CN115626150A - Mine car anti-lock braking control system and control method thereof - Google Patents

Mine car anti-lock braking control system and control method thereof Download PDF

Info

Publication number
CN115626150A
CN115626150A CN202211359822.XA CN202211359822A CN115626150A CN 115626150 A CN115626150 A CN 115626150A CN 202211359822 A CN202211359822 A CN 202211359822A CN 115626150 A CN115626150 A CN 115626150A
Authority
CN
China
Prior art keywords
valve
brake
hydraulic
servo valve
control servo
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211359822.XA
Other languages
Chinese (zh)
Inventor
王逢全
郭海全
孟有平
马超
王怡然
张波
陈俊宇
狄志红
张耀斌
柴江
李来平
杨芙蓉
邬青峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inner Mongolia North Hauler JSCL
Original Assignee
Inner Mongolia North Hauler JSCL
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inner Mongolia North Hauler JSCL filed Critical Inner Mongolia North Hauler JSCL
Publication of CN115626150A publication Critical patent/CN115626150A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02—Application and release valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/70—Electrical control in fluid-pressure brake systems by fluid-controlled switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02—Application and release valves
    • B60T15/025—Electrically controlled valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
    • B60T15/02—Application and release valves
    • B60T15/025—Electrically controlled valves
    • B60T15/028—Electrically controlled valves in hydraulic systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/06—Disposition of pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof

Landscapes

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

Abstract

The invention discloses a mine car braking anti-lock control system, comprising: the system comprises an oil tank, a hydraulic pump, an electrically controlled control valve, a brake, an electronic brake pedal, an emergency brake switch and a wheel speed sensor; the electrically controlled control valve includes: the emergency braking system comprises a braking electronic control unit, an emergency braking electromagnetic valve, an electromagnetic directional valve, a hydraulic control servo valve and a valve core displacement sensor; a valve core displacement sensor is installed on a valve core of the hydraulic control servo valve, and the brake electronic control unit controls the electromagnetic directional valve, the hydraulic control servo valve, the valve core displacement sensor and the wheel speed sensor to be matched for use, so that closed-loop control over the position of the valve core is formed. The invention also discloses a mining vehicle anti-lock braking control method. According to the invention, the position of the valve core of the hydraulic control servo valve is subjected to closed-loop feedback control, and the wheel speed signals of all wheels are fed back in real time through the wheel speed sensor, so that the wheels can be prevented from slipping and locking.

Description

Mine car anti-lock braking control system and control method thereof
Technical Field
The invention belongs to the field of mining dump trucks, and particularly relates to a mining truck braking anti-lock control system and a control method thereof.
Background
An off-highway dump truck (mine truck for short) is mainly used for transporting ores and mineral aggregates in large-scale surface mines and mainly comprises a truck frame, a power system, a transmission system, an operation system, a cab assembly, a brake device and the like.
At present, most of brake systems of mining vehicles are direct-acting hydraulic brakes, control signals of the hydraulic brakes are sent by a hydraulic brake pedal arranged in a cab, and front brakes and rear brakes are directly controlled to brake. However, the hydraulic brake pedal is arranged in the cab, so that the risk of oil leakage exists, the safety of a driver can be affected, and certain potential safety hazards exist; when the hydraulic brake pedal is maintained, the residual hydraulic oil in the hydraulic brake pedal can pollute the interior of a cab; the mining vehicle braking system used at present can generate a phenomenon of skidding caused by locking in the braking process, and influences the output of the wheels of the mining vehicle.
Disclosure of Invention
The invention aims to provide a mining vehicle anti-lock braking control system and a control method thereof.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
mining car braking anti-lock control system includes: the system comprises an oil tank, a hydraulic pump, an electric control valve, a brake, an electronic brake pedal, an emergency brake switch and a wheel speed sensor; the input port of the hydraulic pump is connected with the oil tank through a hydraulic pipeline, and the output port of the hydraulic pump is respectively connected with the input ports of the emergency braking electromagnetic valve and the hydraulic control servo valve through the hydraulic pipeline; the brake is connected with an oil outlet of the hydraulic control servo valve through a hydraulic pipeline, and the emergency brake switch is connected with a control end of the emergency brake electromagnetic valve through a signal line; the electrically controlled control valve includes: the emergency braking control system comprises a braking electronic control unit, an emergency braking electromagnetic valve, an electromagnetic directional valve, a hydraulic control servo valve and a valve core displacement sensor; the output port of the emergency braking electromagnetic valve is connected with the input port of the electromagnetic directional valve through a hydraulic pipeline, and the return port is connected with the oil tank through a hydraulic pipeline; the output port of the electromagnetic directional valve is connected with the pilot control port of the hydraulic control servo valve through a hydraulic pipeline; a signal input port of the brake electronic control unit is respectively connected with an electronic brake pedal, a signal output port of the valve core displacement sensor, a control end of the electromagnetic directional valve and a signal output port of the wheel speed sensor through signal wires; a valve core displacement sensor is installed on a valve core of the hydraulic control servo valve, and the braking electronic control unit controls the electromagnetic directional valve, the hydraulic control servo valve and the valve core displacement sensor to be matched for use, so that closed-loop control over the position of the valve core is formed; the wheel speed sensor is used for detecting the rotating speed of the wheel and sending the rotating speed to the brake electronic control unit.
Furthermore, the brake electronic control unit receives a brake instruction sent by a brake pedal, the valve core position fed back by the valve core displacement sensor and the wheel speed signal fed back by the wheel speed sensor, controls the conduction or the closing of the electromagnetic directional valve and adjusts the valve core position of the hydraulic control servo valve to an adjusting point.
Further, the brake includes: left front brake, right front brake, left back stopper, right back stopper, liquid accuse servovalve includes: first liquid accuse servovalve, second liquid accuse servovalve, third liquid accuse servovalve, fourth liquid accuse servovalve, the solenoid-operated directional valve includes: the electromagnetic reversing valve comprises a first electromagnetic reversing valve, a second electromagnetic reversing valve, a third electromagnetic reversing valve, a fourth electromagnetic reversing valve, a fifth electromagnetic reversing valve, a sixth electromagnetic reversing valve, a seventh electromagnetic reversing valve and an eighth electromagnetic reversing valve; the input ports of the first electromagnetic directional valve and the fourth electromagnetic directional valve are connected with the output port of the emergency brake electromagnetic valve through hydraulic pipelines, and the output ports of the second electromagnetic directional valve and the third electromagnetic directional valve are connected with a hydraulic oil tank through hydraulic pipelines; the output port of the first electromagnetic directional valve is respectively connected with the pilot control port of the first hydraulic control servo valve and the input port of the second electromagnetic directional valve through a hydraulic pipeline, and the output port of the fourth electromagnetic directional valve is respectively connected with the pilot control port of the second hydraulic control servo valve and the input port of the third electromagnetic directional valve through a hydraulic pipeline; the input ports of the fifth electromagnetic directional valve and the eighth electromagnetic directional valve are connected with the output port of the hydraulic pump through hydraulic pipelines, and the output ports of the sixth electromagnetic directional valve and the seventh electromagnetic directional valve are connected with a hydraulic oil tank through hydraulic pipelines; an output port of the fifth electromagnetic directional valve is respectively connected with a pilot control port of the third hydraulic control servo valve and an input port of the sixth electromagnetic directional valve through a hydraulic pipeline, and an output port of the eighth electromagnetic directional valve is respectively connected with a pilot control port of the fourth hydraulic control servo valve and an input port of the seventh electromagnetic directional valve through a hydraulic pipeline; the output port of the first hydraulic control servo valve is connected with the right rear brake through a hydraulic pipeline, the input port of the first hydraulic control servo valve is connected with the output port of the hydraulic pump through a hydraulic pipeline, and the oil return port of the first hydraulic control servo valve is connected with the oil tank through a hydraulic pipeline; the output port of the second hydraulic control servo valve is connected with the left rear brake through a hydraulic pipeline, the input port of the second hydraulic control servo valve is connected with the output port of the hydraulic pump through a hydraulic pipeline, and the oil return port of the second hydraulic control servo valve is connected with the oil tank through a hydraulic pipeline; the output port of the third hydraulic control servo valve is connected with the right front brake through a hydraulic pipeline, the input port of the third hydraulic control servo valve is connected with the output port of the hydraulic pump through a hydraulic pipeline, and the oil return port of the third hydraulic control servo valve is connected with the oil tank through a hydraulic pipeline; an output port of the fourth hydraulic control servo valve is connected with the left front brake through a hydraulic pipeline, an input port of the fourth hydraulic control servo valve is connected with an output port of the hydraulic pump through a hydraulic pipeline, and an oil return port of the fourth hydraulic control servo valve is connected with an oil tank through a hydraulic pipeline; the spool displacement sensor includes: the valve core displacement sensor comprises a first valve core displacement sensor, a second valve core displacement sensor, a third valve core displacement sensor and a fourth valve core displacement sensor, wherein an induction core connecting rod of the first valve core displacement sensor is connected with a valve core of a first hydraulic control servo valve, an induction core connecting rod of the second valve core displacement sensor is connected with a valve core of a second hydraulic control servo valve, an induction core connecting rod of the third valve core displacement sensor is connected with a valve core of a third hydraulic control servo valve, and an induction core connecting rod of the fourth valve core displacement sensor is connected with a valve core of a fourth hydraulic control servo valve; the signal output ports of the first valve core displacement sensor, the second valve core displacement sensor, the third valve core displacement sensor and the fourth valve core displacement sensor are respectively connected with the brake electronic control unit through signal lines.
Furthermore, the first electromagnetic directional valve, the fourth electromagnetic directional valve, the fifth electromagnetic directional valve and the eighth electromagnetic directional valve belong to long-distance electromagnetic valves, and the second electromagnetic directional valve, the third electromagnetic directional valve, the sixth electromagnetic directional valve and the seventh electromagnetic directional valve belong to long-distance electromagnetic valves.
Furthermore, the first electromagnetic directional valve, the second electromagnetic directional valve, the first valve core displacement sensor and the first hydraulic control servo valve are matched for use and are operated in a linkage mode; the third electromagnetic directional valve, the fourth electromagnetic directional valve, the second valve core displacement sensor and the second hydraulic servo valve are matched for use and are operated in a linkage mode; the fifth electromagnetic directional valve, the sixth electromagnetic directional valve, the third valve core displacement sensor and the third hydraulic control servo valve are matched for use and are operated in a linkage mode; and the seventh electromagnetic directional valve, the eighth electromagnetic directional valve, the fourth valve core displacement sensor and the fourth hydraulic control servo valve are matched for use and are operated in a linkage manner.
Further, the wheel speed sensor includes: the left front wheel speed sensor, the left rear wheel speed sensor, the right front wheel speed sensor and the right rear wheel speed sensor are respectively connected with the brake electronic control unit through signal lines.
Further, the energy accumulator is connected with an output port of the hydraulic pump through a hydraulic pipeline.
The mine vehicle anti-lock brake control method comprises the following steps:
the engine drives the hydraulic pump to operate and output pressure oil, the pressure is continuously increased and maintained to a set value of the hydraulic pump, a pilot control port of the hydraulic control servo valve has no pressure oil, and the backflow direction is blocked; the pressure oil reaches the brake from the hydraulic pump and the hydraulic control servo valve, and the brake acts; the pilot-operated servo valve includes: first liquid accuse servovalve, second liquid accuse servovalve, third liquid accuse servovalve, fourth liquid accuse servovalve, the stopper includes: the brake comprises a right rear brake, a left rear brake, a right front brake and a left front brake;
the emergency brake switch is conducted, the emergency brake solenoid valve is electrified, the output port is conducted, the pressure oil reaches a pilot control port of the hydraulic control servo valve through the emergency brake solenoid valve and the electromagnetic reversing valve, the brake electronic control unit controls the oil return port of the hydraulic control servo valve to be conducted, the pressure oil in the brake flows back to the oil tank through the oil return port of the hydraulic control servo valve, and the brake of the brake is released;
the method comprises the steps that an electronic brake pedal is stepped when a vehicle moves, the electronic brake pedal sends a brake instruction to a brake electronic control unit, under the control of the electronic control unit, an electromagnetic directional valve linked with a first hydraulic control servo valve, a second hydraulic control servo valve, a third hydraulic control servo valve or a fourth hydraulic control servo valve is switched on or off, the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve or the fourth hydraulic control servo valve adjusts the closing or the switching-on of an oil return port, a right rear brake, a left rear brake, a right front brake or a left front brake adjusts the brake strength, a valve core displacement sensor feeds back the position of a valve core to the electronic control unit until the position and the opening of the valve core of the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve or the fourth hydraulic control servo valve adjust the position and the opening of the valve core to meet the opening requirement of the electronic brake pedal, and the deceleration or stop of the vehicle is realized;
when the left front wheel speed sensor, the left rear wheel speed sensor, the right front wheel speed sensor or the right rear wheel speed sensor detects that the wheel speed change of the left front wheel, the left rear wheel, the right front wheel or the right rear wheel exceeds a set value, the brake electronic control unit judges that the left front wheel, the left rear wheel, the right front wheel or the right rear wheel slips, controls the electromagnetic reversing valve to be conducted, adjusts the opening degree and the conducting direction of a valve core of the fourth hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve or the first hydraulic control servo valve, enhances the braking force of the left front brake, the left rear brake, the right front brake and the right rear brake, and reduces the wheel speed of the left front wheel, the left rear wheel, the right front wheel or the right rear wheel.
Preferably, after the vehicle is started, in a braking state, the engine runs, pressure oil also enters the energy accumulator, the emergency brake switch is in a standby state, the emergency brake solenoid valve is not powered and is in a disconnected state, the outlet direction and the backflow direction of the emergency brake solenoid valve are in a disconnected state, hydraulic oil is blocked from reaching a pilot control port of the hydraulic control servo valve, the hydraulic control servo valve flows back to the oil tank to be blocked, the braking direction is conducted, and the pressure oil reaches the brake from an output port of the hydraulic pump through the hydraulic control servo valve.
Preferably, in a moving state after the vehicle is started, the brake electronic control unit controls the first electromagnetic directional valve, the fourth electromagnetic directional valve, the fifth electromagnetic directional valve and the eighth electromagnetic directional valve to be in a conducting state, and controls the second electromagnetic directional valve, the third electromagnetic directional valve, the sixth electromagnetic directional valve and the seventh electromagnetic directional valve to be in a disconnecting state; the pressure oil reaches the pilot control ports of the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve and the fourth hydraulic control servo valve through the emergency braking electromagnetic valve, the first electromagnetic reversing valve, the fourth electromagnetic reversing valve, the fifth electromagnetic reversing valve and the eighth electromagnetic reversing valve; the braking electronic control unit controls the oil return directions of the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve and the fourth hydraulic control servo valve to be conducted, the braking direction is blocked, hydraulic oil in the right rear brake, the left rear brake, the right front brake and the left front brake respectively flows back to the oil tank from oil return ports of the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve and the fourth hydraulic control servo valve, and pressure is released.
The invention has the technical effects that:
1. the invention adopts closed-loop feedback to the valve core position of the hydraulic control servo valve, and has the characteristics of high control precision and high response speed compared with the existing open-loop hydraulic servo proportional control scheme.
2. According to the technical scheme of the wheel speed sensor feedback closed-loop control, the independent implementation and release of the left front working brake, the right front working brake, the left rear working brake and the right rear working brake are realized, the left front tire, the right front tire, the left rear tire and the right rear tire are prevented from slipping and the wheels are prevented from being locked, and the blank of the conventional mining vehicle anti-lock braking system is filled.
3. The invention controls the implementation and release of front and back working brake through the electronic brake pedal, replaces the prior direct-acting type hydraulic pressure foot brake valve control technology, can improve the safety in the cab, and avoids the influence on the safety of a driver and the pollution in the cab caused by the leakage generated during the working and maintenance of the prior direct-acting type hydraulic pressure foot brake valve.
4. Compared with the existing electro-hydraulic servo proportional control scheme, the technical scheme of the invention, which takes the high-frequency response electromagnetic directional valve as the pilot control hydraulic control servo valve, has the characteristics of low cost, good reliability and good adaptability to oil pollution degree.
Drawings
Fig. 1 is a schematic diagram of the structure of a mining vehicle anti-lock brake control system according to the present invention.
Detailed Description
The following description sufficiently illustrates specific embodiments of the invention to enable those skilled in the art to practice and reproduce it.
Fig. 1 is a schematic structural diagram of a mining vehicle anti-lock brake control system according to the present invention.
Mining vehicle braking anti-lock control system includes: the system comprises an oil tank 1, a hydraulic pump 2, an accumulator 3, an electrically controlled control valve 4, a brake, an electronic brake pedal 7, an emergency brake switch 8 and a wheel speed sensor.
The oil tank 1 is used as a device for storing hydraulic oil and provides a heat dissipation effect for the hydraulic oil in the electric control system of the mining vehicle.
The hydraulic pump 2 is a constant-pressure variable pump, is arranged at a power output port of the engine and converts mechanical energy of the engine into pressure energy of pressure oil; the hydraulic pump 2 is used as a power device of the brake control system and provides stable pressure for hydraulic oil of the whole brake control system; an input port of the hydraulic pump 2 is connected with the oil tank 1 through a hydraulic pipeline, and an output port of the hydraulic pump 2 is connected with an input port of the emergency brake solenoid valve 41 through a hydraulic pipeline.
The energy accumulator 3 is connected with an outlet of the hydraulic pump 2 through a hydraulic pipeline, and the energy accumulator 3 is used as a standby power source of the brake control system and plays a role when the hydraulic pump 2 fails.
The brake is used as an actuating element of a brake control system, receives hydraulic power, releases the hydraulic power, and forms working brake or emergency brake, and comprises: the left front brake 51, the left rear brake 52, the right front brake 61 and the right rear brake 62 are respectively connected with the oil outlets of the corresponding pilot-controlled servo valves 43 through hydraulic pipelines.
The electronic brake pedal 7 is used as an electronic control element of an electronic control brake control system of the mining vehicle and is used for sending a brake instruction; the signal output port of the electronic brake pedal 7 is connected to the signal input port of the brake electronic control unit 40 through a signal line.
The emergency brake switch 8 serves as an electronic control element of the brake control system for issuing an emergency braking command to the emergency brake solenoid valve 41. The emergency brake switch 8 is provided in the cab and connected to a control terminal of the emergency brake solenoid valve 41 via a signal line.
The wheel speed sensor is a rotating speed sensor (a magnetoelectric wheel speed sensor or a Hall wheel speed sensor can be selected) for measuring the rotating speed of the automobile wheel, is arranged near the wheel, can be fixed at the positions of a frame, an axle and the like, and a signal output port is connected with the braking electronic control unit 40 through a signal wire and is used for detecting the rotating speed of the wheel and sending the rotating speed to the braking electronic control unit 40; the method comprises the following steps: a left front wheel speed sensor 91, a left rear wheel speed sensor 92, a right front wheel speed sensor 93, a right rear wheel speed sensor 94, the left front wheel speed sensor 91 being disposed near the left front wheel, the right front wheel speed sensor 93 being disposed near the right front wheel, the left rear wheel speed sensor 92 being disposed near the left rear wheel, the right rear wheel speed sensor 94 being disposed near the right rear wheel; the left front wheel speed sensor 91, the left rear wheel speed sensor 92, the right front wheel speed sensor 93, and the right rear wheel speed sensor 94 are connected to the brake electronic control unit 40 through signal lines, respectively.
The electronically controlled control valves 4 receive brake commands and transmit hydraulic power to the brakes. The electrically controlled control valve 4 includes: a brake electronic control unit 40, an emergency brake solenoid valve 41, an electromagnetic directional valve 42, a pilot-operated servo valve 43, and a spool displacement sensor 44. The electric control valve 4 adopts a pilot valve (the electromagnetic directional valve selected by the pilot valve is a high-frequency response electromagnetic directional valve) to control pressure oil at a pilot control port of a hydraulic control servo valve 43, a valve core of the hydraulic control servo valve 43 is provided with a high-precision valve core displacement sensor 44, the pilot valve, the hydraulic control servo valve 43, the valve core displacement sensor 44 and a brake electronic control unit 40 are matched for use to form closed-loop control, and meanwhile, an emergency brake electromagnetic valve 41 is integrated, so that emergency braking of a vehicle can be realized in an emergency state, and the system has the characteristics of independent control of four-wheel braking, large output flow, high response speed and high control precision, and can meet the requirements of hydraulic brake systems of off-highway mining vehicles with different models.
A plurality of signal input ports of the brake electronic control unit (various electronic automobile controllers may be used as required) 40 are respectively connected to the electronic brake pedal 7, a signal output port of the spool displacement sensor 44, and a control end of the electromagnetic directional valve 42 through signal lines, and receive a brake instruction sent by the brake pedal 7, a spool position fed back by the spool displacement sensor 44, and a wheel speed signal fed back by the wheel speed sensor, and control the conduction or closure of the electromagnetic directional valve 42, and adjust a spool position of the hydraulic control servo valve 43 to an adjustment point.
The emergency brake solenoid valve 41 belongs to a brake solenoid valve, is conducted or closed after receiving an emergency brake instruction of an emergency brake switch 8, an input port is connected with the hydraulic pump 2 through a hydraulic pipeline, an output port is connected with an input port of the electromagnetic directional valve 42 through a hydraulic pipeline, an oil return port is connected with the oil tank 1 through a hydraulic pipeline, and a control end passes through the oil return port; the emergency brake switch 8 is closed, the emergency brake electromagnetic valve 41 is electrified, and the output port of the emergency brake electromagnetic valve 41 is conducted; the emergency brake switch 8 is turned off and the output port of the emergency brake solenoid valve 411 is turned off. An input port of the emergency brake solenoid valve 41 is connected with an output port of the hydraulic pump 2 through a hydraulic pipeline, an output port of the emergency brake solenoid valve 41 is respectively connected with input ports of the first electromagnetic directional valve 421, the fourth electromagnetic directional valve 424, the fifth electromagnetic directional valve 424 and the eighth electromagnetic directional valve 424 through hydraulic pipelines, and a return port is connected with the oil tank 1 through a hydraulic pipeline.
The solenoid directional valve 42 is as the pilot valve, and the delivery outlet passes through hydraulic line and connects, and the control end passes through the signal line and connects braking electronic control unit 40, switches on or breaks through braking electronic control unit 40 control, includes: a first electromagnetic directional valve 421, a second electromagnetic directional valve 422, a third electromagnetic directional valve 423, a fourth electromagnetic directional valve 424, a fifth electromagnetic directional valve 425, a sixth electromagnetic directional valve 426, a seventh electromagnetic directional valve 427, and an eighth electromagnetic directional valve 428. In the preferred embodiment, the first solenoid directional valve 421, the fourth solenoid directional valve 424, the fifth solenoid directional valve 425, and the eighth solenoid directional valve 428 belong to long-distance solenoid valves (kept on after power loss), and the second solenoid directional valve 422, the third solenoid directional valve 423, the sixth solenoid directional valve 426, and the seventh solenoid directional valve 427 belong to long-distance solenoid valves (kept off after power loss).
The input ports of the first electromagnetic directional valve 421 and the fourth electromagnetic directional valve 424 are connected with the output port of the emergency brake electromagnetic valve 41 through a hydraulic pipeline, and the output ports of the second electromagnetic directional valve 422 and the third electromagnetic directional valve 423 are connected with the hydraulic oil tank 1 through a hydraulic pipeline; an output port of the first electromagnetic directional valve 421 is respectively connected with a pilot control port of the first pilot-controlled servo valve 431 and an input port of the second electromagnetic directional valve 422 through hydraulic pipelines, and an output port of the fourth electromagnetic directional valve 424 is respectively connected with a pilot control port of the second pilot-controlled servo valve 432 and an input port of the third electromagnetic directional valve 423 through hydraulic pipelines; the input ports of the fifth electromagnetic directional valve 425 and the eighth electromagnetic directional valve 428 are connected with the output port of the hydraulic pump 2 through hydraulic pipelines, and the output ports of the sixth electromagnetic directional valve 426 and the seventh electromagnetic directional valve 427 are connected with the hydraulic oil tank 1 through hydraulic pipelines; an output port of the fifth electromagnetic directional valve 425 is connected to a pilot control port of the third pilot-operated servo valve 433 and an input port of the sixth electromagnetic directional valve 426 via hydraulic lines, respectively, and an output port of the eighth electromagnetic directional valve 428 is connected to a pilot control port of the fourth pilot-operated servo valve 434 and an input port of the seventh electromagnetic directional valve 427 via hydraulic lines, respectively.
The hydraulic control servo valve 43 is a hydraulic control valve, belongs to pipeline control equipment, is connected with the brake electronic control unit 40 through a signal line, receives a control signal of the brake electronic control unit 40, is used for controlling the release or conduction of brake pressure oil, is provided with a plurality of adjusting points, and can be set according to different control requirements; the pilot-controlled servo valve 43 controls the conduction direction through the electromagnetic directional valve 42, after the position of the valve core is changed, the valve core displacement sensor 44 feeds the position of the valve core back to the brake electronic control unit 40, linkage is carried out under the control of the brake electronic control unit 40, closed-loop control is formed, the pilot-controlled servo valve 43 adjusts the position of the valve core to an adjusting point, conduction and closing or adjustment of the opening degree of the valve are realized, and the position of the valve core meets the opening degree requirement of the electronic brake pedal 7. The output port of the pilot-controlled servo valve 43 is connected with the corresponding brake through a hydraulic pipeline, the input port is connected with the output port of the hydraulic pump 2 through a hydraulic pipeline, the pilot control port is connected with the output port of the electromagnetic directional valve 42 through a hydraulic pipeline (if the pilot control port has pressure oil, the oil return port of the pilot-controlled servo valve 43 can be conducted, otherwise, the oil return port is in a closed state), and the oil return port is connected with the oil tank 1 through a hydraulic pipeline.
The pilot-operated servo valve 43 includes: the hydraulic brake system comprises a first hydraulic control servo valve 431, a second hydraulic control servo valve 432, a third hydraulic control servo valve 433 and a fourth hydraulic control servo valve 434, wherein the first hydraulic control servo valve 431 is used for controlling the release or conduction of pressure oil on the right rear brake 62, the second hydraulic control servo valve 432 is used for controlling the release or conduction of the pressure oil on the left rear brake 52, the third hydraulic control servo valve 433 is used for controlling the release or conduction of the pressure oil on the right front brake 61, and the fourth hydraulic control servo valve 434 is used for controlling the release or conduction of the pressure oil on the left front brake 51. An output port of the first hydraulic control servo valve 431 is connected with the right rear brake 62 through a hydraulic pipeline, an input port of the first hydraulic control servo valve 431 is connected with an output port of the hydraulic pump 2 through a hydraulic pipeline, a pilot control port of the first hydraulic control servo valve is connected with an output port of the first electromagnetic directional valve 421 through a hydraulic pipeline, and an oil return port of the first hydraulic control servo valve is connected with the oil tank 1 through a hydraulic pipeline; an output port of the second hydraulic control servo valve 432 is connected with the left rear brake 52 through a hydraulic pipeline, an input port of the second hydraulic control servo valve 432 is connected with an output port of the hydraulic pump 2 through a hydraulic pipeline, a pilot control port of the second hydraulic control servo valve is connected with an output port of the fourth electromagnetic directional valve 424 through a hydraulic pipeline, and an oil return port of the second hydraulic control servo valve is connected with the oil tank 1 through a hydraulic pipeline; an output port of the third hydraulic control servo valve 433 is connected with the right front brake 61 through a hydraulic pipeline, an input port of the third hydraulic control servo valve is connected with an output port of the hydraulic pump 2 through a hydraulic pipeline, a pilot control port is connected with an output port of the fifth electromagnetic directional valve 425 through a hydraulic pipeline, and an oil return port is connected with the oil tank 1 through a hydraulic pipeline; an output port of the fourth hydraulic control servo valve 434 is connected with the left front brake 51 through a hydraulic pipeline, an input port of the fourth hydraulic control servo valve is connected with an output port of the hydraulic pump 2 through a hydraulic pipeline, a pilot control port of the fourth hydraulic control servo valve is connected with an output port of the eighth electromagnetic directional valve 428 through a hydraulic pipeline, and an oil return port of the fourth hydraulic control servo valve is connected with the oil tank 1 through a hydraulic pipeline.
The induction core link of the spool displacement sensor 44 is connected to the spool of the pilot-operated servo valve 43, and is connected to the brake electronic control unit 40 via a signal line. The spool displacement sensor 44 includes: a first spool displacement sensor 441, a second spool displacement sensor 442, a third spool displacement sensor 443, and a fourth spool displacement sensor 444, wherein the sensing core link of the first spool displacement sensor 441 is connected to the spool of the first hydraulic-control servo valve 431, the sensing core link of the second spool displacement sensor 442 is connected to the spool of the second hydraulic-control servo valve 432, the sensing core link of the third spool displacement sensor 443 is connected to the spool of the third hydraulic-control servo valve 433, and the sensing core link of the fourth spool displacement sensor 444 is connected to the spool of the fourth hydraulic-control servo valve 434; the signal output ports of the first spool displacement sensor 441, the second spool displacement sensor 442, the third spool displacement sensor 443, and the fourth spool displacement sensor 444 are connected to the brake electronic control unit 40 via signal lines, respectively.
The first electromagnetic directional valve 421, the second electromagnetic directional valve 422, the first valve core displacement sensor 441 and the first hydraulic control servo valve 431 are used in a matched mode and operated in a linkage mode; the third electromagnetic directional valve 423, the fourth electromagnetic directional valve 424, the second spool displacement sensor 442 and the second hydraulic servo valve 432 are used in a matched mode and are operated in a linkage mode; the fifth electromagnetic directional valve 425, the sixth electromagnetic directional valve 426, the third spool displacement sensor 443 and the third hydraulic control servo valve 433 are used in a matched manner and are operated in a linkage manner; the seventh electromagnetic directional valve 427, the eighth electromagnetic directional valve 428, the fourth spool displacement sensor 444, and the fourth pilot operated servo valve 434 are used in cooperation and are operated in a linked manner.
The electronic brake pedal 7 is connected to the brake electronic control unit 40 through a signal line. The electronic brake pedal 7 is used as an integrated electronic pedal sensor (the sensor can be a displacement sensor, a hall sensor or an angle sensor), can accurately sense the weight and the stroke length of the pedal of the driver control pedal, and converts the weight and the stroke length into an electric signal (braking instruction) which is transmitted to the brake electronic control unit 40.
Through the technical scheme, the brake control system has the characteristics of large output flow, high response speed and high control precision, and can meet the requirements of hydraulic brake systems of off-highway mining vehicles of different models.
The anti-lock brake control method for the mine car comprises the following specific steps:
(1) And the vehicle is in a flameout state.
At the moment, the engine does not operate, the hydraulic pump 2 does not work, so no pressure exists in the hydraulic pipeline, and the electric control system of the mining truck does not work.
(2) And a braking state of vehicle activation.
At this time, the engine runs, the emergency brake switch 8 is in a standby state, the emergency brake solenoid valve 41 is not electrified and is in a disconnected state; the engine drives the hydraulic pump 2 to operate to output pressure oil, the pressure is continuously increased and maintained to the set value of 240bar of the hydraulic pump 2, and the pressure oil also enters the energy accumulator 3 at the moment; the pilot control port has no pressure oil, and the backflow direction of the hydraulic control servo valve 43 is blocked; the pressure oil reaches the brake from the hydraulic pump 2 and the pilot servo valve 43, and the brake is operated to brake the vehicle.
Since the outlet direction and the return direction of the emergency braking solenoid valve 41 are in the off state, the pilot control port of the pilot-operated servo valve 43 is blocked from the pressure oil, the direction in which the pilot-operated servo valve 43 returns to the oil tank 1 is blocked, but the braking direction is on, and at this time, the system is in the emergency braking execution state. The pressure oil reaches the right rear brake 62, the left rear brake 52, the right front brake 61, and the left front brake 51 from the output port of the hydraulic pump 2 through the first pilot servo valve 431, the second pilot servo valve 432, the third pilot servo valve 433, and the fourth pilot servo valve 434.
(3) And a moving state after the vehicle is started.
After the vehicle is started, the emergency brake switch 8 is conducted, an emergency brake instruction is sent to the emergency brake solenoid valve 41, the emergency brake solenoid valve 41 is electrified, the output port is conducted, the pressure oil reaches the pilot control port of the hydraulic control servo valve 43 through the emergency brake solenoid valve 41 and the electromagnetic reversing valve 42, the brake electronic control unit 40 controls the oil return port of the hydraulic control servo valve 43 to be conducted, the pressure oil in the brake flows back to the oil tank 1 through the oil return port of the hydraulic control servo valve 43, the brake of the brake is released, and the vehicle can move.
The brake electronic control unit 40 controls the first electromagnetic directional valve 421, the fourth electromagnetic directional valve 424, the fifth electromagnetic directional valve 425, and the eighth electromagnetic directional valve 428 to be in the on state, and controls the second electromagnetic directional valve 422, the third electromagnetic directional valve 423, the sixth electromagnetic directional valve 426, and the seventh electromagnetic directional valve 427 to be in the off state; the pressure oil respectively reaches pilot control ports of a first pilot-controlled servo valve 431, a second pilot-controlled servo valve 432, a third pilot-controlled servo valve 433 and a fourth pilot-controlled servo valve 434 through an emergency brake solenoid valve 41, a first solenoid directional valve 421, a fourth solenoid directional valve 424, a fifth solenoid directional valve 425 and an eighth solenoid directional valve 428; the brake electronic control unit 40 controls the oil return direction conduction of the pilot-operated servo valve 43, and the brake direction blocking, and the hydraulic oil in the right rear brake 62, the left rear brake 52, the right front brake 61, and the left front brake 51 respectively flows back to the oil tank 1 from the oil return ports of the first pilot-operated servo valve 431, the second pilot-operated servo valve 432, the third pilot-operated servo valve 433, and the fourth pilot-operated servo valve 434, and the pressure is released.
In the preferred embodiment, the brake electronic control unit 40 controls the first electromagnetic directional valve 421, the second electromagnetic directional valve 422, the third electromagnetic directional valve 423, the fourth electromagnetic directional valve 424, the fifth electromagnetic directional valve 425, the sixth electromagnetic directional valve 426, the seventh electromagnetic directional valve 427, and the eighth electromagnetic directional valve 428 to be electrically isolated, and the first electromagnetic directional valve 421, the fourth electromagnetic directional valve 424, the fifth electromagnetic directional valve 425, and the eighth electromagnetic directional valve 428 are all long-pass electromagnetic valves and are in a conducting state after being electrically disconnected.
(4) Braking during vehicle movement.
When a vehicle moves, the electronic brake pedal 7 is stepped on, the electronic brake pedal 7 sends a brake instruction to the brake electronic control unit 40, under the control of the electronic control unit 40, the brake electronic control unit 40 controls the conduction or the closing of the electromagnetic directional valve 42, the hydraulic control servo valve 43 adjusts the closing or the conduction of an oil return port, the brake adjusts the brake strength, and the valve core displacement sensor 44 feeds back the position of the valve core to the electronic control unit 40 until the position and the opening of the valve core adjusted by the hydraulic control servo valve 43 meet the opening requirement of the electronic brake pedal 7, so that the vehicle is decelerated or stopped.
When the vehicle moves, the right rear brake 62, the left rear brake 52, the right front brake 61 and the left front brake 51 work as follows:
when the vehicle moves, the emergency brake switch 8 is in a conducting state, the emergency brake solenoid valve 41 is electrified, the oil return port of the hydraulic control servo valve 43 is conducted, and the right rear brake 62, the left rear brake 52, the right front brake 61 and the left front brake 51 have no pressure oil; the electronic brake pedal 7 is stepped on, and the electronic brake pedal 7 sends a braking instruction to the braking electronic control unit 40;
the brake electronic control unit 40 controls the second electromagnetic directional valve 422 to be conducted, the pilot control port of the first pilot-controlled servo valve 431 loses pressure oil, the oil return port of the first pilot-controlled servo valve 431 is closed, the pressure oil enters the right rear brake 62 through the first pilot-controlled servo valve 431, and the right rear brake 62 realizes braking; the first spool displacement sensor 441 feeds back the spool position of the first pilot-controlled servo valve 431 to the electronic control unit 40, the electronic control unit 40 controls the second electromagnetic directional valve 422 to be disconnected, pressure oil is established at a pilot control port of the first pilot-controlled servo valve 431 due to the fact that the first electromagnetic directional valve 421 keeps a conducting state, an oil return port of the first pilot-controlled servo valve 431 is conducted, the pressure oil of the right rear brake 62 enters the oil tank 1 through the oil return port, and the right rear brake 62 is released from braking; the second electromagnetic directional valve 422 is turned on again, the oil return port of the first hydraulic control servo valve 431 is closed again, and the pressure oil enters the right rear brake 62 again; the position of the valve core is repeatedly adjusted until the position and the opening of the valve core adjusted by the first hydraulic control servo valve 431 meet the opening requirement of the electronic brake pedal 7, so that the requirement of deceleration or stopping of the wheel at the right rear brake 62 is met;
the brake electronic control unit 40 controls the third electromagnetic directional valve 423 to be switched on, the pilot control port of the second hydraulic control servo valve 432 loses pressure oil, the oil return port of the second hydraulic control servo valve 432 is closed, the pressure oil enters the left rear brake 52 through the second hydraulic control servo valve 432, and the left rear brake 52 realizes braking; the second spool displacement sensor 442 feeds back the spool position of the second hydraulic servo valve 432 to the electronic control unit 40, the electronic control unit 40 controls the third electromagnetic directional valve 423 to be switched off, the fourth electromagnetic directional valve 424 keeps a conducting state, the pilot control port of the second hydraulic servo valve 432 reestablishes pressure oil, the oil return port is opened, the pressure oil of the left rear brake 52 enters the oil tank 1 through the oil return port, and the brake of the left rear brake 52 is released; the third electromagnetic directional valve 423 is turned on again, the oil return port of the second hydraulic servo valve 432 is closed, and the pressure oil enters the left rear brake 52 again; the position of the valve core is repeatedly adjusted until the position and the opening of the valve core adjusted by the second hydraulic control servo valve 432 meet the opening requirement of the electronic brake pedal 7, so that the requirement of the deceleration or the parking of the wheels at the left rear brake 52 is met;
the brake electronic control unit 40 controls the sixth electromagnetic directional valve 426 to be conducted, the pilot control port of the third pilot-controlled servo valve 433 loses pressure oil, the oil return port of the third pilot-controlled servo valve 433 is closed, the pressure oil enters the right front brake 61 through the third pilot-controlled servo valve 433, and the right front brake 61 realizes braking; the third spool displacement sensor 443 feeds back the spool position of the third hydraulic control servo valve 433 to the electronic control unit 40, the electronic control unit 40 controls the sixth electromagnetic directional valve 426 to be switched off, because the fifth electromagnetic directional valve 425 keeps a conducting state, the pilot control port of the third hydraulic control servo valve 433 reestablishes pressure oil, the oil return port is opened, the pressure oil of the right front brake 61 enters the oil tank 1 through the oil return port of the third hydraulic control servo valve 433, and the right front brake 61 is released from braking; the sixth electromagnetic directional valve 426 is turned on again, the oil return port of the third hydraulic control servo valve 433 is closed, and then the pressure oil enters the right front brake 61 again; the position of the valve core is repeatedly adjusted until the position and the opening of the valve core are adjusted by the third hydraulic control servo valve 433 to meet the opening requirement of the electronic brake pedal 7, so that the requirement of deceleration or parking of the wheel at the right front brake 61 is met;
the brake electronic control unit 40 controls the seventh electromagnetic directional valve 424 to be switched on, the pilot control port of the fourth hydraulic control servo valve 434 loses pressure oil, the oil return port of the fourth hydraulic control servo valve 434 is closed, the pressure oil enters the left front brake 51 through the fourth hydraulic control servo valve 434, and the left front brake 51 realizes braking; the fourth spool displacement sensor 444 feeds back the spool position of the fourth hydraulic control servo valve 434 to the brake electronic control unit 40, the brake electronic control unit 40 controls the seventh electromagnetic directional valve 427 to be switched off, the eighth electromagnetic directional valve 428 is kept on, the pilot control port of the fourth hydraulic control servo valve 434 re-establishes pressure oil, the oil return port is opened, the pressure oil of the left front brake 51 enters the oil tank 1 through the oil return port, and the brake of the left front brake 51 is released; the seventh electromagnetic directional valve 424 is turned on again, the oil return port of the fourth pilot-controlled servo valve 434 is closed, and the pressure oil enters the left front brake 51 again; the valve core repeatedly adjusts the position until the position and the opening of the valve core adjusted by the fourth hydraulic control servo valve 434 meet the opening requirement of the electronic brake pedal 7, so that the requirement of the deceleration or the parking of the wheel at the left front brake 51 is met.
In the braking process, the first spool displacement sensor 441, the second spool displacement sensor 442, the third spool displacement sensor 443 and the fourth spool displacement sensor 444 feed back the spool positions of the first hydraulic control servo valve 431, the second hydraulic control servo valve 432, the third hydraulic control servo valve 433 and the fourth hydraulic control servo valve 434 which are respectively and independently responsible, so that the left front brake 51, the right front brake 61, the left rear brake 52 and the right rear brake 62 can independently work to adapt to the braking requirements of the four wheels under different working conditions.
The left front wheel speed sensor 91, the left rear wheel speed sensor 92, the right front wheel speed sensor 93 and the right rear wheel speed sensor 94 respectively detect the rotating speeds of the left front wheel, the left rear wheel, the right front wheel and the right rear wheel, and send wheel speed signals to the brake electronic control unit 40; when the wheel speed change exceeds the set value, it is determined that the wheel speed suddenly increases due to the wheel slipping, and the brake electronic control unit 40 adjusts the valve core opening and the conducting direction of the hydraulic control servo valve 43 through the conduction or the closing of the electromagnetic directional valve 42, so as to reduce the brake force of the brake corresponding to the wheel that has slipped until the wheel speed change fed back by the wheel speed sensor is smaller than the set value.
When the left front wheel speed sensor 91 detects that the wheel speed change of the left front wheel exceeds a set value, the left front wheel is judged to skid, the brake electronic control unit 40 controls the seventh electromagnetic directional valve 427 to be conducted, the valve core opening and the conducting direction of the fourth hydraulic control servo valve 434 are adjusted, the braking force of the left front brake 51 is enhanced, and the wheel speed of the left front wheel is reduced; when the left rear wheel speed sensor 92 detects that the wheel speed change of the left rear wheel exceeds a set value, the left rear wheel is judged to skid, the brake electronic control unit 40 controls the third electromagnetic directional valve 423 to be conducted, the valve core opening and the conducting direction of the second hydraulic servo valve 432 are adjusted, the braking force of the left rear brake 52 is enhanced, and the wheel speed of the left rear wheel is reduced; when the right front wheel speed sensor 93 detects that the wheel speed change of the right front wheel exceeds a set value, the right front wheel is judged to skid, the brake electronic control unit 40 controls the conduction of the sixth electromagnetic directional valve 426, adjusts the valve core opening and the conduction direction of the third hydraulic control servo valve 433, enhances the brake force of the right front brake 61, and reduces the wheel speed of the right front wheel; when the right rear wheel speed sensor 94 detects that the wheel speed change of the right rear wheel exceeds a set value, it is determined that the right rear wheel slips, the brake electronic control unit 40 controls the second electromagnetic directional valve 422 to be on, adjusts the spool opening and the on direction of the first hydraulic control servo valve 431, enhances the braking force of the right rear brake 62, and reduces the wheel speed of the right rear wheel.
(5) After the vehicle is started, the emergency brake switch 8 is in a conducting state, and the emergency brake solenoid valve 41 is always electrified; when the electronic brake pedal 7 is released, the brake electronic control unit 40 controls the oil return direction of the pilot-operated servo valve 43 to be on and the brake direction to be off, as in the moving state after the vehicle is started, and the hydraulic oil in the right rear brake 62, the left rear brake 52, the right front brake 61, and the left front brake 51 is returned to the oil tank 1 from the oil return ports of the first pilot-operated servo valve 431, the second pilot-operated servo valve 432, the third pilot-operated servo valve 433, and the fourth pilot-operated servo valve 434, respectively, and the pressure is released.
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. A mining vehicle anti-lock brake control system, comprising: the system comprises an oil tank, a hydraulic pump, an electrically controlled control valve, a brake, an electronic brake pedal, an emergency brake switch and a wheel speed sensor; the input port of the hydraulic pump is connected with the oil tank through a hydraulic pipeline, and the output port of the hydraulic pump is respectively connected with the input ports of the emergency braking electromagnetic valve and the hydraulic control servo valve through the hydraulic pipeline; the brake is connected with an oil outlet of the hydraulic control servo valve through a hydraulic pipeline, and the emergency brake switch is connected with a control end of the emergency brake electromagnetic valve through a signal line; the electrically controlled control valve includes: the emergency braking system comprises a braking electronic control unit, an emergency braking electromagnetic valve, an electromagnetic directional valve, a hydraulic control servo valve and a valve core displacement sensor; the output port of the emergency braking electromagnetic valve is connected with the input port of the electromagnetic directional valve through a hydraulic pipeline, and the return port is connected with the oil tank through a hydraulic pipeline; the output port of the electromagnetic directional valve is connected with the pilot control port of the hydraulic control servo valve through a hydraulic pipeline; a signal input port of the brake electronic control unit is respectively connected with an electronic brake pedal, a signal output port of the valve core displacement sensor, a control end of the electromagnetic directional valve and a signal output port of the wheel speed sensor through signal wires; a valve core displacement sensor is installed on a valve core of the hydraulic control servo valve, and the braking electronic control unit controls the electromagnetic directional valve, the hydraulic control servo valve and the valve core displacement sensor to be matched for use, so that closed-loop control over the position of the valve core is formed; the wheel speed sensor is used for detecting the rotating speed of the wheel and sending the rotating speed to the brake electronic control unit.
2. The mining vehicle anti-lock brake control system according to claim 1, wherein the brake electronic control unit receives a brake command from the brake pedal, and a spool position fed back by the spool displacement sensor and a wheel speed signal fed back by the wheel speed sensor to control the electromagnetic directional valve to be turned on or off and adjust the spool position of the pilot-controlled servo valve to an adjustment point.
3. A mining vehicle brake anti-lock control system, as defined in claim 1, wherein the brake comprises: left front brake, right front brake, left back stopper, right back stopper, liquid accuse servovalve includes: first liquid accuse servovalve, second liquid accuse servovalve, third liquid accuse servovalve, fourth liquid accuse servovalve, the solenoid-operated directional valve includes: the electromagnetic reversing valve comprises a first electromagnetic reversing valve, a second electromagnetic reversing valve, a third electromagnetic reversing valve, a fourth electromagnetic reversing valve, a fifth electromagnetic reversing valve, a sixth electromagnetic reversing valve, a seventh electromagnetic reversing valve and an eighth electromagnetic reversing valve; the input ports of the first electromagnetic directional valve and the fourth electromagnetic directional valve are connected with the output port of the emergency brake electromagnetic valve through hydraulic pipelines, and the output ports of the second electromagnetic directional valve and the third electromagnetic directional valve are connected with a hydraulic oil tank through hydraulic pipelines; the output port of the first electromagnetic directional valve is respectively connected with the pilot control port of the first hydraulic control servo valve and the input port of the second electromagnetic directional valve through a hydraulic pipeline, and the output port of the fourth electromagnetic directional valve is respectively connected with the pilot control port of the second hydraulic control servo valve and the input port of the third electromagnetic directional valve through a hydraulic pipeline; the input ports of the fifth electromagnetic directional valve and the eighth electromagnetic directional valve are connected with the output port of the hydraulic pump through hydraulic pipelines, and the output ports of the sixth electromagnetic directional valve and the seventh electromagnetic directional valve are connected with a hydraulic oil tank through hydraulic pipelines; an output port of the fifth electromagnetic directional valve is respectively connected with a pilot control port of the third hydraulic control servo valve and an input port of the sixth electromagnetic directional valve through a hydraulic pipeline, and an output port of the eighth electromagnetic directional valve is respectively connected with a pilot control port of the fourth hydraulic control servo valve and an input port of the seventh electromagnetic directional valve through a hydraulic pipeline; the output port of the first hydraulic control servo valve is connected with the right rear brake through a hydraulic pipeline, the input port of the first hydraulic control servo valve is connected with the output port of the hydraulic pump through a hydraulic pipeline, and the oil return port of the first hydraulic control servo valve is connected with the oil tank through a hydraulic pipeline; the output port of the second hydraulic control servo valve is connected with the left rear brake through a hydraulic pipeline, the input port of the second hydraulic control servo valve is connected with the output port of the hydraulic pump through a hydraulic pipeline, and the oil return port of the second hydraulic control servo valve is connected with the oil tank through a hydraulic pipeline; the output port of the third hydraulic control servo valve is connected with the right front brake through a hydraulic pipeline, the input port of the third hydraulic control servo valve is connected with the output port of the hydraulic pump through a hydraulic pipeline, and the oil return port of the third hydraulic control servo valve is connected with the oil tank through a hydraulic pipeline; an output port of the fourth hydraulic control servo valve is connected with the left front brake through a hydraulic pipeline, an input port of the fourth hydraulic control servo valve is connected with an output port of the hydraulic pump through a hydraulic pipeline, and an oil return port of the fourth hydraulic control servo valve is connected with an oil tank through a hydraulic pipeline; the spool displacement sensor includes: the valve core displacement sensor comprises a first valve core displacement sensor, a second valve core displacement sensor, a third valve core displacement sensor and a fourth valve core displacement sensor, wherein an induction core connecting rod of the first valve core displacement sensor is connected with a valve core of a first hydraulic control servo valve, an induction core connecting rod of the second valve core displacement sensor is connected with a valve core of a second hydraulic control servo valve, an induction core connecting rod of the third valve core displacement sensor is connected with a valve core of a third hydraulic control servo valve, and an induction core connecting rod of the fourth valve core displacement sensor is connected with a valve core of a fourth hydraulic control servo valve; the signal output ports of the first valve core displacement sensor, the second valve core displacement sensor, the third valve core displacement sensor and the fourth valve core displacement sensor are respectively connected with the brake electronic control unit through signal lines.
4. An anti-lock brake control system for a mining vehicle according to claim 3, wherein the first, fourth, fifth and eighth electromagnetic directional valves belong to a long-cut solenoid valve, and the second, third, sixth and seventh electromagnetic directional valves belong to a long-cut solenoid valve.
5. An anti-lock brake control system for a mining vehicle according to claim 3, wherein the first electromagnetic directional valve, the second electromagnetic directional valve, the first spool displacement sensor, and the first hydraulic control servo valve are used in cooperation and operated in a linkage manner; the third electromagnetic directional valve, the fourth electromagnetic directional valve, the second valve core displacement sensor and the second hydraulic servo valve are matched for use and are operated in a linkage manner; the fifth electromagnetic directional valve, the sixth electromagnetic directional valve, the third valve core displacement sensor and the third hydraulic control servo valve are matched for use and are operated in a linkage mode; and the seventh electromagnetic directional valve, the eighth electromagnetic directional valve, the fourth valve core displacement sensor and the fourth hydraulic control servo valve are matched for use and are operated in a linkage manner.
6. A mining vehicle anti-lock brake control system according to claim 3, wherein the wheel speed sensor comprises: the left front wheel speed sensor, the left rear wheel speed sensor, the right front wheel speed sensor and the right rear wheel speed sensor are respectively connected with the brake electronic control unit through signal lines.
7. A mining vehicle anti-lock brake control system according to claim 1, wherein the accumulator is connected to the output port of the hydraulic pump via a hydraulic line.
8. A mining vehicle anti-lock braking control method is characterized by comprising the following steps:
the engine drives the hydraulic pump to operate and output pressure oil, the pressure is continuously increased and maintained to a set value of the hydraulic pump, a pilot control port of the hydraulic control servo valve has no pressure oil, and the backflow direction is blocked; the pressure oil reaches the brake from the hydraulic pump and the hydraulic control servo valve, and the brake acts; the pilot-operated servo valve includes: first liquid accuse servovalve, second liquid accuse servovalve, third liquid accuse servovalve, fourth liquid accuse servovalve, the stopper includes: a right rear brake, a left rear brake, a right front brake, a left front brake;
the emergency brake switch is switched on, the emergency brake solenoid valve is electrified, the output port is switched on, the pressure oil reaches the pilot control port of the hydraulic control servo valve through the emergency brake solenoid valve and the electromagnetic directional valve, the brake electronic control unit controls the oil return port of the hydraulic control servo valve to be switched on, the pressure oil in the brake flows back to the oil tank through the oil return port of the hydraulic control servo valve, and the brake of the brake is released;
the electronic brake pedal is stepped when a vehicle moves, the electronic brake pedal sends a brake instruction to a brake electronic control unit, under the control of the electronic control unit, an electromagnetic reversing valve linked with a first hydraulic control servo valve, a second hydraulic control servo valve, a third hydraulic control servo valve or a fourth hydraulic control servo valve is switched on or off, the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve or the fourth hydraulic control servo valve adjusts the closing or the switching of an oil return port, a right rear brake, a left rear brake, a right front brake or a left front brake adjusts the brake strength, a valve core displacement sensor feeds back the position of a valve core to the electronic control unit until the position and the opening of the valve core adjusted by the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve or the fourth hydraulic control servo valve meet the opening requirement of the electronic brake pedal, and the deceleration or the stop of the vehicle is realized;
when the left front wheel speed sensor, the left rear wheel speed sensor, the right front wheel speed sensor or the right rear wheel speed sensor detects that the wheel speed change of the left front wheel, the left rear wheel, the right front wheel or the right rear wheel exceeds a set value, the brake electronic control unit judges that the left front wheel, the left rear wheel, the right front wheel or the right rear wheel slips, controls the electromagnetic reversing valve to be conducted, adjusts the opening degree and the conducting direction of a valve core of the fourth hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve or the first hydraulic control servo valve, enhances the braking force of the left front brake, the left rear brake, the right front brake and the right rear brake, and reduces the wheel speed of the left front wheel, the left rear wheel, the right front wheel or the right rear wheel.
9. The mining vehicle anti-lock brake control method according to claim 8, wherein in a braking state after the vehicle is started, the engine is running, pressure oil also enters the accumulator, the emergency brake switch is in a standby state, the emergency brake solenoid valve is not energized and is in an off state, an outlet direction and a return direction of the emergency brake solenoid valve are in an off state, hydraulic oil is blocked from reaching a pilot control port of the hydraulic control servo valve, the hydraulic control servo valve is blocked from returning to an oil tank, the braking direction is conducted, and the pressure oil passes through the control servo valve from an output port of the hydraulic pump to reach the brake.
10. The mining vehicle anti-lock brake control method according to claim 8, wherein in a moving state after the vehicle is started, the brake electronic control unit controls the first electromagnetic directional valve, the fourth electromagnetic directional valve, the fifth electromagnetic directional valve and the eighth electromagnetic directional valve to be in a conducting state, and controls the second electromagnetic directional valve, the third electromagnetic directional valve, the sixth electromagnetic directional valve and the seventh electromagnetic directional valve to be in a disconnecting state; the pressure oil reaches the pilot control ports of the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve and the fourth hydraulic control servo valve through the emergency braking electromagnetic valve, the first electromagnetic reversing valve, the fourth electromagnetic reversing valve, the fifth electromagnetic reversing valve and the eighth electromagnetic reversing valve; the braking electronic control unit controls the oil return directions of the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve and the fourth hydraulic control servo valve to be conducted, the braking direction is blocked, hydraulic oil in the right rear brake, the left rear brake, the right front brake and the left front brake respectively flows back to the oil tank from oil return ports of the first hydraulic control servo valve, the second hydraulic control servo valve, the third hydraulic control servo valve and the fourth hydraulic control servo valve, and pressure is released.
CN202211359822.XA 2022-04-29 2022-11-02 Mine car anti-lock braking control system and control method thereof Pending CN115626150A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202221046761 2022-04-29
CN2022210467617 2022-04-29

Publications (1)

Publication Number Publication Date
CN115626150A true CN115626150A (en) 2023-01-20

Family

ID=84908288

Family Applications (4)

Application Number Title Priority Date Filing Date
CN202222914164.8U Active CN218907207U (en) 2022-04-29 2022-11-02 Mining vehicle braking anti-lock control system
CN202211362604.1A Pending CN115817442A (en) 2022-04-29 2022-11-02 Wire-controlled four-wheel independent brake control system for unmanned mining vehicle and control method thereof
CN202222917124.9U Active CN218907208U (en) 2022-04-29 2022-11-02 Unmanned mining vehicle line-control four-wheel independent brake control system
CN202211359822.XA Pending CN115626150A (en) 2022-04-29 2022-11-02 Mine car anti-lock braking control system and control method thereof

Family Applications Before (3)

Application Number Title Priority Date Filing Date
CN202222914164.8U Active CN218907207U (en) 2022-04-29 2022-11-02 Mining vehicle braking anti-lock control system
CN202211362604.1A Pending CN115817442A (en) 2022-04-29 2022-11-02 Wire-controlled four-wheel independent brake control system for unmanned mining vehicle and control method thereof
CN202222917124.9U Active CN218907208U (en) 2022-04-29 2022-11-02 Unmanned mining vehicle line-control four-wheel independent brake control system

Country Status (1)

Country Link
CN (4) CN218907207U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117246294A (en) * 2023-11-20 2023-12-19 杭叉集团股份有限公司 Electro-hydraulic brake hydraulic system of forklift

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117246294A (en) * 2023-11-20 2023-12-19 杭叉集团股份有限公司 Electro-hydraulic brake hydraulic system of forklift
CN117246294B (en) * 2023-11-20 2024-01-30 杭叉集团股份有限公司 Electro-hydraulic brake hydraulic system of forklift

Also Published As

Publication number Publication date
CN218907208U (en) 2023-04-25
CN115817442A (en) 2023-03-21
CN218907207U (en) 2023-04-25

Similar Documents

Publication Publication Date Title
CN1057495C (en) Process for operating anti-lock moter vehicle braking system
CN102639370B (en) Brake system having a multifunction memory device
CN105667477B (en) A kind of all-wheel steering electric wheel truck line traffic control hydraulic parking braking system
US8646852B2 (en) Hydraulic braking arrangement for a trailer
US4057301A (en) Brake system
CN217598543U (en) Electric control brake control system of mining vehicle
WO2003047933A2 (en) Towing and towed vehicle braking system
GB1444865A (en) Braking system for a light rail vehicle
US11970146B2 (en) Secondary brake system of a vehicle, and method for controlling it
CN218907207U (en) Mining vehicle braking anti-lock control system
JPS6246748A (en) Brake gear, slip thereof is controlled, for automobile
EP1571060A1 (en) Vehicle with a pneumatic control line for operating the brakes of a trailer.
CN102712311A (en) Controllable pneumatic brake booster and method for the operation thereof
US4035034A (en) Antiskid device for air brakes
CN112092793A (en) Hydraulic braking system and braking method capable of achieving drive-by-wire and manual driving simultaneously
CN110167804A (en) Hydraulic vehicle brake system
CN101058308B (en) Hydraulic pressure execution device for automobile electron stabilization control system
CN114889570B (en) Electric control braking control system of mining vehicle and application method thereof
CN116080751A (en) Control method of hydraulic control system with energy emergency module
CN212529614U (en) Hydraulic braking system capable of simultaneously realizing wire control and manual driving
EP3914489B1 (en) Brake control assembly with manual and electrical actuation
CN220974144U (en) Hand brake unit and electronic brake control system
CN201023467Y (en) Hydraulic pressure execution device for automobile electron stabilization control system
CN215204840U (en) Hydraulic brake device
US20240092329A1 (en) Trailer Brake Control System

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination