulic oil tank 24, and is braked by a vehicle under the action of a spring by a safety parking brake (spring brake and hydraulic release), and at the moment, the parking brake function of the line-controlled coal.
And a method II: the driver lifts up the handle of the manual brake valve 17 manually to change the direction of the valve, so that the SDA1 port of the oil port of the manual brake valve 17 is communicated with the SDT1 port, the SDT1 port of the manual brake valve 17 is communicated with the YK5 port of the hydraulic oil tank 24, the high-pressure hydraulic oil of the parking brake 23 flows from the ZCA1 port of the parking brake 23 to the XZC3 port of the hydraulic pressure self-adaptive selection valve III 20 under the action of the spring force, then flows through the XZB3 port of the hydraulic pressure self-adaptive selection valve III 20 to the SDA1 port and the SDT1 port of the manual brake valve 17, returns to the hydraulic oil tank 24 through the YK5 port of the hydraulic oil tank 24, and the vehicle brake is realized under the action of the spring by the safe parking brake (spring brake and hydraulic release).
(3) When the trackless auxiliary transportation robot for the coal mine needs to decelerate or brake, two methods can be adopted. The service brake at the wheel side of the axle is an oil supply type brake (hydraulic brake and spring release).
The method I comprises the following steps: the electric control proportional pressure reducing valve I15 and the electric control proportional pressure reducing valve II 16 are electrified, so that an oil port JYP1 port and a JYA1 port of the electric control proportional pressure reducing valve I15 are communicated, an oil port JYP2 port and a JYA2 port of the electric control proportional pressure reducing valve II 16 are communicated, and two paths of high-pressure hydraulic oil are decompressed through the electric control proportional pressure reducing valve I15 and the electric control proportional pressure reducing valve II 16 respectively according to set pressure values; one path of decompressed high-pressure hydraulic oil reaches an XZA1 port of a hydraulic control pressure self-adaptive selector valve I18 from an oil port JYP1 port and an oil port JYA1 port of an electric control proportional pressure reducing valve I15, the XZA1 port of the hydraulic control pressure self-adaptive selector valve I18 is compared with an XZB1 port, the oil pressure at the XZA1 port is higher than that at an XZB1 port, the XZA1 port and the XZC1 port of the hydraulic control pressure self-adaptive selector valve I18 are communicated at the moment, the high-pressure hydraulic oil reaches an XCA1 port and an XCB1 port of a front axle wheel brake 21 through an XZC1 port of the hydraulic control pressure self-adaptive selector valve I18, and the front axle wheel side brake is realized by overcoming the spring force of the high-; meanwhile, the other path of decompressed high-pressure hydraulic oil reaches an XZB2 port of a hydraulic pressure self-adaptive selector valve II 19 from oil ports JYP2 and JYA2 of an electric control proportional pressure reducing valve II 16, the oil pressure at an XZB2 port is higher than the oil pressure at an XZA2 port by comparing the XZA2 port of the hydraulic pressure self-adaptive selector valve II 19 with the XZB2 port, the XZB2 port and the XZC2 port of the hydraulic pressure self-adaptive selector valve II 19 are communicated at the moment, the high-pressure hydraulic oil reaches XCC1 ports and XCD1 ports of a rear axle wheel-side brake 22 through an XZC2 port of the hydraulic pressure self-adaptive selector valve II 19, and the high-pressure hydraulic oil overcomes the spring force to realize rear axle wheel-side braking; at the moment, the running deceleration or braking function of the wire-controlled coal mine trackless auxiliary transport robot is realized.
And a method II: when a driver steps on a brake pedal of the foot brake valve 12, the ZDP1 port of the foot brake valve 12 is communicated with the ZDA1 port, and the ZDP2 port is communicated with the ZDA2 port in a linear proportion mode according to the stepping angle of the brake pedal; one path of high-pressure oil reaches a ZDP1 port of the foot brake valve 12 from an XNQ1 port of a brake accumulator I8, the high-pressure oil reaches an XZB1 port of a hydraulic pressure self-adaptive selector valve I18 from a ZDA1 port of the foot brake valve 12 after being decompressed, the XZB1 port of the hydraulic pressure self-adaptive selector valve I18 is compared with an XZB1 port, the oil pressure at the XZB1 port is higher than that at the XZA1 port, the XZB1 port and the XZC1 port of the hydraulic pressure self-adaptive selector valve I18 are communicated at the moment, the high-pressure hydraulic oil reaches an XCA1 port and an XCB1 port of a front axle wheel brake 21 through the XZC1 port of the hydraulic pressure self-adaptive selector valve I18, and the high-pressure hydraulic oil overcomes the spring force to realize front axle wheel side braking; meanwhile, the other path of high-pressure oil reaches a ZDP2 port of the foot brake valve 12 from a XNQ2 port of the brake accumulator II 9, the pressure is reduced and then reaches an XZA2 port of the hydraulic pressure self-adaptive selector valve II 19 from a ZDA2 port of the foot brake valve 12, the XZA2 port of the hydraulic pressure self-adaptive selector valve II 19 is compared with the XZB2 port, the oil pressure at the XZA2 port is higher than that at an XZB2 port, the XZA2 port of the hydraulic pressure self-adaptive selector valve II 19 is communicated with the XZC2 port at the moment, the high-pressure hydraulic oil reaches an XCC1 port and an XCD1 port of the rear axle wheel brake 22 through an XZC2 port of the hydraulic pressure self-adaptive selector valve II 19, and the high-pressure hydraulic oil overcomes the spring force to realize the rear axle wheel brake.
When the hydraulic pump 2 fails and cannot be used, the hand pump 11 is used for pumping hydraulic oil.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A man-machine interactive line control brake system of a trackless auxiliary transport robot for a coal mine is characterized by comprising a hydraulic pump, a two-way liquid charging valve, a brake energy accumulator I, a brake energy accumulator II, a brake energy accumulator III, a pedal brake valve, a pressure reducing valve, a parking normally open ball valve, an electric control proportional pressure reducing valve I, an electric control proportional pressure reducing valve II, a manual brake valve, a hydraulic control pressure self-adaptive selection valve I, a hydraulic control pressure self-adaptive selection valve II, a hydraulic control pressure self-adaptive selection valve III, a front axle wheel side brake, a rear axle wheel side brake, a parking brake and a hydraulic oil tank;
the hydraulic oil tank provides hydraulic oil for the hydraulic oil pump;
the hydraulic pump provides high-pressure hydraulic oil for the two-way liquid filling valve;
the port A1, the port A2 and the port SW of the two-way liquid charging valve are respectively connected with a braking energy accumulator I, a braking energy accumulator II and a braking energy accumulator III;
an oil path is led out between the two-way liquid charging valve and the brake accumulator I and is respectively connected with a ZDP1 port of the foot brake valve and a JYP1 port of the electric control proportional pressure reducing valve I, a ZDA1 port of the foot brake valve and a JYA1 port of the electric control proportional pressure reducing valve I are respectively connected with an XZB1 port and an XZA1 port of the hydraulic control pressure self-adaptive selector valve I, and an XZC1 port of the hydraulic control pressure self-adaptive selector valve I is connected with a front axle wheel brake;
an oil path is led out between the two-way liquid charging valve and the brake accumulator II and is respectively connected with a ZDP2 port of the foot brake valve and a JYP2 port of the electric control proportional pressure reducing valve II, a ZDA2 port of the foot brake valve and a JYA2 port of the electric control proportional pressure reducing valve II are respectively connected with an XZB2 port and an XZA2 port of the hydraulic control pressure self-adaptive selector valve II, and an XZC2 port of the hydraulic control pressure self-adaptive selector valve II is connected with a rear axle wheel side brake;
an oil path is led out between the two-way liquid charging valve and the braking energy accumulator III and is connected with a JYP3 port of the pressure reducing valve, a JYA3 port of the pressure reducing valve is respectively connected with a QFP1 port of the parking normally-open ball valve and an SDP1 port of the manual braking valve, a QFA1 port of the parking normally-open ball valve and an SDA1 port of the manual braking valve are respectively connected with an XZA3 port and an XZB3 port of the hydraulic control pressure self-adaptive selector valve III, and an XZC3 port of the hydraulic control pressure self-adaptive selector valve III is connected with a parking brake;
the ZDT1 and ZDT2 ports of the foot brake valve, the QFT1 port of the parking normally open ball valve and the SDT1 port of the manual brake valve are connected back to the hydraulic oil tank;
the front axle wheel-side brake and the rear axle wheel-side brake are hydraulic braking and spring releasing brakes, and the parking brake is spring braking and hydraulic releasing brakes.
2. The human-computer interactive brake-by-wire system of the coal mine trackless auxiliary transport robot of claim 1, further comprising a hand pump, wherein an S1 port of the hand pump is connected with a hydraulic oil tank, and a P2 port of the hand pump is connected with a two-way liquid filling valve.
3. The human-computer interactive brake-by-wire system of the coal mine trackless auxiliary transport robot of claim 2, further comprising a safety valve bank;
the port 1 of the safety valve group is connected with the port P of the hydraulic pump, the port 3 is connected with the connecting point of the two-way liquid charging valve and the hand pump, the port 4 is connected with the hydraulic oil tank, the port 1 is communicated with the port 3, and the port 1 is connected with the port 4 through the safety valve.
4. The human-computer interactive line control brake system of the coal mine trackless auxiliary transport robot as claimed in claim 3, wherein 2 ports of the safety valve set are communicated with 1 port, and 2 ports are connected with a pressure gauge I.
5. The human-computer interactive line control brake system of the coal mine trackless auxiliary transport robot as claimed in claim 4, wherein a low-pressure alarm switch is connected between the SW port of the two-way liquid charging valve and the connection point of the brake accumulator III and the pressure reducing valve.
6. The human-computer interaction type line control brake system of the coal mine trackless auxiliary transport robot is characterized in that an oil way led out between the two-way liquid charging valve and the brake accumulator I is connected with a pressure gauge II.
7. A parking brake releasing method for a trackless auxiliary transport robot for a coal mine is characterized in that the parking brake releasing method is implemented based on the man-machine interactive line control brake system of the trackless auxiliary transport robot for the coal mine according to any one of claims 1 to 6, and comprises two methods:
the method I comprises the following steps: the parking normally-open ball valve is electrified and reversed, a QFP1 port of the parking normally-open ball valve is communicated with a QFA1 port, high-pressure hydraulic oil in a brake accumulator III is decompressed to a set pressure value through a pressure reducing valve, and then reaches the QFA1 port through a QFP1 port of the parking normally-open ball valve and then reaches an XZA3 port of a hydraulic control pressure self-adaptive selection valve III, an XZA3 port of the hydraulic control pressure self-adaptive selection valve III is compared with an XZB3 port, the oil pressure of the XZA3 port is higher than that of the XZB3 port, at the moment, an XZA3 port of the hydraulic control pressure self-adaptive selection valve III is communicated with an XZC3 port, the high-pressure hydraulic oil reaches a parking brake through an XZC3 port of the hydraulic control pressure self-adaptive selection valve III, and the parking brake;
and a method II: the high-pressure hydraulic oil in the brake accumulator III is decompressed to a set pressure value through a pressure reducing valve and then reaches an SDP1 port of a manual brake valve, a driver manually presses down a handle for operating the manual brake valve to change the direction of the valve, the SDP1 port of the manual brake valve is communicated with an SDA1, the high-pressure hydraulic oil reaches an XZB3 port of a hydraulic pressure self-adaptive selector valve III, the XZA3 port of the hydraulic pressure self-adaptive selector valve III is compared with an XZB3 port, the oil pressure at the XZB3 port is higher than that at an XZA3 port, the XZB3 port of the hydraulic pressure self-adaptive selector valve III is communicated with an XZC3 port at the moment, the high-pressure hydraulic oil reaches a parking brake through an XZC3 port of the hydraulic pressure self-adaptive selector valve III, and the parking brake is released under the action.
8. A parking braking method of a coal mine trackless auxiliary transport robot is characterized in that the implementation of a man-machine interactive line control braking system of the coal mine trackless auxiliary transport robot based on any one of claims 1 to 6 comprises two methods:
the method I comprises the following steps: the parking normally-open ball valve is switched in a power-off mode, a QFA1 port of the parking normally-open ball valve is communicated with a QFT1 port, high-pressure hydraulic oil of the parking brake flows to an XZC3 port of the hydraulic control pressure self-adaptive selection valve III under the action of spring force, reaches a QFA1 port and a QFT1 port of the parking normally-open ball valve through an XZA3 port of the hydraulic control pressure self-adaptive selection valve III, returns to a hydraulic oil tank, and brakes the vehicle under the action of the spring;
and a method II: a driver manually lifts a handle for operating the manual brake valve to change the direction of the valve, an SDA1 port of the manual brake valve is communicated with an SDT1 port, high-pressure hydraulic oil of the parking brake flows from the parking brake to an XZC3 port of the hydraulic control pressure self-adaptive selection valve III under the action of spring force, then flows to an SDA1 port and an SDT1 port of the manual brake valve through an XZB3 port of the hydraulic control pressure self-adaptive selection valve III and returns to a hydraulic oil tank, and the parking brake brakes the vehicle under the action of a spring.
9. A driving deceleration or driving braking method of a coal mine trackless auxiliary transport robot is characterized in that the implementation of a man-machine interactive line-control braking system of the coal mine trackless auxiliary transport robot based on any one of claims 1 to 6 comprises two methods:
the method I comprises the following steps: the electric control proportional pressure reducing valve I and the electric control proportional pressure reducing valve II are electrified, a JYP1 port and a JYA1 port of the electric control proportional pressure reducing valve I are communicated, a JYP2 port and a JYA2 port of the electric control proportional pressure reducing valve II are communicated, and two paths of high-pressure hydraulic oil provided by the brake accumulator I and the brake accumulator II are respectively decompressed to a set pressure value through the electric control proportional pressure reducing valve I and the electric control proportional pressure reducing valve II; the hydraulic oil passing through the electric control proportional pressure reducing valve I reaches an XZA1 port of the hydraulic control pressure self-adaptive selector valve I, an XZA1 port of the hydraulic control pressure self-adaptive selector valve I is compared with an XZB1 port, the oil pressure at the XZA1 port is higher than that at the XZB1 port, at the moment, an XZA1 port of the hydraulic control pressure self-adaptive selector valve I is communicated with an XZC1 port, the high-pressure hydraulic oil reaches a front axle wheel brake through an XZC1 port of the hydraulic control pressure self-adaptive selector valve I to overcome the spring force, and front axle wheel braking is realized; the hydraulic oil reaches an XZB2 port of a hydraulic control pressure self-adaptive selector valve II through an electric control proportional pressure reducing valve II, an XZA2 port of the hydraulic control pressure self-adaptive selector valve II is compared with an XZB2 port, the oil pressure at the XZB2 port is higher than that at the XZA2 port, an XZB2 port of a hydraulic control pressure self-adaptive selector valve II 19 is communicated with an XZC2 port at the moment, and the high-pressure hydraulic oil reaches a rear axle wheel side brake through an XZC2 port of the hydraulic control pressure self-adaptive selector valve II to overcome the spring force so as to realize rear axle wheel side braking;
and a method II: the driver pedals a brake pedal of the foot brake valve, and the opening ZDP1 of the foot brake valve is communicated with the opening ZDA1, the opening ZDP2 and the opening ZDA2 in a linear proportional manner according to the stepping angle of the brake pedal; high-pressure oil of a brake accumulator I reaches a ZDP1 port of a foot brake valve, the high-pressure oil reaches an XZB1 port of a hydraulic pressure self-adaptive selector valve I from a ZDA1 port of the foot brake valve after pressure reduction, the XZB1 port of the hydraulic pressure self-adaptive selector valve I is compared with the XZB1 port, the oil pressure at the XZB1 port is higher than the oil pressure at the XZA1 port, the XZB1 port and the XZC1 port of the hydraulic pressure self-adaptive selector valve I are communicated at the moment, the high-pressure hydraulic oil reaches a front axle wheel brake through an XZC1 port of the hydraulic pressure self-adaptive selector valve I to overcome the spring force, and front axle wheel braking is realized; high-pressure oil of a brake accumulator II reaches a ZDP2 port of a foot brake valve, the high-pressure oil reaches an XZA2 port of a hydraulic control pressure self-adaptive selector valve II from a ZDA2 port of the foot brake valve after pressure reduction, an XZA2 port of the hydraulic control pressure self-adaptive selector valve II 19 is compared with an XZB2 port, the oil pressure at the XZA2 port is higher than that at an XZB2 port, the XZA2 port and the XZC2 port of the hydraulic control pressure self-adaptive selector valve II are communicated at the moment, the high-pressure hydraulic oil reaches a rear axle wheel brake through an XZC2 port of the hydraulic control pressure self-adaptive selector valve II to overcome the spring force, and the rear axle wheel side brake is realized.
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