CN112758198A - Tunnel material transporting vehicle - Google Patents

Tunnel material transporting vehicle Download PDF

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Publication number
CN112758198A
CN112758198A CN202011600235.6A CN202011600235A CN112758198A CN 112758198 A CN112758198 A CN 112758198A CN 202011600235 A CN202011600235 A CN 202011600235A CN 112758198 A CN112758198 A CN 112758198A
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matrix
weight
roadway
coefficient
control unit
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CN112758198B (en
Inventor
王永涛
张明鹏
李鹏
程兆辉
陈宜惠
杨朋威
王辉
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Inner Mongolia Huangtaolegai Coal Co ltd
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Inner Mongolia Huangtaolegai Coal Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to a tunnel material transporting vehicle, which comprises an object stage, wherein a gravity sensor is arranged on the object stage; the object stage is arranged on the crawler chassis; the hydraulic motor comprises a first hydraulic motor and a second hydraulic motor, the reduction gearbox comprises a first reduction gearbox and a second reduction gearbox, the first reduction gearbox is connected with the first hydraulic motor, and the second reduction gearbox is connected with the second hydraulic motor; the left wheel is connected with the first reduction gearbox, and the right wheel is connected with the second reduction gearbox; the one-way control valve is respectively connected with the first reduction gearbox and the second reduction gearbox through a first pipeline; the multi-way reversing valve is respectively connected with the first hydraulic motor and the second hydraulic motor through a second pipeline to control the first hydraulic motor and the second hydraulic motor, and the second pipeline is provided with an electromagnetic valve; the material transporting vehicle can adjust the speed according to actual road conditions, effectively improves the transportation efficiency of the material transporting vehicle, and improves the stability and the safety of material transportation.

Description

Tunnel material transporting vehicle
Technical Field
The invention relates to the field of coal mining, in particular to a tunnel material transporting vehicle.
Background
The prior coal mine tunneling working face adopts an advanced tunneling and anchoring integrated machine to operate. The distance between the site support material storage point and the working surface is between 100 and 200 meters, the distance between the road surface and the newly excavated unpaved road surface is difficult for personnel to walk.
The newly excavated non-bottomed road surface is usually uneven, other equipment and material racks are arranged in the roadway besides the rubber belt conveyor, partial space of the roadway is occupied, and the width of the residual roadway is limited.
The existing working face material conveying modes mainly comprise the following two modes: the material is carried to the working face by manpower, the proposal has large number of workers and great labor intensity of workers. According to the current coal mine anti-impact management regulation, the number of people entering the excavation working face in the anti-impact key area range cannot exceed 9, and the scheme cannot meet the current anti-impact management regulation requirement. The diesel power explosion-proof vehicle can be used for transporting materials, and firstly, the road surface condition is poor, the space is insufficient, the explosion-proof vehicle is difficult to operate and cannot reach the nearest distance from a working surface; secondly, the volume of the explosion-proof vehicle is large, so that more workers are in the section, the explosion-proof vehicle has no safe distance to walk, and accidents are easy to happen; thirdly, the explosion-proof vehicle adopting diesel power can cause great environmental pollution and noise pollution to the field.
Disclosure of Invention
Therefore, the invention provides the tunnel material transporting vehicle which can not consume manpower and can transport materials to a specified position.
In order to achieve the above object, the present invention provides a tunnel material transporting vehicle, comprising:
the device comprises an object stage, a weight sensor and a controller, wherein the object stage is provided with the gravity sensor and is used for detecting the weight of materials on the object stage;
the object stage is arranged on the crawler chassis and used for driving the object stage to move together when the crawler chassis moves forwards;
the hydraulic motor comprises a first hydraulic motor and a second hydraulic motor, and the first hydraulic motor and the second hydraulic motor are oppositely arranged and used for driving the crawler chassis;
the reduction gearbox comprises a first reduction gearbox and a second reduction gearbox, the first reduction gearbox is connected with the first hydraulic motor, and the second reduction gearbox is connected with the second hydraulic motor and used for reducing the rotating speed of the driving wheel;
the driving wheel comprises a left wheel and a right wheel, the left wheel is connected with the first reduction gearbox, and the right wheel is connected with the second reduction gearbox;
the one-way control valve is respectively connected with the first reduction gearbox and the second reduction gearbox through a first pipeline and used for controlling the rotating speed of the reduction gearboxes;
the multi-way reversing valve is respectively connected with the first hydraulic motor and the second hydraulic motor through a second pipeline to control the first hydraulic motor and the second hydraulic motor, and an electromagnetic valve is arranged on the second pipeline and used for controlling the oil speed on the second pipeline;
the front end of the objective table is provided with an ultrasonic sensor for detecting the flatness of the road surface in the roadway;
the central control unit is respectively connected with the ultrasonic sensor and the electromagnetic valve and used for adjusting the oil speed on the second pipeline according to the flatness of the road surface in the roadway in the transportation process;
a road flatness matrix P (P1, P2, P3) and an oil speed matrix V (V1, V2, V3, V4) are arranged in the central control unit, wherein P1 represents first flatness, P2 represents second flatness, P3 represents third flatness, P1> P2> P3, V1 represents first oil speed, V2 represents second oil speed, V3 represents third oil speed, V4 represents fourth oil speed, and V1> V2> V3> V4;
when the real-time road flatness Pi detected by the ultrasonic sensor is larger than or equal to a first flatness P1, the central control unit selects a first oil velocity V1 from the oil velocity matrix V (V1, V2, V3 and V4) as the oil velocity on the second pipeline;
when the first flatness P1> the real-time road flatness Pi detected by the ultrasonic sensor is larger than or equal to a second flatness P2, the central control unit selects a second oil velocity V2 from the oil velocity matrix V (V1, V2, V3, V4) as the oil velocity on the second pipeline;
when the second flatness P2> the real-time road flatness Pi detected by the ultrasonic sensor is larger than or equal to a third flatness P3, the central control unit selects a third oil velocity V3 from the oil velocity matrix V (V1, V2, V3, V4) as the oil velocity on the second pipeline;
when the real-time road flatness Pi detected by the ultrasonic sensor is less than the third flatness P3, the central control unit selects a fourth oil velocity V4 from the oil velocity matrix V (V1, V2, V3, V4) as the oil velocity on the second pipeline.
Further, a weight matrix G (G1, G2, G3) and an oil speed adjusting matrix E (E1, E2, E3) are arranged in the central control unit, wherein G1 represents a first weight, G2 represents a second weight, G3 represents a third weight, E1 represents a first adjusting coefficient, E2 represents a second adjusting coefficient, and E3 represents a third adjusting coefficient;
when the weight of the material on the object stage is equal to a first weight G1, the central control unit selects a first adjusting coefficient E1 to adjust the oil speed matrix V (V1, V2, V3 and V4);
when the weight of the material on the object stage is equal to a second weight G2, the central control unit selects a second adjusting coefficient E2 to adjust the oil speed matrix V (V1, V2, V3 and V4);
when the weight of the material on the object stage is equal to a third weight G3, the central control unit selects a third adjusting coefficient E3 to adjust the oil speed matrix V (V1, V2, V3 and V4);
when a first adjusting coefficient E1 is selected to adjust the oil speed matrix V (V1, V2, V3 and V4), the adjusted oil speed matrix is V10(E1 multiplied by V1, E1 multiplied by V2, E1 multiplied by V3 and E1 multiplied by V4);
when a second adjusting coefficient E2 is selected to adjust the oil speed matrix V (V1, V2, V3 and V4), the adjusted oil speed matrix is V20(E2 multiplied by V1, E2 multiplied by V2, E2 multiplied by V3 and E2 multiplied by V4);
when the third adjusting coefficient E3 is selected to adjust the oil speed matrix V (V1, V2, V3 and V4), the adjusted oil speed matrix is V30(E3 multiplied by V1, E3 multiplied by V2, E3 multiplied by V3 and E3 multiplied by V4).
Furthermore, a standard pavement flatness P0 is also arranged in the central control unit, and in the transportation process, when the pavement flatness Pi in a roadway is more than or equal to 1.3 multiplied by the standard pavement flatness P0, the rotation speed V1 of the reduction gearbox is corrected by using a one-way control valve and a first deceleration coefficient k 1;
when the road surface evenness in the roadway is Pi which is more than or equal to 1.2 multiplied by the standard road surface evenness P0, the rotating speed V1 of the reduction gearbox is corrected by using a one-way control valve and a second speed reduction coefficient k 2;
when the road surface evenness in the roadway is Pi which is more than or equal to 1.3 multiplied by the standard road surface evenness P0, the rotating speed V1 of the reduction gearbox is corrected by using a one-way control valve and a third speed reduction coefficient k 3;
when the road surface evenness in the roadway is Pi < the road surface standard evenness P0, the rotating speed of the reduction gearbox does not need to be corrected;
standard flatness of the road surface
Figure BDA0002871136710000031
Further, a roadway depth matrix H (H1, H2, H3, H4) and a weight correction matrix b (b1, b2, b3, b4, b5) are provided in the central control unit, wherein H1 represents a first roadway depth, H2 represents a second roadway depth, H3 represents a third roadway depth, H4 represents a fourth roadway depth, and H1> H2> H3> H4, b1 represents a first correction coefficient, b2 represents a second correction coefficient, b3 represents a third correction coefficient, b4 represents a fourth correction coefficient, b5 represents a fifth correction coefficient,
adjusting a weight matrix G (G1, G2, G3) according to the roadway depth of the roadway material truck,
when the roadway depth Hi of the roadway material transporting vehicle is larger than or equal to the first roadway depth H1, selecting a first correction coefficient b1 from the weight correction matrix b (b1, b2, b3, b4 and b5) to correct the weight matrix G (G1, G2 and G3);
when the first roadway depth H1> the roadway depth where the roadway material truck is located is larger than or equal to the second roadway depth H2, selecting a second correction coefficient b2 from the weight correction matrix b (b1, b2, b3, b4 and b5) to correct the weight matrix G (G1, G2 and G3);
when the second roadway depth H2> the roadway depth where the roadway material truck is located is not less than the third roadway depth H3, selecting a third correction coefficient b3 from the weight correction matrix b (b1, b2, b3, b4, b5) to correct the weight matrix G (G1, G2, G3);
when the third roadway depth H3> the roadway depth where the roadway material truck is located is not less than the fourth roadway depth H4, selecting a fourth correction coefficient b4 from the weight correction matrix b (b1, b2, b3, b4, b5) to correct the weight matrix G (G1, G2, G3);
and when the roadway depth where the roadway material transporting vehicle is located is less than the fourth roadway depth H4, selecting a fifth correction coefficient b5 from the weight correction matrix b (b1, b2, b3, b4, b5) to correct the weight matrix G (G1, G2, G3).
Further, when the weight matrix G (G1, G2 and G3) is corrected by adopting a first correction coefficient b1, detecting the real-time impact force of the driving wheel to the roadway, and if the real-time impact force F of the driving wheel to the roadway is larger than or equal to a preset standard impact force F0, reducing the weight of the material on the objective table;
if the real-time impact force F of the driving wheel to the roadway is less than 0.9 multiplied by the preset standard impact force F0, the weight of the material on the objective table is increased to the first preset standard weight G11;
if the real-time impact force F of the driving wheel to the roadway is less than 0.8 multiplied by the preset standard impact force F0, the weight of the material on the objective table is increased to a second preset standard weight G22;
and if the real-time impact force F of the driving wheel to the roadway is less than 0.7 multiplied by the preset standard impact force F0, increasing the weight of the material on the objective table to a third preset standard weight G33.
Furthermore, a region matrix a (a1, a2, A3, a4, a5) and a weight compensation coefficient matrix C (C1, C2, C3, C4, C5) are further arranged in the central control unit, wherein a1 represents a first region, a2 represents a second region, A3 represents a third region, a4 represents a fourth region, a5 represents a fifth region, C1 represents a first compensation coefficient, C2 represents a second compensation coefficient, C3 represents a third compensation coefficient, C4 represents a fourth compensation coefficient, and C5 represents a fifth compensation coefficient, and when the roadway carrier is arranged in different regions, the weight matrix G (G1, G2, G3) is compensated by using different compensation coefficients;
when the tunnel material transporting vehicle is arranged in a first region, the central control unit selects a first compensation coefficient C1 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a second ground, the central control unit selects a second compensation coefficient C2 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a third region, the central control unit selects a third compensation coefficient C3 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a fourth region, the central control unit selects a fourth compensation coefficient C4 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a fifth region, the central control unit selects a fifth compensation coefficient C5 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation.
Further, when the central control unit selects a first compensation coefficient C1 to compensate the weight matrix G (G1, G2, G3), a first updated weight matrix G10(G1 × (1+ C1), G2 × (1+ C1), G3 × (1+ C1)) is obtained;
when the central control unit selects a second compensation coefficient C2 to compensate the weight matrix G (G1, G2, G3 and G4), a second updated weight matrix G20(G1 x (1+ C2), G2 x (1+ C2) and G3 x (1+ C2)) is obtained;
when the central control unit selects a third compensation coefficient C3 to compensate the weight matrix G (G1, G2, G3 and G4), a third updated weight matrix G30(G1 x (1+ C3), G2 x (1+ C3) and G3 x (1+ C3)) is obtained;
when the central control unit selects a fourth compensation coefficient C4 to compensate the weight matrix G (G1, G2, G3 and G4), a fourth updated weight matrix G40(G1 x (1+ C4), G2 x (1+ C4) and G3 x (1+ C4)) is obtained;
when the central control unit selects a fifth compensation coefficient C5 to compensate the weight matrix G (G1, G2, G3, G4), a fifth updated weight matrix G50(G1 x (1+ C5), G2 x (1+ C5), G3 x (1+ C5)) is obtained.
Further, a material type matrix R (R1, R2, R3) is arranged in the central control unit, wherein R1 represents a first type and is assigned with 1, R2 represents a second type and is assigned with 2, and R3 represents a third type and is assigned with 3;
in the transportation process, if the materials on the object stage belong to a first type, updating the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5), wherein the updating coefficient is 1/2, and the updated weight compensation coefficient matrix is C10(1/2 × C1,1/2 × C2,1/2 × C3,1/2 × C4 and 1/2 × C5);
if the material on the object stage belongs to a second type, updating the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5), wherein the updating coefficient is 1/3, and the updated weight compensation coefficient matrix is C20(1/3 × C1,1/3 × C2,1/3 × C3,1/3 × C4 and 1/3 × C5);
if the material on the object stage belongs to the third type, updating the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5), wherein the updated weight compensation coefficient matrix C is 2/3, and the updated weight compensation coefficient matrix C30(2/3 × C1,2/3 × C2,2/3 × C3,2/3 × C4 and 2/3 × C5).
Further, a transportation efficiency W and a standard transportation efficiency W0 are also arranged in the central control unit;
if the transport efficiency W is larger than or equal to the standard transport efficiency W0, the transport efficiency of the roadway material transporting vehicle meets the requirement, and the use frequency of the roadway material transporting vehicle is improved;
if the transport efficiency W is less than the standard transport efficiency W0, the transport efficiency of the roadway material transporting vehicle is not qualified, and the use frequency of the roadway material transporting vehicle is reduced;
the transport efficiency W ═ Pi/(P1+ P2+ P3) + Hi/(H1+ H2) + Hi/(H2+ H3) + Hi/(H3+ H4) + Hi/(H1+ H3) + Hi/(H2+ H4);
the standard transport efficiency W0 ═ P0/(P1+ P2+ P3) +5 xhi/[ (H1+ H2) + (H2+ H3) + (H3+ H4) + (H1+ H3) + (H2+ H4) ].
Compared with the prior art, the oil speed adjusting device has the advantages that the oil speed is adjusted through the flatness in the roadway, so that the speed of the material transporting vehicle can be adjusted according to the actual condition of the roadway in the advancing process, the oil speed on the second pipeline influences the rotating speed of the first hydraulic motor and the rotating speed of the second hydraulic motor, the advancing speed of the material transporting vehicle can be adjusted through adjusting the oil speed, the material transporting vehicle can adjust the speed according to the actual road condition in the actual using process, the transporting efficiency of the material transporting vehicle is effectively improved, and the stability and the safety of material transportation are improved.
Especially, when the roughness in the tunnel is higher, it is good to show the state of marcing in the tunnel, can improve the speed of marcing, can improve conveying efficiency this moment, and when the state of marcing in the tunnel is not good, then can be with appropriate reduction speed of marcing, guarantee the security of material transportation, improve the security and the validity of transportation.
Particularly, by arranging the weight matrix G (G1, G2, G3) and the oil speed adjusting matrix E (E1, E2, E3), when the weight of the materials on the object stage is heavy, the carrying capacity of the material conveying vehicle needs to be improved, the oil speed needs to be adjusted to improve the pressure of the first hydraulic motor and the second hydraulic motor, the driving force is improved, the situation that the work cannot be stopped due to too large weight in the transportation process is prevented, and when the weight of the materials on the object stage is small, the oil speed can be reduced, so that the power of the first hydraulic motor and the second hydraulic motor is reduced, the power consumption is reduced, and the efficient utilization of the energy consumption is realized.
Particularly, the rotating speed of the reduction gearbox is corrected according to different planeness by setting the standard pavement planeness P0, so that the rotating speed of the material transporting vehicle can be adjusted in real time according to the pavement in the actual transportation process, the transportation efficiency is improved, and the transportation time is shortened.
Especially, the weight matrix G (G1, G2, G3) is corrected by setting different correction coefficients for different roadway depths, it can be understood that the safety factors of different roadway depths are different, and the bearing capacity of stamping is also different in different roadway depths, so that in the actual use process, in order to aim at different roadway depths, the weight matrix needs to be corrected, so that after the corrected weight matrix is compared with the actual weight, the adjustment of the radial speeds of the first hydraulic motor and the second hydraulic motor is more accurate, the requirements of the actual roadway environment are met, the use safety of the roadway material transporting vehicle is further improved, and the transportation efficiency is further improved.
Particularly, the real-time impact force of the driving wheel to the roadway is monitored in real time, so that the impact force of the driving wheel to the roadway is always within the preset standard impact force F0, in the actual use process, if the real-time impact force F of the driving wheel to the roadway is larger than or equal to the preset standard impact force F0, the weight of the materials on the object stage is reduced to improve the use safety of the material transporting vehicle, if the real-time impact force F of the driving wheel to the roadway is less than 0.9 multiplied by the preset standard impact force F0, the transportation weight of the material transporting vehicle can be increased as appropriate to improve the carrying capacity of the material transporting vehicle and realize the high-efficiency utilization of the material transporting vehicle on the premise of ensuring the transportation safety, and according to the scope of the impact force of difference, set up different standard weight of predetermineeing, realize the ladder nature management of dumper security, improve the transportation security of dumper, improve the security of conveying efficiency and transportation greatly.
In particular, by setting a region matrix a (a1, a2, A3, a4, a5), the texture in the roadway in different region depths is different according to different region depths, and the safety of the roadway in different region depths is different, so that the performance requirements on the roadway transport vehicle are different during transportation, so that different weight compensation coefficients are set according to different regions, and by setting the region matrix a (a1, a2, A3, a4, a5) and a weight compensation coefficient matrix C (C1, C2, C3, C4, C5) so that the factors of the required rate for the environment during the use of the roadway in different regions lower than 2 are different, the embodiment of the invention reduces the influence of the characteristics on the transportation safety of the material transporting vehicle by setting a weight compensation coefficient matrix C (C1, C2, C3, C4, C5), so that the value detected by the weight sensor is compared with the compensated region matrix G1 (G1, g2, G3, G4) to make the comparison more accurate, thereby improving the accurate adjustment of the output energy consumption of the first and second hydraulic motors.
Particularly, each parameter in the weight matrix is compensated, so that the updated results of the first updated weight matrix, the second updated weight matrix, the third updated weight matrix, the fourth updated weight matrix and the fifth updated weight matrix are more in line with the actual environment, the comparison result is more accurate, the oil speed is more accurately adjusted, materials are transported to the designated position as much as possible, and the transport efficiency of the tunnel material transporting vehicle is improved.
Particularly, by dividing the types of materials, the weight compensation coefficient matrix is updated according to the types of the materials to be carried, the lengths of the different types of materials are different, the volumes of the different types of materials are different, and the friction force between the different types of materials and an object stage is also different.
Particularly, by specifically limiting the transportation efficiency, in the embodiment of the invention, the first weight, the second weight and the third weight in the weight matrix and the sum of the parameters in each roadway depth matrix are used as the standard for measuring the transportation efficiency, and the actual transportation efficiency adopts the real-time weight, the sum of the parameters in the weight matrix and the real-time roadway depth and the sum of the parameters in each roadway depth matrix, so that the definition of the transportation efficiency is more intuitive, namely, the transportation efficiency is influenced by the weight of the material and the depth of the roadway, different weight coefficients can be set for the weight of the material and the depth of the roadway in the actual application, the influence of the weight of the material and the depth of the roadway on the transportation efficiency is reflected, the transportation efficiency in the transportation process can be determined and divided by setting the transportation efficiency, and the transportation efficiency of different roadway material trucks in different roadways is also different, when the transport efficiency of the tunnel material transporting vehicle is lower than the standard, the transport efficiency of the tunnel material transporting vehicle is not qualified, the use frequency of the tunnel material transporting vehicle is reduced, the tunnel material transporting vehicle can be stopped to transport in time, the arrangement is changed, and the transport process is adjusted in time.
Drawings
Fig. 1 is a schematic structural diagram of a tunnel dumper provided in an embodiment of the present invention;
fig. 2 is a schematic perspective view of a tunnel dumper provided in an embodiment of the present invention;
fig. 3 is a schematic view of a crawler chassis of the roadway material transporting vehicle provided by the embodiment of the invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 3, an object stage 100 is provided, wherein a gravity sensor is disposed on the object stage 100 for detecting the weight of the material on the object stage;
the object stage 100 is arranged on the crawler chassis 200 and used for driving the object stage to move together when the crawler chassis moves forwards;
the hydraulic motor comprises a first hydraulic motor 51 and a second hydraulic motor 52, and the first hydraulic motor 51 and the second hydraulic motor 52 are oppositely arranged and used for driving the crawler chassis;
the reduction gearbox comprises a first reduction gearbox 61 and a second reduction gearbox 62, the first reduction gearbox is connected with the first hydraulic motor, and the second reduction gearbox is connected with the second hydraulic motor and used for reducing the rotating speed of the driving wheel;
the driving wheel comprises a left wheel 71 and a right wheel 72, the left wheel is connected with the first reduction gearbox, and the right wheel is connected with the second reduction gearbox;
the one-way control valve 1 is respectively connected with the first reduction gearbox and the second reduction gearbox through a first pipeline 2 and is used for controlling the rotating speed of the reduction gearboxes;
a multi-way directional control valve 4 connected to the first hydraulic motor 51 and the second hydraulic motor 52 through a second pipeline 3, and controlling the first hydraulic motor and the second hydraulic motor, wherein the second pipeline is provided with an electromagnetic valve (not shown) for controlling the oil speed on the second pipeline;
an ultrasonic sensor (not shown) is arranged at the front end of the objective table and used for detecting the flatness of the road surface in the roadway;
the central control unit is respectively connected with the ultrasonic sensor and the electromagnetic valve and used for adjusting the oil speed on the second pipeline according to the flatness of the road surface in the roadway in the transportation process;
a road flatness matrix P (P1, P2, P3) and an oil speed matrix V (V1, V2, V3, V4) are arranged in the central control unit, wherein P1 represents first flatness, P2 represents second flatness, P3 represents third flatness, P1> P2> P3, V1 represents first oil speed, V2 represents second oil speed, V3 represents third oil speed, V4 represents fourth oil speed, and V1> V2> V3> V4;
when the real-time road flatness Pi detected by the ultrasonic sensor is larger than or equal to a first flatness P1, the central control unit selects a first oil velocity V1 from the oil velocity matrix V (V1, V2, V3 and V4) as the oil velocity on the second pipeline;
when the first flatness P1> the real-time road flatness Pi detected by the ultrasonic sensor is larger than or equal to a second flatness P2, the central control unit selects a second oil velocity V2 from the oil velocity matrix V (V1, V2, V3, V4) as the oil velocity on the second pipeline;
when the second flatness P2> the real-time road flatness Pi detected by the ultrasonic sensor is larger than or equal to a third flatness P3, the central control unit selects a third oil velocity V3 from the oil velocity matrix V (V1, V2, V3, V4) as the oil velocity on the second pipeline;
when the real-time road flatness Pi detected by the ultrasonic sensor is less than the third flatness P3, the central control unit selects a fourth oil velocity V4 from the oil velocity matrix V (V1, V2, V3, V4) as the oil velocity on the second pipeline.
Specifically, the oil speed is adjusted through the flatness in the roadway, so that the speed of the material transporting vehicle can be adjusted according to the actual condition of the roadway in the advancing process, and the oil speed on the second pipeline influences the rotating speeds of the first hydraulic motor and the second hydraulic motor, and the advancing speed of the material transporting vehicle is adjusted through adjusting the oil speed, so that the speed of the material transporting vehicle can be adjusted according to the actual road condition in the actual using process, the transporting efficiency of the material transporting vehicle is effectively improved, and the stability and the safety of material transportation are improved.
Particularly, when the roughness in the tunnel is higher, it is good to show the state of marcing in the tunnel, can improve the speed of marcing, can improve conveying efficiency this moment, and when the state of marcing in the tunnel is not good, then can be with appropriate reduction speed of marcing, guarantee the security of material transportation, improve the security and the validity of transportation.
Specifically, a weight matrix G (G1, G2, G3) and an oil speed adjusting matrix E (E1, E2, E3) are further arranged in the central control unit, wherein G1 represents a first weight, G2 represents a second weight, G3 represents a third weight, E1 represents a first adjusting coefficient, E2 represents a second adjusting coefficient, and E3 represents a third adjusting coefficient;
when the weight of the material on the object stage is equal to a first weight G1, the central control unit selects a first adjusting coefficient E1 to adjust the oil speed matrix V (V1, V2, V3 and V4);
when the weight of the material on the object stage is equal to a second weight G2, the central control unit selects a second adjusting coefficient E2 to adjust the oil speed matrix V (V1, V2, V3 and V4);
when the weight of the material on the object stage is equal to a third weight G3, the central control unit selects a third adjusting coefficient E3 to adjust the oil speed matrix V (V1, V2, V3 and V4);
when a first adjusting coefficient E1 is selected to adjust the oil speed matrix V (V1, V2, V3 and V4), the adjusted oil speed matrix is V10(E1 multiplied by V1, E1 multiplied by V2, E1 multiplied by V3 and E1 multiplied by V4);
when a second adjusting coefficient E2 is selected to adjust the oil speed matrix V (V1, V2, V3 and V4), the adjusted oil speed matrix is V20(E2 multiplied by V1, E2 multiplied by V2, E2 multiplied by V3 and E2 multiplied by V4);
when the third adjusting coefficient E3 is selected to adjust the oil speed matrix V (V1, V2, V3 and V4), the adjusted oil speed matrix is V30(E3 multiplied by V1, E3 multiplied by V2, E3 multiplied by V3 and E3 multiplied by V4).
Specifically, by providing the weight matrix G (G1, G2, G3) and the oil speed adjustment matrix E (E1, E2, E3), when the weight of the material on the object stage is heavy, the carrying capacity of the material truck needs to be increased, the oil speed needs to be adjusted to increase the pressure of the first hydraulic motor and the second hydraulic motor, so as to increase the driving force, thereby preventing the situation that the load cannot stop working due to too large weight during transportation, and when the weight of the material on the object stage is small, the oil speed can be reduced, so as to reduce the power of the first hydraulic motor and the second hydraulic motor, reduce power consumption, and achieve efficient utilization of energy consumption.
Specifically, a standard road flatness P0 is further arranged in the central control unit, and in the transportation process, when the road flatness Pi in a roadway is more than or equal to 1.3 multiplied by the standard road flatness P0, the rotation speed V1 of the reduction gearbox is corrected by using a one-way control valve and a first speed reduction coefficient k 1;
when the road surface evenness in the roadway is Pi which is more than or equal to 1.2 multiplied by the standard road surface evenness P0, the rotating speed V1 of the reduction gearbox is corrected by using a one-way control valve and a second speed reduction coefficient k 2;
when the road surface evenness in the roadway is Pi which is more than or equal to 1.3 multiplied by the standard road surface evenness P0, the rotating speed V1 of the reduction gearbox is corrected by using a one-way control valve and a third speed reduction coefficient k 3;
when the road surface evenness in the roadway is Pi < the road surface standard evenness P0, the rotating speed of the reduction gearbox does not need to be corrected;
standard flatness of the road surface
Figure BDA0002871136710000121
Specifically, in the embodiment of the invention, the standard pavement flatness P0 is set, and the rotating speed of the reduction gearbox is corrected according to different flatness, so that the rotating speed of the material transporting vehicle can be adjusted in real time according to the pavement in the actual transportation process, the transportation efficiency is improved, and the transportation time is shortened.
Specifically, a roadway depth matrix H (H1, H2, H3, H4) and a weight correction matrix b (b1, b2, b3, b4, b5) are further provided in the central control unit, wherein H1 represents a first roadway depth, H2 represents a second roadway depth, H3 represents a third roadway depth, H4 represents a fourth roadway depth, and H1> H2> H3> H4, b1 represents a first correction coefficient, b2 represents a second correction coefficient, b3 represents a third correction coefficient, b4 represents a fourth correction coefficient, b5 represents a fifth correction coefficient,
adjusting a weight matrix G (G1, G2, G3) according to the roadway depth of the roadway material truck,
when the roadway depth Hi of the roadway material transporting vehicle is larger than or equal to the first roadway depth H1, selecting a first correction coefficient b1 from the weight correction matrix b (b1, b2, b3, b4 and b5) to correct the weight matrix G (G1, G2 and G3);
when the first roadway depth H1> the roadway depth where the roadway material truck is located is larger than or equal to the second roadway depth H2, selecting a second correction coefficient b2 from the weight correction matrix b (b1, b2, b3, b4 and b5) to correct the weight matrix G (G1, G2 and G3);
when the second roadway depth H2> the roadway depth where the roadway material truck is located is not less than the third roadway depth H3, selecting a third correction coefficient b3 from the weight correction matrix b (b1, b2, b3, b4, b5) to correct the weight matrix G (G1, G2, G3);
when the third roadway depth H3> the roadway depth where the roadway material truck is located is not less than the fourth roadway depth H4, selecting a fourth correction coefficient b4 from the weight correction matrix b (b1, b2, b3, b4, b5) to correct the weight matrix G (G1, G2, G3);
and when the roadway depth where the roadway material transporting vehicle is located is less than the fourth roadway depth H4, selecting a fifth correction coefficient b5 from the weight correction matrix b (b1, b2, b3, b4, b5) to correct the weight matrix G (G1, G2, G3).
In the embodiment of the invention, the weight matrix G (G1, G2 and G3) is corrected by setting different correction coefficients for different roadway depths, and it can be understood that the safety factors of different roadway depths are different, and the bearing capacity of stamping in different roadway depths is also different, so that in the actual use process, in order to aim at different roadway depths, the weight matrix needs to be corrected, so that the adjustment of the radial speeds of the first hydraulic motor and the second hydraulic motor obtained after the corrected weight matrix is compared with the actual weight is more accurate, the requirements of the actual roadway environment are met, the use safety of the roadway material transporting vehicle is further improved, and the transportation efficiency is further improved.
Specifically, when the weight matrix G (G1, G2 and G3) is corrected by adopting a first correction coefficient b1, detecting the real-time impact force of the driving wheel to the roadway, and if the real-time impact force F of the driving wheel to the roadway is larger than or equal to a preset standard impact force F0, reducing the weight of the material on the objective table;
if the real-time impact force F of the driving wheel to the roadway is less than 0.9 multiplied by the preset standard impact force F0, the weight of the material on the objective table is increased to the first preset standard weight G11;
if the real-time impact force F of the driving wheel to the roadway is less than 0.8 multiplied by the preset standard impact force F0, the weight of the material on the objective table is increased to a second preset standard weight G22;
and if the real-time impact force F of the driving wheel to the roadway is less than 0.7 multiplied by the preset standard impact force F0, increasing the weight of the material on the objective table to a third preset standard weight G33.
Specifically, the embodiment of the invention monitors the real-time impact force of the driving wheel to the roadway in real time, so that the impact force of the driving wheel to the roadway is always within the preset standard impact force F0, in the actual use process, if the real-time impact force F of the driving wheel to the roadway is larger than or equal to the preset standard impact force F0, the weight of the materials on the object stage is reduced to improve the use safety of the material transporting vehicle, if the real-time impact force F of the driving wheel to the roadway is less than 0.9 multiplied by the preset standard impact force F0, the transportation weight of the material transporting vehicle can be increased as appropriate to improve the carrying capacity of the material transporting vehicle and realize the high-efficiency utilization of the material transporting vehicle on the premise of ensuring the transportation safety, and according to the scope of the impact force of difference, set up different standard weight of predetermineeing, realize the ladder nature management of dumper security, improve the transportation security of dumper, improve the security of conveying efficiency and transportation greatly.
Specifically, a region matrix a (a1, a2, A3, a4, a5) and a weight compensation coefficient matrix C (C1, C2, C3, C4, C5) are further provided in the central control unit, where a1 represents a first region, a2 represents a second region, A3 represents a third region, a4 represents a fourth region, a5 represents a fifth region, C1 represents a first compensation coefficient, C2 represents a second compensation coefficient, C3 represents a third compensation coefficient, C4 represents a fourth compensation coefficient, and C5 represents a fifth compensation coefficient, and when the material conveying vehicle is set in different regions, the weight matrix G (G1, G2, G3) is compensated by using different compensation coefficients;
when the tunnel material transporting vehicle is arranged in a first region, the central control unit selects a first compensation coefficient C1 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a second ground, the central control unit selects a second compensation coefficient C2 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a third region, the central control unit selects a third compensation coefficient C3 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a fourth region, the central control unit selects a fourth compensation coefficient C4 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a fifth region, the central control unit selects a fifth compensation coefficient C5 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation.
Specifically, by setting a region matrix a (a1, a2, A3, a4, a5), the texture in the roadway in different region depths is different according to different region depths, and the safety of the roadway in different region depths is different, so that the performance requirements on the roadway transport vehicle are different during transportation, so that different weight compensation coefficients are set according to different regions, and by setting the region matrix a (a1, a2, A3, a4, a5) and a weight compensation coefficient matrix C (C1, C2, C3, C4, C5) so that the factors of the required rate for the environment during the use of the roadway in different regions lower than 2 are different, the embodiment of the invention reduces the influence of the characteristics on the transportation safety of the material transport vehicle by setting a weight compensation coefficient matrix C (C1, C2, C3, C4, C5), so that the value detected by the weight sensor is compared with the compensated region matrix G1 (G1, g2, G3, G4) to make the comparison more accurate, thereby improving the accurate adjustment of the output energy consumption of the first and second hydraulic motors.
Specifically, when the central control unit selects a first compensation coefficient C1 to compensate the weight matrix G (G1, G2, G3), a first updated weight matrix G10(G1 × (1+ C1), G2 × (1+ C1), G3 × (1+ C1)) is obtained;
when the central control unit selects a second compensation coefficient C2 to compensate the weight matrix G (G1, G2, G3 and G4), a second updated weight matrix G20(G1 x (1+ C2), G2 x (1+ C2) and G3 x (1+ C2)) is obtained;
when the central control unit selects a third compensation coefficient C3 to compensate the weight matrix G (G1, G2, G3 and G4), a third updated weight matrix G30(G1 x (1+ C3), G2 x (1+ C3) and G3 x (1+ C3)) is obtained;
when the central control unit selects a fourth compensation coefficient C4 to compensate the weight matrix G (G1, G2, G3 and G4), a fourth updated weight matrix G40(G1 x (1+ C4), G2 x (1+ C4) and G3 x (1+ C4)) is obtained;
when the central control unit selects a fifth compensation coefficient C5 to compensate the weight matrix G (G1, G2, G3, G4), a fifth updated weight matrix G50(G1 x (1+ C5), G2 x (1+ C5), G3 x (1+ C5)) is obtained.
Particularly, each parameter in the weight matrix is compensated, so that the updated results of the first updated weight matrix, the second updated weight matrix, the third updated weight matrix, the fourth updated weight matrix and the fifth updated weight matrix are more in line with the actual environment, the comparison result is more accurate, the oil speed is more accurately adjusted, materials are transported to an appointed position as much as possible, and the transport efficiency of the tunnel material transporting vehicle is improved.
Specifically, a material type matrix R (R1, R2, R3) is further arranged in the central control unit, wherein R1 represents a first type and is assigned as 1, R2 represents a second type and is assigned as 2, and R3 represents a third type and is assigned as 3;
in the transportation process, if the materials on the object stage belong to a first type, updating the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5), wherein the updating coefficient is 1/2, and the updated weight compensation coefficient matrix is C10(1/2 × C1,1/2 × C2,1/2 × C3,1/2 × C4 and 1/2 × C5);
if the material on the object stage belongs to a second type, updating the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5), wherein the updating coefficient is 1/3, and the updated weight compensation coefficient matrix is C20(1/3 × C1,1/3 × C2,1/3 × C3,1/3 × C4 and 1/3 × C5);
if the material on the object stage belongs to the third type, updating the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5), wherein the updated weight compensation coefficient matrix C is 2/3, and the updated weight compensation coefficient matrix C30(2/3 × C1,2/3 × C2,2/3 × C3,2/3 × C4 and 2/3 × C5).
Specifically, by dividing the types of materials, the weight compensation coefficient matrix is updated according to the types of the materials to be carried, the lengths of the different types of materials are different, the volumes of the different types of materials are different, and the friction force between the different types of materials and an object stage is also different.
Specifically, a transportation efficiency W and a standard transportation efficiency W0 are also arranged in the central control unit;
if the transport efficiency W is larger than or equal to the standard transport efficiency W0, the transport efficiency of the roadway material transporting vehicle meets the requirement, and the use frequency of the roadway material transporting vehicle is improved;
if the transport efficiency W is less than the standard transport efficiency W0, the transport efficiency of the roadway material transporting vehicle is not qualified, and the use frequency of the roadway material transporting vehicle is reduced;
the transport efficiency W ═ Pi/(P1+ P2+ P3) + Hi/(H1+ H2) + Hi/(H2+ H3) + Hi/(H3+ H4) + Hi/(H1+ H3) + Hi/(H2+ H4);
the standard transport efficiency W0 ═ P0/(P1+ P2+ P3) +5 xhi/[ (H1+ H2) + (H2+ H3) + (H3+ H4) + (H1+ H3) + (H2+ H4) ].
Specifically, by specifically defining the transportation efficiency, in the embodiment of the invention, the first weight, the second weight and the third weight in the weight matrix and the sum of the parameters in each roadway depth matrix are used as the standard for measuring the transportation efficiency, and the actual transportation efficiency adopts the real-time weight, the sum of the parameters in the weight matrix and the real-time roadway depth and the sum of the parameters in each roadway depth matrix, so that the definition of the transportation efficiency is more intuitive, namely, the transportation efficiency is influenced by the weight of the material and the depth of the roadway, different weight coefficients can be set for the weight of the material and the depth of the roadway in the actual application, the influence of the weight of the material and the depth of the roadway on the transportation efficiency is reflected, the transportation efficiency in the transportation process can be determined and divided by setting the transportation efficiency, and the transportation efficiency of different roadway material trucks in different roadways is also different, when the transport efficiency of the tunnel material transporting vehicle is lower than the standard, the transport efficiency of the tunnel material transporting vehicle is not qualified, the use frequency of the tunnel material transporting vehicle is reduced, the tunnel material transporting vehicle can be stopped to transport in time, the arrangement is changed, and the transport process is adjusted in time.
Specifically, the tunnel material transporting vehicle in the embodiment of the invention is a parasitic unpowered tunnel material transporting vehicle, and is manufactured by matching a group of crawler driving chassis with a drawable carrying platform manufactured by a steel plate with the thickness of 20 mm. The overall machine design size is (1600 × 1350 × 700).
The crawler chassis is driven by a hydraulic motor, the hydraulic motor is connected with a group of multi-way reversing valves through hydraulic pipelines, and the multi-way reversing valves are installed below steel plates on two sides behind a material carrying platform of the material carrying vehicle and can be installed in a left-right interchangeable mode. A one-way control valve is installed to control the brake of the walking reduction box. The multi-way reversing valve and the one-way control valve are installed together, and the operation handle is arranged outside the machine body so as to be convenient to operate. Two hydraulic pipelines with the pipe diameter of 19mm are connected from a hydraulic system of the walking type crushing and transshipment continuous transportation equipment on the driving face to a multi-way reversing valve arranged on a tunnel material transporting vehicle, wherein one hydraulic pipeline is a liquid supply pipeline, and the other hydraulic pipeline is a liquid return pipeline and is used for supplying power to the material transporting vehicle.
The working principle is as follows:
1. starting a hydraulic system of the walking type crushing and transshipment continuous transportation equipment to provide a supply for a multi-way reversing valve of a material transporting vehicle;
2. operating the one-way control valve to open a brake of the walking reduction box;
3. the oil inlet amount and the oil return amount of the crawler belt quantitative hydraulic motor are controlled by operating the multi-way reversing valve so as to control the rotating speed of the quantitative hydraulic motor and achieve the effects of controlling the walking speed and the direction of the crawler belt of the material transporting vehicle.
4. And operating the multi-way reversing valve to return to the zero position, and stopping the operation of the hydraulic motor.
5. And operating the one-way control valve to cut off an oil supply pipeline of a brake of the walking reduction gearbox, braking the reduction gearbox, and stopping the movement of the crawler to realize parking.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A roadway material transport vehicle, comprising:
the device comprises an object stage, a weight sensor and a controller, wherein the object stage is provided with the gravity sensor and is used for detecting the weight of materials on the object stage;
the object stage is arranged on the crawler chassis and used for driving the object stage to move together when the crawler chassis moves forwards;
the hydraulic motor comprises a first hydraulic motor and a second hydraulic motor, and the first hydraulic motor and the second hydraulic motor are oppositely arranged and used for driving the crawler chassis;
the reduction gearbox comprises a first reduction gearbox and a second reduction gearbox, the first reduction gearbox is connected with the first hydraulic motor, and the second reduction gearbox is connected with the second hydraulic motor and used for reducing the rotating speed of the driving wheel;
the driving wheel comprises a left wheel and a right wheel, the left wheel is connected with the first reduction gearbox, and the right wheel is connected with the second reduction gearbox;
the one-way control valve is respectively connected with the first reduction gearbox and the second reduction gearbox through a first pipeline and used for controlling the rotating speed of the reduction gearboxes;
the multi-way reversing valve is respectively connected with the first hydraulic motor and the second hydraulic motor through a second pipeline to control the first hydraulic motor and the second hydraulic motor, and an electromagnetic valve is arranged on the second pipeline and used for controlling the oil speed on the second pipeline;
the front end of the objective table is provided with an ultrasonic sensor for detecting the flatness of the road surface in the roadway;
the central control unit is respectively connected with the ultrasonic sensor and the electromagnetic valve and used for adjusting the oil speed on the second pipeline according to the flatness of the road surface in the roadway in the transportation process;
a road flatness matrix P (P1, P2, P3) and an oil speed matrix V (V1, V2, V3, V4) are arranged in the central control unit, wherein P1 represents first flatness, P2 represents second flatness, P3 represents third flatness, P1> P2> P3, V1 represents first oil speed, V2 represents second oil speed, V3 represents third oil speed, V4 represents fourth oil speed, and V1> V2> V3> V4;
when the real-time road flatness Pi detected by the ultrasonic sensor is larger than or equal to a first flatness P1, the central control unit selects a first oil velocity V1 from the oil velocity matrix V (V1, V2, V3 and V4) as the oil velocity on the second pipeline;
when the first flatness P1> the real-time road flatness Pi detected by the ultrasonic sensor is larger than or equal to a second flatness P2, the central control unit selects a second oil velocity V2 from the oil velocity matrix V (V1, V2, V3, V4) as the oil velocity on the second pipeline;
when the second flatness P2> the real-time road flatness Pi detected by the ultrasonic sensor is larger than or equal to a third flatness P3, the central control unit selects a third oil velocity V3 from the oil velocity matrix V (V1, V2, V3, V4) as the oil velocity on the second pipeline;
when the real-time road flatness Pi detected by the ultrasonic sensor is less than the third flatness P3, the central control unit selects a fourth oil velocity V4 from the oil velocity matrix V (V1, V2, V3, V4) as the oil velocity on the second pipeline.
2. The roadway material transporting vehicle of claim 1, wherein a weight matrix G (G1, G2, G3) and an oil speed adjusting matrix E (E1, E2, E3) are further provided in the central control unit, wherein G1 represents a first weight, G2 represents a second weight, G3 represents a third weight, E1 represents a first adjusting coefficient, E2 represents a second adjusting coefficient, and E3 represents a third adjusting coefficient;
when the weight of the material on the object stage is equal to a first weight G1, the central control unit selects a first adjusting coefficient E1 to adjust the oil speed matrix V (V1, V2, V3 and V4);
when the weight of the material on the object stage is equal to a second weight G2, the central control unit selects a second adjusting coefficient E2 to adjust the oil speed matrix V (V1, V2, V3 and V4);
when the weight of the material on the object stage is equal to a third weight G3, the central control unit selects a third adjusting coefficient E3 to adjust the oil speed matrix V (V1, V2, V3 and V4);
when a first adjusting coefficient E1 is selected to adjust the oil speed matrix V (V1, V2, V3 and V4), the adjusted oil speed matrix is V10(E1 multiplied by V1, E1 multiplied by V2, E1 multiplied by V3 and E1 multiplied by V4);
when a second adjusting coefficient E2 is selected to adjust the oil speed matrix V (V1, V2, V3 and V4), the adjusted oil speed matrix is V20(E2 multiplied by V1, E2 multiplied by V2, E2 multiplied by V3 and E2 multiplied by V4);
when the third adjusting coefficient E3 is selected to adjust the oil speed matrix V (V1, V2, V3 and V4), the adjusted oil speed matrix is V30(E3 multiplied by V1, E3 multiplied by V2, E3 multiplied by V3 and E3 multiplied by V4).
3. The roadway material transport vehicle of claim 2,
the central control unit is also internally provided with a standard pavement flatness P0, and in the transportation process, when the pavement flatness in a roadway is Pi more than or equal to 1.3 multiplied by the standard pavement flatness P0, the rotation speed V1 of the reduction gearbox is corrected by using a one-way control valve and a first speed reduction coefficient k 1;
when the road surface evenness in the roadway is Pi which is more than or equal to 1.2 multiplied by the standard road surface evenness P0, the rotating speed V1 of the reduction gearbox is corrected by using a one-way control valve and a second speed reduction coefficient k 2;
when the road surface evenness in the roadway is Pi which is more than or equal to 1.3 multiplied by the standard road surface evenness P0, the rotating speed V1 of the reduction gearbox is corrected by using a one-way control valve and a third speed reduction coefficient k 3;
when the road surface evenness in the roadway is Pi < the road surface standard evenness P0, the rotating speed of the reduction gearbox does not need to be corrected;
standard flatness of the road surface
Figure FDA0002871136700000031
4. The roadway material transporting vehicle according to claim 3, wherein a roadway depth matrix H (H1, H2, H3, H4) and a weight correction matrix b (b1, b2, b3, b4, b5) are further provided in the central control unit, wherein H1 represents a first roadway depth, H2 represents a second roadway depth, H3 represents a third roadway depth, H4 represents a fourth roadway depth, and H1> H2> H3> H4, b1 represents a first correction coefficient, b2 represents a second correction coefficient, b3 represents a third correction coefficient, b4 represents a fourth correction coefficient, b5 represents a fifth correction coefficient,
adjusting a weight matrix G (G1, G2, G3) according to the roadway depth of the roadway material truck,
when the roadway depth Hi of the roadway material transporting vehicle is larger than or equal to the first roadway depth H1, selecting a first correction coefficient b1 from the weight correction matrix b (b1, b2, b3, b4 and b5) to correct the weight matrix G (G1, G2 and G3);
when the first roadway depth H1> the roadway depth where the roadway material truck is located is larger than or equal to the second roadway depth H2, selecting a second correction coefficient b2 from the weight correction matrix b (b1, b2, b3, b4 and b5) to correct the weight matrix G (G1, G2 and G3);
when the second roadway depth H2> the roadway depth where the roadway material truck is located is not less than the third roadway depth H3, selecting a third correction coefficient b3 from the weight correction matrix b (b1, b2, b3, b4, b5) to correct the weight matrix G (G1, G2, G3);
when the third roadway depth H3> the roadway depth where the roadway material truck is located is not less than the fourth roadway depth H4, selecting a fourth correction coefficient b4 from the weight correction matrix b (b1, b2, b3, b4, b5) to correct the weight matrix G (G1, G2, G3);
and when the roadway depth where the roadway material transporting vehicle is located is less than the fourth roadway depth H4, selecting a fifth correction coefficient b5 from the weight correction matrix b (b1, b2, b3, b4, b5) to correct the weight matrix G (G1, G2, G3).
5. The roadway material transporting vehicle of claim 4, wherein when the weight matrix G (G1, G2, G3) is corrected by adopting a first correction coefficient b1, the real-time impact force of the driving wheel to the roadway is detected, and if the real-time impact force F of the driving wheel to the roadway is larger than or equal to a preset standard impact force F0, the weight of the material on the loading platform is reduced;
if the real-time impact force F of the driving wheel to the roadway is less than 0.9 multiplied by the preset standard impact force F0, the weight of the material on the objective table is increased to the first preset standard weight G11;
if the real-time impact force F of the driving wheel to the roadway is less than 0.8 multiplied by the preset standard impact force F0, the weight of the material on the objective table is increased to a second preset standard weight G22;
and if the real-time impact force F of the driving wheel to the roadway is less than 0.7 multiplied by the preset standard impact force F0, increasing the weight of the material on the objective table to a third preset standard weight G33.
6. The roadway material transporting vehicle according to claim 5, wherein a zone matrix A (A1, A2, A3, A4, A5) and a weight compensation coefficient matrix C (C1, C2, C3, C4, C5) are further provided in the central control unit, wherein A1 represents a first zone, A2 represents a second zone, A3 represents a third zone, A4 represents a fourth zone, A5 represents a fifth zone, C1 represents a first compensation coefficient, C2 represents a second compensation coefficient, C3 represents a third compensation coefficient, C4 represents a fourth compensation coefficient, C5 represents a fifth compensation coefficient, and when the roadway material transporting vehicle is provided in different zones, the weight matrix G (G1, G2, G3) is compensated by using different compensation coefficients;
when the tunnel material transporting vehicle is arranged in a first region, the central control unit selects a first compensation coefficient C1 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a second ground, the central control unit selects a second compensation coefficient C2 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a third region, the central control unit selects a third compensation coefficient C3 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a fourth region, the central control unit selects a fourth compensation coefficient C4 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation;
when the tunnel material transporting vehicle is arranged in a fifth region, the central control unit selects a fifth compensation coefficient C5 from the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5) for compensation.
7. The roadway material transporting vehicle of claim 6, wherein when the central control unit selects the first compensation coefficient C1 to compensate the weight matrix G (G1, G2, G3), a first updated weight matrix G10(G1 x (1+ C1), G2 x (1+ C1), G3 x (1+ C1)) is obtained;
when the central control unit selects a second compensation coefficient C2 to compensate the weight matrix G (G1, G2, G3 and G4), a second updated weight matrix G20(G1 x (1+ C2), G2 x (1+ C2) and G3 x (1+ C2)) is obtained;
when the central control unit selects a third compensation coefficient C3 to compensate the weight matrix G (G1, G2, G3 and G4), a third updated weight matrix G30(G1 x (1+ C3), G2 x (1+ C3) and G3 x (1+ C3)) is obtained;
when the central control unit selects a fourth compensation coefficient C4 to compensate the weight matrix G (G1, G2, G3 and G4), a fourth updated weight matrix G40(G1 x (1+ C4), G2 x (1+ C4) and G3 x (1+ C4)) is obtained;
when the central control unit selects a fifth compensation coefficient C5 to compensate the weight matrix G (G1, G2, G3, G4), a fifth updated weight matrix G50(G1 x (1+ C5), G2 x (1+ C5), G3 x (1+ C5)) is obtained.
8. The roadway material transport vehicle of claim 7, wherein a material category matrix R (R1, R2, R3) is further provided in the central control unit, wherein R1 represents a first category and is assigned a value of 1, R2 represents a second category and is assigned a value of 2, and R3 represents a third category and is assigned a value of 3;
in the transportation process, if the materials on the object stage belong to a first type, updating the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5), wherein the updating coefficient is 1/2, and the updated weight compensation coefficient matrix is C10(1/2 × C1,1/2 × C2,1/2 × C3,1/2 × C4 and 1/2 × C5);
if the material on the object stage belongs to a second type, updating the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5), wherein the updating coefficient is 1/3, and the updated weight compensation coefficient matrix is C20(1/3 × C1,1/3 × C2,1/3 × C3,1/3 × C4 and 1/3 × C5);
if the material on the object stage belongs to the third type, updating the weight compensation coefficient matrix C (C1, C2, C3, C4 and C5), wherein the updated weight compensation coefficient matrix C is 2/3, and the updated weight compensation coefficient matrix C30(2/3 × C1,2/3 × C2,2/3 × C3,2/3 × C4 and 2/3 × C5).
9. The roadway material conveying vehicle of claim 8, wherein a transport efficiency W and a standard transport efficiency W0 are further provided in the central control unit;
if the transport efficiency W is larger than or equal to the standard transport efficiency W0, the transport efficiency of the roadway material transporting vehicle meets the requirement, and the use frequency of the roadway material transporting vehicle is improved;
if the transport efficiency W is less than the standard transport efficiency W0, the transport efficiency of the roadway material transporting vehicle is not qualified, and the use frequency of the roadway material transporting vehicle is reduced;
the transport efficiency W ═ Pi/(P1+ P2+ P3) + Hi/(H1+ H2) + Hi/(H2+ H3) + Hi/(H3+ H4) + Hi/(H1+ H3) + Hi/(H2+ H4);
the standard transport efficiency W0 ═ P0/(P1+ P2+ P3) +5 xhi/[ (H1+ H2) + (H2+ H3) + (H3+ H4) + (H1+ H3) + (H2+ H4) ].
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