CN218907208U - Unmanned mining vehicle line-control four-wheel independent brake control system - Google Patents

Unmanned mining vehicle line-control four-wheel independent brake control system Download PDF

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Publication number
CN218907208U
CN218907208U CN202222917124.9U CN202222917124U CN218907208U CN 218907208 U CN218907208 U CN 218907208U CN 202222917124 U CN202222917124 U CN 202222917124U CN 218907208 U CN218907208 U CN 218907208U
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China
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valve
hydraulic
brake
electromagnetic directional
directional valve
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CN202222917124.9U
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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
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Inner Mongolia North Hauler JSCL
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Inner Mongolia North Hauler JSCL
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • 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

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

Abstract

The utility model discloses a four-wheel independent brake control system for an unmanned mining vehicle, which comprises the following components: the hydraulic control system comprises an oil tank, a hydraulic pump, an electric control brake control valve, a brake, an electronic brake pedal and an emergency brake switch; the electrically controlled brake control valve includes: the device comprises a brake electronic control unit, an emergency brake electromagnetic valve, an electromagnetic reversing valve, a hydraulic control servo valve and a valve core displacement sensor; the valve core of the hydraulic control servo valve is provided with a valve core displacement sensor, and the braking electronic control unit controls the electromagnetic reversing valve, the hydraulic control servo valve and the valve core displacement sensor to be matched for use, so that closed-loop control on the position of the valve core is formed. The utility model adopts closed-loop feedback control to the valve core position of the hydraulic control servo valve, and has the characteristics of high control precision and high response speed.

Description

Unmanned mining vehicle line-control four-wheel independent brake control system
Technical Field
The utility model belongs to the field of mining dumpers, and particularly relates to a line-control four-wheel independent brake control system of an unmanned mining vehicle.
Background
The off-highway dumper (for short, mining vehicle) is mainly used for transporting large-scale surface mine ores and mineral aggregates, and mainly comprises a frame, a power system, a transmission system, a control system, a cab assembly, a braking device and the like, and is a main carrier of the surface mine due to the advantages of good operation maneuverability, high running speed, strong climbing capacity and the like.
At present, most of mining vehicle braking systems are directly operated type hydraulic braking, and a control signal of the hydraulic braking is sent out by a hydraulic braking pedal arranged in a cab to directly control front and rear brakes to implement braking. However, the hydraulic brake pedal is arranged in the cab, so that oil leakage risk exists, the safety of drivers can be influenced, 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 inside of the cab; the existing mining vehicle braking system cannot realize independent control of four wheel brakes.
Disclosure of Invention
The utility model aims to provide a line-control four-wheel independent brake control system for an unmanned mining vehicle, which adopts closed-loop feedback control to the valve core position of a hydraulic control servo valve and has the characteristics of high control precision and high response speed.
In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:
unmanned mining car drive-by-wire four-wheel independent braking control system includes: the hydraulic control system comprises an oil tank, a hydraulic pump, an electric control brake control valve, a brake, an electronic brake pedal and an emergency brake switch; 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 wire; the electrically controlled brake control valve includes: the device comprises a brake electronic control unit, an emergency brake electromagnetic valve, an electromagnetic reversing 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 reversing 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; the signal input port of the brake electronic control unit is respectively connected with the electronic brake pedal, the signal output port of the valve core displacement sensor and the control end of the electromagnetic reversing valve through signal wires; the valve core of the hydraulic control servo valve is provided with a valve core displacement sensor, and the braking electronic control unit controls the electromagnetic reversing valve, the hydraulic control servo valve and the valve core displacement sensor to be matched for use, so that closed-loop control on the position of the valve core is formed.
Further, the brake electronic control unit receives a brake command sent by a brake pedal and the valve core position fed back by the valve core displacement sensor, controls the conduction or closing of the electromagnetic reversing valve and adjusts the valve core position of the hydraulic control servo valve to an adjusting point.
Further, the accumulator is connected with an output port of the hydraulic pump through a hydraulic pipeline.
Further, the brake includes: front left brake, front right brake, back left brake, back right brake, the hydraulically controlled servo valve includes: the first hydraulically-controlled servo valve, the second hydraulically-controlled servo valve, the third hydraulically-controlled servo valve and the fourth hydraulically-controlled servo valve, and the electromagnetic directional valve comprises: the first electromagnetic directional valve, the second electromagnetic directional valve, the third electromagnetic directional valve, the fourth electromagnetic directional valve, the fifth electromagnetic directional valve, the sixth electromagnetic directional valve, the seventh electromagnetic directional valve and the eighth electromagnetic directional 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 braking electromagnetic valve through a hydraulic pipeline, and the output ports of the second electromagnetic directional valve and the third electromagnetic directional valve are connected with a hydraulic oil tank through a hydraulic pipeline; 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 the hydraulic oil tank through hydraulic pipelines; the output port of the fifth electromagnetic directional valve is respectively connected with the pilot control port of the third hydraulic control servo valve and the input port of the sixth electromagnetic directional valve through a hydraulic pipeline, and the output port of the eighth electromagnetic directional valve is respectively connected with the pilot control port of the fourth hydraulic control servo valve and the 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; the output port of the fourth hydraulic control servo valve is connected with the left front brake through a hydraulic pipeline, the input port of the fourth 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 fourth hydraulic control servo valve is connected with the oil tank through a hydraulic pipeline; the spool displacement sensor includes: the hydraulic control servo valve 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 a sensing core connecting rod of the first valve core displacement sensor is connected with a valve core of the first hydraulic control servo valve, a sensing core connecting rod of the second valve core displacement sensor is connected with a valve core of the second hydraulic control servo valve, a sensing core connecting rod of the third valve core displacement sensor is connected with a valve core of the third hydraulic control servo valve, and a sensing core connecting rod of the fourth valve core displacement sensor is connected with a valve core of the 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 wires.
Further, the first electromagnetic directional valve, the fourth electromagnetic directional valve, the fifth electromagnetic directional valve and the eighth electromagnetic directional valve belong to long-pass 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-break electromagnetic valves.
Further, 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 parallel operation; the third electromagnetic directional valve, the fourth electromagnetic directional valve, the second valve core displacement sensor and the second hydraulic control servo valve are matched for parallel operation; 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 parallel operation; 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 parallel operation.
The technical effects of the utility model include:
1. the utility model adopts a closed-loop feedback control technical scheme for 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. The utility model replaces the existing direct-acting hydraulic foot brake valve control technology by the implementation and release of the front and rear working brakes controlled by the electronic brake pedal, can improve the safety in the cab, and avoids the influence on the safety of the driver and the pollution in the cab caused by leakage generated during the working and maintenance of the existing direct-acting hydraulic foot brake valve.
3. According to the technical scheme of the four-branch electric control brake control valve, the independent implementation and release of the left front, right front, left rear and right rear working brakes can be realized, the independent control of the four wheel brakes can be realized in a mining vehicle brake system, and the four-branch electric control brake control valve has the characteristics of good reliability and good adaptability.
4. Compared with the existing electrohydraulic servo proportional control scheme, the hydraulic control servo valve has the characteristics of low cost, good reliability and good oil pollution degree adaptability.
Drawings
Fig. 1 is a schematic structural diagram of a four-wheel independent brake control system for an unmanned mining vehicle in the utility model.
Detailed Description
The following description fully illustrates the specific embodiments of the utility model to enable those skilled in the art to practice and reproduce it.
As shown in fig. 1, the utility model is a structural schematic diagram of a four-wheel independent brake control system for an unmanned mining vehicle.
Unmanned mining car drive-by-wire four-wheel independent braking control system includes: the hydraulic system comprises an oil tank 1, a hydraulic pump 2, an accumulator 3, an electric control brake control valve 4, a brake, an electric brake pedal 7 and an emergency brake switch 8.
The oil tank 1 is used as a device for storing hydraulic oil and simultaneously provides a heat dissipation effect for the hydraulic oil in the electric control brake 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 a brake control system and provides stable pressure for hydraulic oil of the whole brake control system; the input port of the hydraulic pump 2 is connected to the oil tank 1 through a hydraulic line, and the output port of the hydraulic pump 2 is connected to the input port of the emergency braking solenoid valve 41 through a hydraulic line.
The accumulator 3 is connected to the outlet of the hydraulic pump 2 via a hydraulic line, and the accumulator 3 acts as a backup power source for the brake control system in the event of a failure of the hydraulic pump 2.
The brake is used as an executive component of a brake control system, receives hydraulic power and releases the hydraulic power to form working brake or emergency brake, and comprises the following components: the left front brake 51, the right front brake 61, the left rear brake 52 and the right rear brake 62 are respectively connected with the oil outlets of the corresponding hydraulic control servo valves 43 through hydraulic pipelines.
The electronic brake pedal 7 is used as an electronic control element of an electric control brake control system of the mining vehicle and used for sending out a brake command; 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 brake command to the emergency brake solenoid valve 41. The emergency brake switch 8 is provided in the vehicle cabin, and is connected to the control end of the emergency brake solenoid valve 41 via a signal line.
The electrically controlled brake control valve 4 receives a brake command and transmits hydraulic power to the brake. The electronically controlled brake control valve 4 includes: a brake electronic control unit 40, an emergency brake solenoid valve 41, a solenoid directional valve 42, a hydraulic servo valve 43 and a valve core displacement sensor 44. The electric control braking control valve 4 adopts a pilot valve (an electromagnetic reversing valve selected by the pilot valve is a high-frequency response electromagnetic reversing valve) to control pressure oil of a pilot control port of the hydraulic control servo valve 43, a high-precision valve core displacement sensor 44 is arranged on a valve core of the hydraulic control servo valve 43, the pilot valve and the hydraulic control servo valve 43 are matched with the valve core displacement sensor 44 and the braking electronic control unit 40 to form closed loop control, meanwhile, an emergency braking electromagnetic valve 41 is integrated, 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, high output flow, high response speed and high control precision and can meet the requirements of hydraulic braking systems of off-highway mining vehicles of different models.
The brake electronic control unit (various automobile electronic controllers can be adopted according to requirements) 40 is provided with a plurality of signal input ports which are respectively connected with the electronic brake pedal 7, a signal output port of the valve core displacement sensor 44 and a control end of the electromagnetic directional valve 42 through signal lines, receives a brake command sent by the brake pedal 7, controls the on or off of the electromagnetic directional valve 42 by the valve core position fed back by the valve core displacement sensor 44, and adjusts the valve core position of the hydraulic control servo valve 43 to an adjusting point.
The emergency braking electromagnetic valve 41 belongs to a braking electromagnetic valve, is turned on or closed after receiving an emergency braking instruction of the emergency braking 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 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 communicated; the emergency brake switch 8 is turned off and the output port of the emergency brake solenoid valve 411 is turned off. The input port of the emergency braking electromagnetic valve 41 is connected with the output port of the hydraulic pump 2 through a hydraulic pipeline, the output port of the emergency braking electromagnetic valve 41 is respectively connected with the 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 the return port is connected with the oil tank 1 through the hydraulic pipeline.
The electromagnetic directional valve 42 is used as a pilot valve, the output port is connected through a hydraulic pipeline, the control end is connected with the brake electronic control unit 40 through a signal line, and the on-off is controlled through the brake electronic control unit 40, and the electromagnetic directional valve comprises: 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. In the present preferred embodiment, 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 long-range electromagnetic directional valves (remain on after power failure), and 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 are long-range electromagnetic directional valves (remain off after power failure).
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 braking 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; the output port of the first electromagnetic directional valve 421 is connected with the pilot control port of the first hydraulic control servo valve 431 and the input port of the second electromagnetic directional valve 422 respectively through a hydraulic pipeline, and the output port of the fourth electromagnetic directional valve 424 is connected with the pilot control port of the second hydraulic control servo valve 432 and the input port of the third electromagnetic directional valve 423 respectively through a hydraulic pipeline; 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; the output port of the fifth electromagnetic directional valve 425 is connected with the pilot control port of the third hydraulic control servo valve 433 and the input port of the sixth electromagnetic directional valve 426 through hydraulic pipelines, respectively, and the output port of the eighth electromagnetic directional valve 428 is connected with the pilot control port of the fourth hydraulic control servo valve 434 and the input port of the seventh electromagnetic directional valve 427 through hydraulic pipelines, 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 wire, receives a control signal of the brake electronic control unit 40, is used for controlling 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 operated servo valve 43 controls the conduction direction through the electromagnetic directional valve 42, after the valve core position is changed, the valve core displacement sensor 44 feeds back the valve core position to the brake electronic control unit 40, the valve core position is linked under the control of the brake electronic control unit 40 to form closed loop control, the pilot operated servo valve 43 adjusts the valve core position to an adjusting point, the conduction and the closing or the adjustment of the valve opening are realized, and the valve core position meets the opening 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 (the pilot control port is provided with 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 first hydraulic servo valve 431, the second hydraulic servo valve 432, the third hydraulic servo valve 433 and the fourth hydraulic servo valve 434, the first hydraulic servo valve 431 is used for controlling the release or conduction of the pressure oil on the right rear brake 62, the second hydraulic servo valve 432 is used for controlling the release or conduction of the pressure oil on the left rear brake 52, the third hydraulic 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 servo valve 434 is used for controlling the release or conduction of the pressure oil on the left front brake 51. The output port of the first hydraulic control servo valve 431 is connected with the right rear brake 62 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 first electromagnetic directional valve 421 through a hydraulic pipeline, and the oil return port is connected with the oil tank 1 through a hydraulic pipeline; the output port of the second hydraulic control servo valve 432 is connected with the left rear brake 52 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 fourth electromagnetic directional valve 424 through a hydraulic pipeline, and the oil return port is connected with the oil tank 1 through a hydraulic pipeline; the output port of the third hydraulic control servo valve 433 is connected with the right front brake 61 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 fifth electromagnetic directional valve 425 through a hydraulic pipeline, and the oil return port is connected with the oil tank 1 through a hydraulic pipeline; the output port of the fourth pilot-controlled servo valve 434 is connected to the left front brake 51 through a hydraulic line, the input port is connected to the output port of the hydraulic pump 2 through a hydraulic line, the pilot control port is connected to the output port of the eighth electromagnetic directional valve 428 through a hydraulic line, and the oil return port is connected to the oil tank 1 through a hydraulic line.
The sensor core link of the core displacement sensor 44 is connected to the core 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: 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, wherein the spool connecting rod of the first spool displacement sensor 441 is connected to the spool of the first pilot-operated servo valve 431, the spool connecting rod of the second spool displacement sensor 442 is connected to the spool of the second pilot-operated servo valve 432, the spool connecting rod of the third spool displacement sensor 443 is connected to the spool of the third pilot-operated servo valve 433, and the spool connecting rod of the fourth spool displacement sensor 444 is connected to the spool of the fourth pilot-operated 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 respectively connected to the brake electronic control unit 40 through signal lines.
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 matched for use and are operated in a linkage way; the third electromagnetic directional valve 423, the fourth electromagnetic directional valve 424, the second spool displacement sensor 442, and the second pilot operated servo valve 432 are used cooperatively, and operate in a linkage manner; the fifth electromagnetic directional valve 425, the sixth electromagnetic directional valve 426, the third valve core displacement sensor 443 and the third hydraulic control servo valve 433 are matched for use and operated in a linkage way; 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 cooperatively and operated in a coordinated manner.
The electronic brake pedal 7 is connected to the brake electronic control unit 40 through a signal line. The electronic brake pedal 7 serves as an integrated electronic pedal sensor (the sensor may be a displacement sensor, a hall sensor, or an angle sensor) capable of accurately sensing the driver's control of the degree of urgency of the pedal and the pedal stroke length, and converting it into an electrical signal (brake command) to be 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 the hydraulic brake systems of off-highway mining vehicles of different models.
The application method of the line-control four-wheel independent brake control system of the unmanned mining vehicle comprises the following steps:
(1) The vehicle is in a flameout condition.
At this time, the engine is not operated, the hydraulic pump 2 is not operated, so that no pressure exists in the hydraulic pipeline, and the electric control brake control system of the mining vehicle is not operated.
(2) A braking state of the vehicle start.
At this time, the engine is running, the emergency brake switch 8 is in a standby state, the emergency brake electromagnetic valve 41 is not powered, and the emergency brake electromagnetic valve is in an off state; the engine drives the hydraulic pump 2 to operate and output pressure oil, and the pressure is continuously increased and maintained to the set value 240bar of the hydraulic pump 2, and the pressure oil also enters the accumulator 3; the pilot control port has no pressure oil, and the backflow direction of the hydraulic control servo valve 43 is blocked; the hydraulic pump 2 and the hydraulic servo valve 43 supply the pressurized oil to the brake, and the brake is actuated to stop the vehicle.
Since the outlet direction and the return direction of the emergency brake solenoid valve 41 are in the off state, hydraulic oil is blocked from reaching the pilot control port of the pilot-controlled servo valve 43, the return of the pilot-controlled servo valve 43 to the oil tank 1 is blocked, the braking direction is on, and the system is in the emergency brake implementation state. The pressure oil passes through the first hydraulic servo valve 431, the second hydraulic servo valve 432, the third hydraulic servo valve 433, and the fourth hydraulic servo valve 434 from the output port of the hydraulic pump 2 to the right rear brake 62, the left rear brake 52, the right front brake 61, and the left front brake 51.
(3) And a moving state after the vehicle is started.
After the vehicle starts, the emergency brake switch 8 is turned on, an emergency brake command is sent to the emergency brake electromagnetic valve 41, the emergency brake electromagnetic valve 41 is electrified, the output port is turned on, pressure oil reaches the pilot control port of the hydraulic control servo valve 43 through the emergency brake electromagnetic 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 turned on, 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 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, the eighth electromagnetic directional valve 428 to be in a conductive state, and the second electromagnetic directional valve 422, the third electromagnetic directional valve 423, the sixth electromagnetic directional valve 426, the seventh electromagnetic directional valve 427 to be in a disconnected state; the pressure oil passes through the emergency braking electromagnetic valve 41, 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 reach the pilot control ports 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; the electronic brake control unit 40 controls the oil return direction of the hydraulic servo valve 43 to be conducted, the braking direction is blocked, hydraulic oil in the right rear brake 62, the left rear brake 52, the right front brake 61 and the left front brake 51 flows back to the oil tank 1 from the oil return ports of the first hydraulic servo valve 431, the second hydraulic servo valve 432, the third hydraulic servo valve 433 and the fourth hydraulic servo valve 434 respectively, 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 in a conducting state because 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.
(4) Braking during movement of the vehicle.
When the vehicle moves, the electronic brake pedal 7 is pressed down, the electronic brake pedal 7 sends a braking instruction to the braking electronic control unit 40, under the control of the electronic control unit 40, the braking electronic control unit 40 controls the electromagnetic directional valve 42 to be turned on or turned off, the hydraulic servo valve 43 adjusts the oil return port to be turned off or turned on, the brake adjusts the braking strength, the valve core displacement sensor 44 feeds back the valve core position to the electronic control unit 40 until the hydraulic servo valve 43 adjusts the valve core position and the opening degree to meet the opening degree requirement of the electronic brake pedal 7, and the vehicle is decelerated or stopped.
When the vehicle is moving, the right rear brake 62, the left rear brake 52, the right front brake 61, and the left front brake 51 operate as follows:
the emergency brake switch 8 is in a conducting state when the vehicle moves, the emergency brake electromagnetic 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; depressing the electronic brake pedal 7, the electronic brake pedal 7 sends a braking instruction to the brake 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 hydraulic control servo valve 431 loses pressure oil, the oil return port of the first hydraulic control servo valve 431 is closed, the pressure oil enters the right rear brake 62 through the first hydraulic control servo valve 431, and the right rear brake 62 realizes braking; the first valve core displacement sensor 441 feeds back the valve core position of the first hydraulic control servo valve 431 to the electronic control unit 40, the electronic control unit 40 controls the second electromagnetic directional valve 422 to be disconnected, and as the first electromagnetic directional valve 421 keeps a conducting state, a pilot control port of the first hydraulic control servo valve 431 establishes pressure oil, an oil return port of the first hydraulic control 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 brake of the right rear brake 62 is released; the second electromagnetic directional valve 422 is turned back on, the oil return port of the first hydraulic control servo valve 431 is turned back off, and the pressure oil reenters the right rear brake 62; the valve core is repeatedly adjusted until the position and the opening degree of the valve core are adjusted by the first hydraulic control servo valve 431 to meet the opening degree requirement of the electronic brake pedal 7, so that the requirement of deceleration or parking of the wheels at the right rear brake 62 is realized;
the brake electronic control unit 40 controls the third electromagnetic directional valve 423 to be conducted, 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 disconnected, and as the fourth electromagnetic directional valve 424 keeps on, 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 back on, and the oil return port of the second hydraulic control servo valve 432 is closed, so that the pressure oil reenters the left rear brake 52; the valve core is repeatedly adjusted until the position and the opening degree of the valve core are adjusted by the second hydraulic control servo valve 432 to meet the opening degree requirement of the electronic brake pedal 7, so that the requirement of decelerating or stopping 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 hydraulic control servo valve 433 loses pressure oil, the oil return port of the third hydraulic control servo valve 433 is closed, and the pressure oil enters the right front brake 61 through the third hydraulic control servo valve 433, so that the right front brake 61 realizes braking; the third valve core displacement sensor 443 feeds back the valve core 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 disconnected, and as 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 front right brake 61 enters the oil tank 1 through the oil return port of the third hydraulic control servo valve 433, and the brake of the front right brake 61 is released; the sixth electromagnetic directional valve 426 is turned back on, and the oil return port of the third hydraulic control servo valve 433 is closed, so that the pressure oil reenters the right front brake 61; 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 decelerating or stopping the wheels at the position of the right front brake 61 is met;
the brake electronic control unit 40 controls the conduction of the seventh electromagnetic directional valve 424, 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, and the pressure oil enters the left front brake 51 through the fourth hydraulic control servo valve 434, so that the left front brake 51 realizes braking; the fourth spool displacement sensor 444 feeds back the spool position of the fourth pilot-controlled 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 turned off, and as the eighth electromagnetic directional valve 428 is kept on, the pilot control port of the fourth pilot-controlled servo valve 434 reestablishes pressure oil, the oil return port is opened, the pressure oil of the front left brake 51 enters the oil tank 1 through the oil return port, and the brake of the front left brake 51 is released; the seventh electromagnetic directional valve 424 is turned back on, the oil return port of the fourth pilot operated servo valve 434 is closed, and the pressure oil reenters the left front brake 51; the valve core is repeatedly adjusted until the position and the opening degree of the valve core are adjusted by the fourth hydraulic control servo valve 434 to meet the opening degree requirement of the electronic brake pedal 7, so that the requirement of decelerating or stopping the wheels 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 servo valve 431, the second hydraulic servo valve 432, the third hydraulic servo valve 433, and the fourth hydraulic servo valve 434, which are respectively and independently responsible, so that the front left brake 51, the front right brake 61, the rear left brake 52, and the rear right brake 62 can independently work to adapt to braking requirements of four wheels under different working conditions.
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 servo valve 431, the second hydraulic servo valve 432, the third hydraulic servo valve 433, and the fourth hydraulic servo valve 434, which are respectively and independently responsible, so that the front left brake 51, the front right brake 61, the rear left brake 52, and the rear right brake 62 can independently work to adapt to braking requirements of four wheels under different working conditions.
(5) After the vehicle starts, the emergency brake switch 8 is in a conducting state, and the emergency brake electromagnetic 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 hydraulic servo valve 43 to be on, the brake direction to be blocked, and hydraulic oil in the right rear brake 62, the left rear brake 52, the right front brake 61 and the left front brake 51 flows back to the oil tank 1 from the oil return ports of the first hydraulic servo valve 431, the second hydraulic servo valve 432, the third hydraulic servo valve 433 and the fourth hydraulic servo valve 434, respectively, and the pressure is released, as in the moving state after the vehicle is started.
The terminology used herein is for the purpose of description and illustration only and is not intended to be limiting. As the present utility model may be embodied in several forms without departing from the spirit or essential attributes thereof, it should 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 metes and bounds of the claims, or equivalences of such metes and bounds are therefore intended to be embraced by the appended claims.

Claims (6)

1. An unmanned mining vehicle drive-by-wire four-wheel independent brake control system, comprising: the hydraulic control system comprises an oil tank, a hydraulic pump, an electric control brake control valve, a brake, an electronic brake pedal and an emergency brake switch; 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 wire; the electrically controlled brake control valve includes: the device comprises a brake electronic control unit, an emergency brake electromagnetic valve, an electromagnetic reversing 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 reversing 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; the signal input port of the brake electronic control unit is respectively connected with the electronic brake pedal, the signal output port of the valve core displacement sensor and the control end of the electromagnetic reversing valve through signal wires; the valve core of the hydraulic control servo valve is provided with a valve core displacement sensor, and the braking electronic control unit controls the electromagnetic reversing valve, the hydraulic control servo valve and the valve core displacement sensor to be matched for use, so that closed-loop control on the position of the valve core is formed.
2. The unmanned mining vehicle line-controlled four-wheel independent brake control system according to claim 1, wherein the brake electronic control unit receives a brake command sent by a brake pedal and a valve core position fed back by a valve core displacement sensor, controls the conduction or closing of the electromagnetic directional valve, and adjusts the valve core position of the hydraulic control servo valve to an adjusting point.
3. The unmanned mining vehicle brake-by-wire four-wheel independent brake control system of claim 1, wherein the accumulator is connected to the output of the hydraulic pump via a hydraulic line.
4. The unmanned mining vehicle four-wheel-by-wire independent brake control system of claim 1, wherein the brake comprises: front left brake, front right brake, back left brake, back right brake, the hydraulically controlled servo valve includes: the first hydraulically-controlled servo valve, the second hydraulically-controlled servo valve, the third hydraulically-controlled servo valve and the fourth hydraulically-controlled servo valve, and the electromagnetic directional valve comprises: the first electromagnetic directional valve, the second electromagnetic directional valve, the third electromagnetic directional valve, the fourth electromagnetic directional valve, the fifth electromagnetic directional valve, the sixth electromagnetic directional valve, the seventh electromagnetic directional valve and the eighth electromagnetic directional 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 braking electromagnetic valve through a hydraulic pipeline, and the output ports of the second electromagnetic directional valve and the third electromagnetic directional valve are connected with a hydraulic oil tank through a hydraulic pipeline; 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 the hydraulic oil tank through hydraulic pipelines; the output port of the fifth electromagnetic directional valve is respectively connected with the pilot control port of the third hydraulic control servo valve and the input port of the sixth electromagnetic directional valve through a hydraulic pipeline, and the output port of the eighth electromagnetic directional valve is respectively connected with the pilot control port of the fourth hydraulic control servo valve and the 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; the output port of the fourth hydraulic control servo valve is connected with the left front brake through a hydraulic pipeline, the input port of the fourth 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 fourth hydraulic control servo valve is connected with the oil tank through a hydraulic pipeline; the spool displacement sensor includes: the hydraulic control servo valve 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 a sensing core connecting rod of the first valve core displacement sensor is connected with a valve core of the first hydraulic control servo valve, a sensing core connecting rod of the second valve core displacement sensor is connected with a valve core of the second hydraulic control servo valve, a sensing core connecting rod of the third valve core displacement sensor is connected with a valve core of the third hydraulic control servo valve, and a sensing core connecting rod of the fourth valve core displacement sensor is connected with a valve core of the 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 wires.
5. The four-wheel-by-wire independent brake control system for an unmanned mining vehicle according to claim 4, wherein the first electromagnetic directional valve, the fourth electromagnetic directional valve, the fifth electromagnetic directional valve, and the eighth electromagnetic directional valve are long-pass electromagnetic valves, and the second electromagnetic directional valve, the third electromagnetic directional valve, the sixth electromagnetic directional valve, and the seventh electromagnetic directional valve are long-break electromagnetic valves.
6. The unmanned mining vehicle four-wheel independent brake control system according to claim 4, wherein 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 parallel operation; the third electromagnetic directional valve, the fourth electromagnetic directional valve, the second valve core displacement sensor and the second hydraulic control servo valve are matched for parallel operation; 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 parallel operation; 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 parallel operation.
CN202222917124.9U 2022-04-29 2022-11-02 Unmanned mining vehicle line-control four-wheel independent brake control system Active CN218907208U (en)

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CN202222914164.8U Active CN218907207U (en) 2022-04-29 2022-11-02 Mining vehicle braking anti-lock control system
CN202211359822.XA Pending CN115626150A (en) 2022-04-29 2022-11-02 Mine car anti-lock braking control system 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
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

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CN202211359822.XA Pending CN115626150A (en) 2022-04-29 2022-11-02 Mine car anti-lock braking control system and control method thereof

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