CN114872672B - Brake device and brake method for unmanned mining dump truck - Google Patents

Brake device and brake method for unmanned mining dump truck Download PDF

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Publication number
CN114872672B
CN114872672B CN202210503318.6A CN202210503318A CN114872672B CN 114872672 B CN114872672 B CN 114872672B CN 202210503318 A CN202210503318 A CN 202210503318A CN 114872672 B CN114872672 B CN 114872672B
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China
Prior art keywords
brake
valve
output port
port
input port
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CN202210503318.6A
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CN114872672A (en
Inventor
孟有平
刘强
狄志红
张波
王逢全
郭海全
张耀斌
王晓磊
马超
陈俊宇
柴江
贾占军
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Inner Mongolia North Hauler JSCL
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Inner Mongolia North Hauler JSCL
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Publication of CN114872672A publication Critical patent/CN114872672A/en
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Publication of CN114872672B publication Critical patent/CN114872672B/en
Priority to AU2023266904A priority patent/AU2023266904A1/en
Priority to PCT/CN2023/084635 priority patent/WO2023216746A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T15/00Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02Application and release valves
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T13/00Transmitting 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
    • B60T13/10Transmitting 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
    • B60T13/12Transmitting 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T13/00Transmitting 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
    • B60T13/10Transmitting 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
    • B60T13/66Electrical control in fluid-pressure brake systems
    • B60T13/68Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T13/00Transmitting 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
    • B60T13/10Transmitting 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
    • B60T13/66Electrical control in fluid-pressure brake systems
    • B60T13/68Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T13/00Transmitting 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
    • B60T13/10Transmitting 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
    • B60T13/66Electrical control in fluid-pressure brake systems
    • B60T13/70Electrical control in fluid-pressure brake systems by fluid-controlled switches
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T15/00Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02Application and release valves
    • B60T15/025Electrically controlled valves
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T15/00Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02Application and release valves
    • B60T15/025Electrically controlled valves
    • B60T15/028Electrically controlled valves in hydraulic systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T15/00Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02Application and release valves
    • B60T15/18Triple or other relay valves which allow step-wise application or release and which are actuated by brake-pipe pressure variation to connect brake cylinders or equivalent to compressed air or vacuum source or atmosphere
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE 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
    • B60T2260/00Interaction of vehicle brake system with other systems
    • B60T2260/04Automatic transmission

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Braking Systems And Boosters (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a brake device of an unmanned mining dump truck, which comprises: the hydraulic brake system comprises a hydraulic oil tank, a hydraulic pump, a brake combination valve, a foot brake valve and a front brake; the brake combination valve is provided with first combination valve input port, first combination valve delivery outlet, third combination valve input port, third combination valve delivery outlet, and the brake combination valve includes: the brake system comprises a front brake accumulator one-way valve, a front emergency brake electromagnetic valve, a front brake proportional pressure reducing valve and a front brake pressure sensor. The invention also discloses a braking method of the unmanned mining dump truck. The mining dump truck can safely and reliably run in an unmanned mode, and the safety of a vehicle braking system is effectively improved.

Description

Brake device and brake method for unmanned mining dump truck
Technical Field
The invention belongs to the technical field of mining dump trucks, and particularly relates to a braking device and a braking method for an unmanned mining dump truck
Background
The mining dump truck belongs to an off-highway dump truck and is mainly used for transporting ores and mineral aggregates in large-scale open mines, and the mining dump truck mainly comprises a frame, an engine, a generator, a wheel motor, a cab assembly, a braking device and the like, wherein the braking device is an important component of the electric drive mining dump truck and particularly has important influence on the driving safety and reliability of the dump truck.
At present, a hydraulic brake device of a mining dump truck generally comprises a hydraulic oil tank, a hydraulic pump, a one-way valve, a foot brake pedal valve, an energy accumulator, a brake disc, a hydraulic pipeline and the like, when the foot brake pedal valve is stepped on, high-pressure oil enters the brake through foot braking to push a brake piston to move, and the brake piston enables a friction plate to be tightly pressed on the brake disc, so that the braking effect is achieved. The brake system of the unmanned mining dump truck generally adopts a way of proportional pressure reducing valve brake device connected in parallel in the brake system, when the brake system is operated by a driver, the original truck brake system is used for working, when the brake system works in an unmanned mode, the truck uses the proportional pressure reducing valve to replace a foot brake valve, the deceleration or the parking of the truck is realized, and the unmanned operation mode is automatically cut off when the driver operates.
Disclosure of Invention
The invention aims to provide a braking device and a braking method for an unmanned mining dump truck, so that the mining dump truck can safely and reliably run in an unmanned mode, and the safety of a vehicle braking system is effectively improved.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
unmanned mining dump truck arresting gear includes: the hydraulic brake system comprises a hydraulic oil tank, a hydraulic pump, a brake combination valve, a foot brake valve and a front brake; the brake combination valve is provided with a first combination valve input port, a first combination valve output port, a third combination valve input port and a third combination valve output port; a pump input port of the hydraulic pump is connected with a hydraulic oil tank through an external hydraulic pipeline, a pump output port of the hydraulic pump is connected with an input port of the first combination valve through the external hydraulic pipeline, and an output port of the first combination valve is connected with the front brake through the external hydraulic pipeline; the first brake valve input port of the foot brake valve is connected with the third combination valve output port through an external hydraulic pipeline, and the first brake valve output port of the foot brake valve is connected with the third combination valve input port through an external hydraulic pipeline; the brake combination valve includes: the brake system comprises a front brake accumulator one-way valve, a front emergency brake electromagnetic valve, a front brake proportional pressure reducing valve and a front brake pressure sensor; the input port of the first combination valve is sequentially connected with the one-way valve of the front brake energy accumulator and the front emergency brake input port of the front emergency brake electromagnetic valve through an internal hydraulic pipeline, the front emergency brake control port of the front emergency brake electromagnetic valve is connected with the input port of the third combination valve through an internal hydraulic pipeline, and the front emergency brake output port of the front emergency brake electromagnetic valve is connected with the front brake proportional control port of the front brake proportional pressure reducing valve through an internal hydraulic pipeline; the front brake input port of the front brake proportional pressure reducing valve is respectively connected with the front emergency brake input port and the output port of the third combination valve through an internal hydraulic pipeline, and the front brake output port of the front brake proportional pressure reducing valve is connected with the output port of the first combination valve through an internal hydraulic pipeline; the front brake pressure sensor is connected with the front brake output port, the signal output end of the front brake pressure sensor is connected with the signal input end of the central controller through a signal wire, and the signal output end of the central controller is connected with the front brake proportional pressure reducing valve through a signal wire.
Further, still include: the rear brake, the braking combination valve is provided with: a second combination valve input port, a second combination valve output port, a fourth combination valve input port, and a fourth combination valve output port; a pump output port of the hydraulic pump is connected with an input port of the second combination valve through an external hydraulic pipeline, and an output port of the second combination valve is connected with the rear brake through an external hydraulic pipeline; the second brake valve input port of the foot brake valve is connected with the fourth combination valve output port through an external hydraulic pipeline, and the second brake valve output port of the foot brake valve is connected with the fourth combination valve input port through an external hydraulic pipeline; the brake combination valve includes: the rear brake energy accumulator comprises a one-way valve, a rear emergency brake electromagnetic valve, a rear brake proportional pressure reducing valve and a rear brake pressure sensor; the rear emergency brake control port of the rear emergency brake electromagnetic valve is connected with the input port of the fourth combination valve through the internal hydraulic pipeline, and the rear emergency brake output port of the rear emergency brake electromagnetic valve is connected with the rear brake proportional control port of the rear brake proportional pressure reducing valve through the internal hydraulic pipeline; the rear brake input port of the rear brake proportional pressure reducing valve is respectively connected with the rear emergency brake input port and the output port of the fourth combination valve through an internal hydraulic pipeline, and the rear brake output port of the rear brake proportional pressure reducing valve is connected with the output port of the second combination valve through an internal hydraulic pipeline; the rear brake pressure sensor is connected with the rear brake output port, the signal output end of the rear brake pressure sensor is connected with the signal input end of the central controller through a signal line, and the signal output end of the central controller is connected with the rear brake proportional pressure reducing valve through a signal line.
Furthermore, the brake combination valve is provided with a first energy storage port and a second energy storage port, the first energy storage port is connected with the front brake input port through an internal hydraulic pipeline, and is connected with the front brake energy accumulator through an external hydraulic pipeline; the second energy storage port is connected with the rear brake input port through an internal hydraulic pipeline and is connected with the rear brake energy accumulator through an external hydraulic pipeline.
Further, after the front brake proportional pressure reducing valve receives an action signal sent by the central controller, the front brake input port and the front brake output port are communicated; and the rear brake proportional pressure reducing valve is communicated with the rear brake input port and the rear brake output port after receiving an action signal sent by the central controller.
Further, the signal output end of the central controller is connected with the front emergency brake electromagnetic valve and the rear emergency brake electromagnetic valve through signal lines.
Further, the front brake energy accumulator one-way valve and the rear brake energy accumulator one-way valve are one-way valves, the front emergency brake electromagnetic valve and the rear emergency brake electromagnetic valve are two-position three-way electromagnetic valves, the front brake proportional pressure reducing valve and the rear brake proportional pressure reducing valve are proportional pressure reducing valves, the front brake pressure sensor and the rear brake pressure sensor are pressure sensors, the hydraulic pump is a constant-pressure variable pump, and the foot brake valve comprises two mutually independent pilot pressure reducing valves.
The braking method of the unmanned mining dump truck comprises the following steps:
the vehicle is started, the engine drives the hydraulic pump to operate, and pressure oil reaches the one-way valve of the front brake energy accumulator, the front emergency brake input port, the front brake proportional pressure reducing valve and the first brake valve input port from the pump outlet of the hydraulic pump along with the continuous rise of the pressure and the maintenance of the pressure to the set value of the hydraulic pump;
when the vehicle needs to brake in the running process, the central controller outputs an action signal to the front brake proportional pressure reducing valve, the front brake proportional pressure reducing valve is communicated with the front brake input port and the front brake output port, pressure oil at the one-way valve of the rear brake accumulator is input from the front brake input port of the front brake proportional pressure reducing valve, the front brake output port transmits the pressure oil to the output port of the first combination valve, the output port of the first combination valve outputs the pressure oil to the front brake, and the front brake acts.
Preferably, the central controller outputs an action signal to the rear brake proportional pressure reducing valve, the rear brake proportional pressure reducing valve is communicated with a rear brake input port and a rear brake output port, pressure oil at the one-way valve of the rear brake accumulator reaches the rear brake output port and the second combination valve output port through the rear brake input port, the second combination valve output port outputs the pressure oil to the rear brake, and the rear brake acts; the front brake pressure sensor and the rear brake pressure sensor respectively detect the pressure of pressure oil entering the front brake and the rear brake and input the pressure oil to the central controller; when the braking force needs to be adjusted, the central controller adjusts the strength of the electric signals output to the front brake proportional pressure reducing valve and the rear brake proportional pressure reducing valve, and the front brake proportional pressure reducing valve and the rear brake proportional pressure reducing valve adjust the pressure of the output pressure oil.
Preferably, when the vehicle meets an emergency and needs emergency parking, the central controller sends an actuating signal to the front emergency brake solenoid valve to electrically conduct the front emergency brake input port and the front emergency brake output port; the front emergency brake output port outputs pressure oil to the front brake proportional control port, the front brake proportional pressure reducing valve conducts the front brake input port and the front brake output port, the pressure oil at the one-way valve of the front brake accumulator reaches the front brake output port and the first combination valve output port through the front brake input port, the first combination valve output port outputs the pressure oil to the front brake, and the front brake acts; meanwhile, the central controller sends an action signal to the rear emergency brake solenoid valve to enable the rear emergency brake solenoid valve to be electrically conducted to a rear emergency brake input port and a rear emergency brake output port; the rear emergency brake output port outputs pressure oil to the rear brake proportional control port, the rear brake proportional pressure reducing valve is communicated with the rear brake input port and the rear brake output port, the pressure oil at the one-way valve of the rear brake accumulator reaches the rear brake output port and the second combination valve output port through the rear brake input port, the second combination valve output port outputs the pressure oil to the rear brake, and the rear brake acts.
Preferably, when the engine runs, a pedal of the foot brake valve is stepped on, a first brake valve input port and a first brake valve output port are conducted, pressure oil reaches a front emergency brake control port through the first brake valve output port and a third combination valve input port, a front emergency brake solenoid valve conducts the front emergency brake input port and a front emergency brake output port, the front emergency brake output port outputs the pressure oil to a front brake proportional control port, a front brake proportional pressure reducing valve conducts the front brake input port and a front brake output port, the pressure oil at a one-way valve of a front brake accumulator reaches the front brake output port and a first combination valve output port through the front brake input port, the first combination valve output port outputs the pressure oil to a front brake, and the front brake acts;
the foot brake valve conducts the second brake valve input port and the second brake valve output port, pressure oil reaches the rear emergency brake control port through the second brake valve output port and the fourth combination valve input port, the rear emergency brake solenoid valve conducts the rear emergency brake input port and the rear emergency brake output port, the rear emergency brake output port outputs the pressure oil to the rear brake proportional control port, the rear brake proportional pressure reducing valve conducts the rear brake input port and the rear brake output port, the pressure oil at the one-way valve of the rear brake accumulator reaches the rear brake output port and the second combination valve output port through the rear brake input port, the second combination valve output port outputs the pressure oil to the rear brake, and the rear brake acts; the front brake pressure sensor and the rear brake pressure sensor respectively detect the pressure of oil entering the front brake and the rear brake and input the pressure to the central controller of the whole vehicle.
The invention has the technical effects that:
1. the invention utilizes the principle that the working ports (the front brake output port and the rear brake output port) and the oil return ports (the front brake proportional control port and the rear brake proportional control port) of the proportional valve reducing valve (the front brake proportional reducing valve and the rear brake proportional reducing valve) are communicated under the normal state, so that the output pressure of the foot brake valve acts on the oil return port of the proportional reducing valve, and the oil return port is used as the control port, thereby effectively improving the reliability of a brake system and simultaneously improving the driving safety of the whole vehicle.
2. The hydraulic valve is reasonable and compact in structural design, small in size and convenient to install, all hydraulic valves are detachably fixed on the main valve body, assembly during manufacturing is facilitated, debugging, use and maintenance are facilitated, and meanwhile cost is saved.
3. The brake combination valve is an integral integrated valve group, reduces pipeline connection and leakage points, does not need to greatly improve the existing control device, and has simple method and easy realization.
4. The invention has wide application range to large-tonnage vehicle models in a host factory and can be suitable for vehicles with different tonnages between 50 tons and 280 tons.
5. The mining dump truck can safely and reliably run in an unmanned mode, and the safety of a vehicle braking system is effectively improved.
Drawings
FIG. 1 is a schematic structural diagram of a braking device of an unmanned mining dump truck according to the invention;
fig. 2 is a schematic diagram of a braking system of the mining dump truck for implementing emergency braking in the unmanned mode.
Detailed Description
The following description fully illustrates the specific embodiments of the invention so as to enable one skilled in the art to practice and reproduce the invention.
As shown in fig. 1, the brake device of the unmanned mining dump truck is a structural schematic diagram.
Unmanned mining dump truck arresting gear includes: the brake system comprises a hydraulic oil tank 1, a hydraulic pump 2, a brake combination valve 3, a foot brake valve 4, a front brake accumulator 5 and a front brake 7.
The brake combination valve 3 is provided with a first combination valve input port P1, a first combination valve output port B1, a third combination valve input port P3, and a third combination valve output port B3. A pump input port of the hydraulic pump 2 is connected with the hydraulic oil tank 1 through an external hydraulic pipeline, a pump output port of the hydraulic pump 2 is connected with a first combination valve input port P1 through the external hydraulic pipeline, and a first combination valve output port B1 is connected with the front brake 7 through the external hydraulic pipeline; the first brake valve input port P5 of the foot brake valve 4 is connected with the third combination valve output port B3 through an external hydraulic pipeline, and the first brake valve output port B5 of the foot brake valve 4 is connected with the third combination valve input port P3 through an external hydraulic pipeline.
The structure of the brake combination valve 3 includes: the front brake energy accumulator comprises a front brake energy accumulator one-way valve 9, a front emergency brake electromagnetic valve 11, a front brake proportional pressure reducing valve 13 and a front brake pressure sensor 15; the first combination valve input port P1 is sequentially connected with a front brake energy accumulator one-way valve 9 and a front emergency brake input port P11 of a front emergency brake electromagnetic valve 11 through an internal hydraulic pipeline, a front emergency brake control port T11 of the front emergency brake electromagnetic valve 11 is connected with a third combination valve input port P3 through an internal hydraulic pipeline, and a front emergency brake output port A11 of the front emergency brake electromagnetic valve 11 is connected with a front brake proportional control port T13 of a front brake proportional pressure reducing valve 13 through an internal hydraulic pipeline; a front brake input port P13 of the front brake proportional pressure reducing valve 13 is respectively connected with a front emergency brake input port P11 and a third combination valve output port B3 through an internal hydraulic pipeline, and a front brake output port A13 of the front brake proportional pressure reducing valve 13 is connected with a first combination valve output port B1 through an internal hydraulic pipeline; the front brake pressure sensor 15 is connected with the front brake output port A13, the signal output end of the front brake pressure sensor 15 is connected with the signal input end of the central controller through a signal line, and the signal output end of the central controller is connected with the front brake proportional pressure reducing valve 13 through a signal line. After receiving the action signal sent by the central controller, the front brake proportional pressure reducing valve 13 conducts the front brake input port P13 and the front brake output port a13.
In order to ensure that the output of braking can be ensured under the non-operating state of the hydraulic pump 2, the brake combination valve 3 is provided with a first energy storage port ACC1, the first energy storage port ACC1 is connected with a front brake input port P13 through an internal hydraulic pipeline, and is connected with a front brake energy accumulator 5 through an external hydraulic pipeline.
In order to further guarantee the braking effect, the braking device further comprises: the rear brake 8, the brake combination valve 3 is provided with: a second combination valve input port P2, a second combination valve output port B2, a fourth combination valve input port P4 and a fourth combination valve output port B4; a pump output port of the hydraulic pump 2 is connected with a second combination valve input port P2 through an external hydraulic pipeline, and a second combination valve output port B2 is connected with a rear brake 8 through an external hydraulic pipeline; the second brake valve input port P6 of the foot brake valve 4 is connected to the fourth combining valve output port B4 through an external hydraulic line, and the second brake valve output port B6 of the foot brake valve 4 is connected to the fourth combining valve input port P4 through an external hydraulic line.
The structure of the brake combination valve 3 further includes: a rear brake accumulator one-way valve 10, a rear emergency brake electromagnetic valve 12, a rear brake proportional pressure reducing valve 14 and a rear brake pressure sensor 16; the second combination valve input port P2 is sequentially connected with the rear brake energy accumulator one-way valve 10 and the rear emergency brake input port P12 of the rear emergency brake electromagnetic valve 12 through an internal hydraulic pipeline, the rear emergency brake control port T12 of the rear emergency brake electromagnetic valve 12 is connected with the fourth combination valve input port P4 through an internal hydraulic pipeline, and the rear emergency brake output port A12 of the rear emergency brake electromagnetic valve 12 is connected with the rear brake proportion control port T14 of the rear brake proportion reducing valve 14 through an internal hydraulic pipeline; a rear brake input port P14 of the rear brake proportional pressure reducing valve 14 is respectively connected with a rear emergency brake input port P12 and a fourth combination valve output port B4 through an internal hydraulic pipeline, and a rear brake output port A14 of the rear brake proportional pressure reducing valve 14 is connected with a second combination valve output port B2 through an internal hydraulic pipeline; the rear brake pressure sensor 16 is connected with the rear brake output port A14, the signal output end of the rear brake pressure sensor 16 is connected with the signal input end of the central controller through a signal line, and the signal output end of the central controller is connected with the rear brake proportional pressure reducing valve 14 through a signal line. After receiving the action signal sent by the central controller, the rear brake proportional pressure reducing valve 14 conducts the rear brake input port P14 and the rear brake output port a14.
The signal output end of the central controller is connected with the front emergency brake electromagnetic valve 11 and the rear emergency brake electromagnetic valve 12 through signal lines.
In order to ensure that the output of braking can be ensured under the non-operating state of the hydraulic pump 2, the brake combination valve 3 is provided with a second energy storage port ACC2, the second energy storage port ACC2 is connected with a rear brake input port P12 through an internal hydraulic pipeline, and is connected with a rear brake energy accumulator 6 through an external hydraulic pipeline. The front brake accumulator one-way valve 9 is respectively connected with the first energy storage port ACC1, the third combination valve output port B3, the front emergency brake input port P11 and the front brake input port P13; the rear brake accumulator one-way valve 10 is respectively connected with the second energy accumulation port ACC2, the fourth combination valve output port B4, the rear emergency brake input port P12 and the rear brake input port P14.
The front brake energy accumulator one-way valve 9 and the rear brake energy accumulator one-way valve 10 are one-way valves, and the front brake pressure sensor 15 and the rear brake pressure sensor 16 are pressure sensors. The hydraulic pump 2 is a constant-pressure variable pump, is arranged at a power output port of the engine, converts mechanical energy of the engine into pressure energy of liquid, is a power device of the brake system, and provides a power source with stable pressure for the whole control system; the hydraulic oil tank 1 is a device for storing hydraulic oil and plays a role in radiating the whole hydraulic system; the arrangement of the front brake energy accumulator check valve 9 and the rear brake energy accumulator check valve 10 can prevent the front brake hydraulic oil and the rear brake hydraulic oil from interfering with each other; the foot brake valve 4 is an operating element for vehicle braking, and consists of two mutually independent pilot reducing valves, namely, the foot brake valve can be operated by a pedal manually; the front emergency brake solenoid valve 11 and the rear emergency brake valve 12 are two-position three-way solenoid valves for realizing emergency braking of the vehicle; the front brake proportional pressure reducing valve 13 and the rear brake proportional pressure reducing valve 14 are proportional pressure reducing valves and are used for providing different pressure oil for a vehicle brake according to different vehicle speeds and different working conditions, and the front brake pressure sensor 15 and the rear brake pressure sensor 16 are used for detecting the input pressure of the proportional valves and feeding the input pressure back to the central controller. When no pressure oil is applied to the front brake 7 and the rear brake 8, the brake piston is reset to be separated from the wheel, the wheel can roll, and the brake piston is pushed to brake after pressure oil is obtained; the front brake accumulator 5 and the rear brake accumulator 6 are used as standby power sources of the vehicle brake to provide power for braking wheels.
The brake method of the unmanned mining dump truck comprises the following specific steps:
(1) When the vehicle is in a flameout state, the engine does not run at the moment, so that no pressure oil exists in the brake system, and the whole brake device does not work.
(2) The vehicle is in a starting state;
when the vehicle starts, the engine drives the hydraulic pump 2 to operate, pressure continuously rises and is maintained to a set value of the hydraulic pump 2, pressure oil enters the front brake energy accumulator 5 through the front brake energy accumulator one-way valve 9, and the front brake energy accumulator 5 stores energy; meanwhile, the pressure oil reaches a front emergency brake input port P11, a front brake proportional pressure reducing valve 13 and a first brake valve input port P5 from the front brake accumulator one-way valve 9;
the pressure oil enters the rear brake accumulator 6 through the rear brake accumulator one-way valve 10, and the rear brake accumulator 6 stores energy; meanwhile, pressure oil reaches a rear emergency brake input port P12, a rear brake input port P14 and a second brake valve input port P6 from the rear brake accumulator one-way valve 10;
at this time, the brake combination valve 3 and the foot brake valve 4 are in a standby state.
(3) Braking the vehicle in the driver mode;
when the engine runs, a pedal of the foot brake valve 4 is stepped on, a first brake valve input port P5 and a first brake valve output port B5 are conducted, pressure oil reaches a front emergency brake control port T11 through the first brake valve output port B5 and a third combination valve input port P3, a front emergency brake electromagnetic valve 11 conducts a front emergency brake input port P11 and a front emergency brake output port A11, the front emergency brake output port A11 outputs the pressure oil to a front brake proportional control port T13, a front brake proportional pressure reducing valve 13 conducts a front brake input port P13 and a front brake output port A13, the pressure oil at a front brake accumulator one-way valve 9 reaches a front brake output port A13 and a first combination valve output port B1 through the front brake input port P13, the first combination valve output port B1 outputs the pressure oil to a front brake 7, and the front brake 7 acts. When the hydraulic pump 2 is not operating, the front brake accumulator 5 outputs pressure oil to the front brake input port P13.
Meanwhile, the foot brake valve 4 conducts the second brake valve input port P6 and the second brake valve output port B6, pressure oil reaches the rear emergency brake control port T12 through the second brake valve output port B6 and the fourth combination valve input port P4, the rear emergency brake electromagnetic valve 12 conducts the rear emergency brake input port P12 and the rear emergency brake output port A12, the rear emergency brake output port A12 outputs the pressure oil to the rear brake proportional control port T14, the rear brake proportional pressure reducing valve 14 conducts the rear brake input port P14 and the rear brake output port A14, the pressure oil at the rear brake accumulator one-way valve 10 reaches the rear brake output port A14 and the second combination valve output port B2 through the rear brake input port P14, the second combination valve output port B2 outputs the pressure oil to the rear brake 8, and the rear brake 8 acts. When the hydraulic pump 2 is not operating, the rear brake accumulator 6 outputs pressure oil to the rear brake input port P14.
Meanwhile, a front brake pressure sensor 15 and a rear brake pressure sensor 16 respectively detect the pressure of oil entering the front brake 7 and the rear brake 8 and input the pressure to a central controller of the whole vehicle.
(4) Braking the vehicle in the unmanned driving mode;
when the engine runs, and the central controller judges that the vehicle needs to brake in the running process of the vehicle, the central controller outputs an action signal to the front brake proportional pressure reducing valve 13, the front brake proportional pressure reducing valve 13 is communicated with the front brake input port P13 and the front brake output port A13, pressure oil at the rear brake accumulator one-way valve 10 is input from the front brake input port P13 of the front brake proportional pressure reducing valve 13, the front brake output port A13 conveys the pressure oil to the first combination valve output port B1, the first combination valve output port B1 outputs the pressure oil to the front brake 7, and the front brake 7 acts.
Meanwhile, the central controller outputs an action signal to the rear brake proportional pressure reducing valve 14, the rear brake proportional pressure reducing valve 14 is communicated with the rear brake input port P14 and the rear brake output port A14, pressure oil at the one-way valve 10 of the rear brake accumulator reaches the rear brake output port A14 and the second combination valve output port B2 through the rear brake input port P14, the second combination valve output port B2 outputs the pressure oil to the rear brake 8, and the rear brake 8 acts.
The front brake pressure sensor 15 and the rear brake pressure sensor 16 respectively detect the pressure of oil entering the front brake 7 and the rear brake 8 and input the pressure to the whole vehicle central controller, if the central controller judges that the vehicle needs to continuously increase the braking force, the electric signals output by the central controller to the front brake proportional pressure reducing valve 13 and the rear brake proportional pressure reducing valve 14 are increased, the front brake proportional pressure reducing valve 13 and the rear brake proportional pressure reducing valve 14 adjust the output pressure oil pressure, and otherwise, the output pressure oil pressure is reduced.
As shown in fig. 2, the brake system of the mining dump truck for implementing emergency braking in the unmanned mode is a schematic diagram.
(5) And the vehicle implements emergency braking in the unmanned driving mode.
When the vehicle meets an emergency, the central controller sends an action signal to the front emergency brake solenoid valve 11 to electrically conduct the front emergency brake input port P11 and the front emergency brake output port A11 when judging that the vehicle needs emergency parking; the front emergency brake output port A11 outputs pressure oil to the front brake proportional control port T13, the front brake proportional pressure reducing valve 13 is communicated with the front brake input port P13 and the front brake output port A13, the pressure oil at the position of the front brake accumulator one-way valve 9 reaches the front brake output port A13 and the first combination valve output port B1 through the front brake input port P13, the first combination valve output port B1 outputs the pressure oil to the front brake 7, and the front brake 7 acts;
meanwhile, the central controller sends an action signal to the rear emergency brake solenoid valve 12 to enable the rear emergency brake solenoid valve to be electrically conducted, so that the rear emergency brake input port P12 and the rear emergency brake output port A12 are electrically conducted; the rear emergency brake output port A12 outputs pressure oil to the rear brake proportional control port T14, the rear brake proportional pressure reducing valve 14 is communicated with the rear brake input port P14 and the rear brake output port A14, the pressure oil at the one-way valve 10 of the rear brake accumulator reaches the rear brake output port A14 and the second combination valve output port B2 through the rear brake input port P14, the second combination valve output port B2 outputs the pressure oil to the rear brake 8, and the rear brake 8 acts.
The front brake pressure sensor 15 and the rear brake pressure sensor 16 respectively detect the pressure of the oil entering the front brake 7 and the rear brake 8 and input the pressure into the central controller of the whole vehicle.
The terminology used herein is for the purpose of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims (10)

1. The utility model provides a brake equipment of unmanned mining dump truck which characterized in that includes: the hydraulic brake system comprises a hydraulic oil tank, a hydraulic pump, a brake combination valve, a foot brake valve and a front brake; the brake combination valve is provided with a first combination valve input port, a first combination valve output port, a third combination valve input port and a third combination valve output port; the hydraulic pump is arranged at a power output port of the engine and used for converting mechanical energy of the engine into pressure energy of liquid, a pump input port of the hydraulic pump is connected with the hydraulic oil tank through an external hydraulic pipeline, a pump output port of the hydraulic pump is connected with an input port of the first combination valve through the external hydraulic pipeline, and an output port of the first combination valve is connected with the front brake through the external hydraulic pipeline; the first brake valve input port of the foot brake valve is connected with the third combination valve output port through an external hydraulic pipeline, and the first brake valve output port of the foot brake valve is connected with the third combination valve input port through an external hydraulic pipeline; the brake combination valve includes: the front brake energy accumulator comprises a front brake energy accumulator one-way valve, a front emergency brake electromagnetic valve, a front brake proportional pressure reducing valve and a front brake pressure sensor; the input port of the first combination valve is sequentially connected with the one-way valve of the front brake energy accumulator and the front emergency brake input port of the front emergency brake electromagnetic valve through an internal hydraulic pipeline, the front emergency brake control port of the front emergency brake electromagnetic valve is connected with the input port of the third combination valve through an internal hydraulic pipeline, and the front emergency brake output port of the front emergency brake electromagnetic valve is connected with the front brake proportional control port of the front brake proportional pressure reducing valve through an internal hydraulic pipeline; the front brake input port of the front brake proportional pressure reducing valve is respectively connected with the front emergency brake input port and the output port of the third combination valve through an internal hydraulic pipeline, and the front brake output port of the front brake proportional pressure reducing valve is connected with the output port of the first combination valve through an internal hydraulic pipeline; the front brake pressure sensor is connected with the front brake output port, the signal output end of the front brake pressure sensor is connected with the signal input end of the central controller through a signal wire, and the signal output end of the central controller is connected with the front brake proportional pressure reducing valve through a signal wire.
2. The braking device for the unmanned mining dump truck according to claim 1, characterized by further comprising: the rear brake, the braking combination valve is provided with: a second combination valve input port, a second combination valve output port, a fourth combination valve input port, and a fourth combination valve output port; a pump output port of the hydraulic pump is connected with an input port of the second combination valve through an external hydraulic pipeline, and an output port of the second combination valve is connected with the rear brake through an external hydraulic pipeline; the second brake valve input port of the foot brake valve is connected with the fourth combination valve output port through an external hydraulic pipeline, and the second brake valve output port of the foot brake valve is connected with the fourth combination valve input port through an external hydraulic pipeline; the brake combination valve includes: the rear brake energy accumulator comprises a one-way valve, a rear emergency brake electromagnetic valve, a rear brake proportional pressure reducing valve and a rear brake pressure sensor; the second combination valve input port is sequentially connected with a rear brake energy accumulator one-way valve and a rear emergency brake input port of a rear emergency brake solenoid valve through an internal hydraulic pipeline, a rear emergency brake control port of the rear emergency brake solenoid valve is connected with the fourth combination valve input port through the internal hydraulic pipeline, and a rear emergency brake output port of the rear emergency brake solenoid valve is connected with a rear brake proportion control port of a rear brake proportion pressure reducing valve through the internal hydraulic pipeline; the rear brake input port of the rear brake proportional pressure reducing valve is respectively connected with the rear emergency brake input port and the output port of the fourth combination valve through an internal hydraulic pipeline, and the rear brake output port of the rear brake proportional pressure reducing valve is connected with the output port of the second combination valve through an internal hydraulic pipeline; the rear brake pressure sensor is connected with the rear brake output port, the signal output end of the rear brake pressure sensor is connected with the signal input end of the central controller through a signal line, and the signal output end of the central controller is connected with the rear brake proportional pressure reducing valve through a signal line.
3. The braking device of the unmanned mining dump truck according to claim 2, wherein the brake combination valve is provided with a first energy storage port and a second energy storage port, the first energy storage port is connected with the front brake input port through an internal hydraulic pipeline, and is connected with the front brake energy accumulator through an external hydraulic pipeline; the second energy storage port is connected with the rear brake input port through an internal hydraulic pipeline and is connected with the rear brake energy accumulator through an external hydraulic pipeline.
4. The braking device of the unmanned mining dump truck according to claim 2, wherein the front brake proportional pressure reducing valve conducts the front brake input port and the front brake output port after receiving an action signal sent by the central controller; and the rear brake proportional pressure reducing valve is communicated with the rear brake input port and the rear brake output port after receiving an action signal sent by the central controller.
5. The braking device for the unmanned mining dump truck according to claim 2, wherein a signal output end of the central controller is connected with the front emergency braking solenoid valve and the rear emergency braking solenoid valve through signal lines.
6. The braking device of the unmanned mining dump truck according to claim 2, wherein the front braking energy accumulator one-way valve and the rear braking energy accumulator one-way valve are one-way valves, the front emergency braking electromagnetic valve and the rear emergency braking electromagnetic valve are two-position three-way electromagnetic valves, the front braking proportional pressure reducing valve and the rear braking proportional pressure reducing valve are proportional pressure reducing valves, the front braking pressure sensor and the rear braking pressure sensor are pressure sensors, the hydraulic pump is a constant pressure variable pump, and the foot braking valve comprises two independent pilot pressure reducing valves.
7. A braking method for an unmanned mining dump truck using the braking device for an unmanned mining dump truck according to claim 1, characterized by comprising:
the vehicle is started, the engine drives the hydraulic pump to operate, and pressure oil reaches the one-way valve of the front brake energy accumulator, the front emergency brake input port, the front brake proportional pressure reducing valve and the first brake valve input port from the pump outlet of the hydraulic pump along with the continuous rise of the pressure and the maintenance of the pressure to the set value of the hydraulic pump;
when the vehicle needs to brake in the running process, the central controller outputs an action signal to the front brake proportional pressure reducing valve, the front brake proportional pressure reducing valve conducts the front brake input port and the front brake output port, pressure oil at the one-way valve of the rear brake accumulator is input from the front brake input port of the front brake proportional pressure reducing valve, the front brake output port conveys the pressure oil to the first combination valve output port, the first combination valve output port outputs the pressure oil to the front brake, and the front brake acts.
8. The braking method of the unmanned mining dump truck according to claim 7, wherein the central controller outputs an action signal to the rear brake proportional pressure reducing valve, the rear brake proportional pressure reducing valve conducts the rear brake input port and the rear brake output port, pressure oil at the one-way valve of the rear brake accumulator reaches the rear brake output port and the second combination valve output port through the rear brake input port, the second combination valve output port outputs the pressure oil to the rear brake, and the rear brake acts; the front brake pressure sensor and the rear brake pressure sensor respectively detect the pressure of pressure oil entering the front brake and the rear brake and input the pressure oil to the central controller; when the braking force needs to be adjusted, the central controller adjusts the strength of the electric signals output to the front brake proportional pressure reducing valve and the rear brake proportional pressure reducing valve, and the front brake proportional pressure reducing valve and the rear brake proportional pressure reducing valve adjust the pressure of the output pressure oil.
9. The braking method of the unmanned mining dump truck according to claim 8, wherein when the vehicle meets an emergency and needs emergency stop, the central controller sends an action signal to the front emergency brake solenoid valve to electrically conduct the front emergency brake input port and the front emergency brake output port; the front emergency brake output port outputs pressure oil to the front brake proportional control port, the front brake proportional pressure reducing valve conducts the front brake input port and the front brake output port, the pressure oil at the one-way valve of the front brake accumulator reaches the front brake output port and the first combination valve output port through the front brake input port, the first combination valve output port outputs the pressure oil to the front brake, and the front brake acts; meanwhile, the central controller sends an action signal to the rear emergency brake solenoid valve to enable the rear emergency brake solenoid valve to be electrically conducted to form a rear emergency brake input port and a rear emergency brake output port; the rear emergency brake output port outputs pressure oil to the rear brake proportional control port, the rear brake proportional pressure reducing valve is communicated with the rear brake input port and the rear brake output port, the pressure oil at the one-way valve of the rear brake accumulator reaches the rear brake output port and the second combination valve output port through the rear brake input port, the second combination valve output port outputs the pressure oil to the rear brake, and the rear brake acts.
10. The braking method of the unmanned mining dump truck according to claim 7, characterized in that:
when an engine runs, a pedal of a foot brake valve is stepped on, a first brake valve input port and a first brake valve output port are conducted, pressure oil reaches a front emergency brake control port through a first brake valve output port and a third combination valve input port, a front emergency brake electromagnetic valve conducts a front emergency brake input port and a front emergency brake output port, the front emergency brake output port outputs the pressure oil to a front brake proportional control port, a front brake proportional pressure reducing valve conducts a front brake input port and a front brake output port, the pressure oil at a one-way valve of a front brake accumulator reaches the front brake output port and the first combination valve output port through the front brake input port, the first combination valve output port outputs the pressure oil to a front brake, and the front brake acts;
the foot brake valve conducts the second brake valve input port and the second brake valve output port, pressure oil reaches the rear emergency brake control port through the second brake valve output port and the fourth combination valve input port, the rear emergency brake solenoid valve conducts the rear emergency brake input port and the rear emergency brake output port, the rear emergency brake output port outputs the pressure oil to the rear brake proportional control port, the rear brake proportional pressure reducing valve conducts the rear brake input port and the rear brake output port, the pressure oil at the one-way valve of the rear brake accumulator reaches the rear brake output port and the second combination valve output port through the rear brake input port, the second combination valve output port outputs the pressure oil to the rear brake, and the rear brake acts; the front brake pressure sensor and the rear brake pressure sensor respectively detect the pressure of oil entering the front brake and the rear brake and input the pressure to the central controller of the whole vehicle.
CN202210503318.6A 2022-05-10 2022-05-10 Brake device and brake method for unmanned mining dump truck Active CN114872672B (en)

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CN202210503318.6A CN114872672B (en) 2022-05-10 2022-05-10 Brake device and brake method for unmanned mining dump truck
AU2023266904A AU2023266904A1 (en) 2022-05-10 2023-03-29 Braking device and braking method for unmanned mining dump truck
PCT/CN2023/084635 WO2023216746A1 (en) 2022-05-10 2023-03-29 Braking apparatus for unmanned mining dump truck and braking method therefor

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