CN220019910U - Control system of power-supply electric loader with power-on by wire - Google Patents
Control system of power-supply electric loader with power-on by wire Download PDFInfo
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- CN220019910U CN220019910U CN202320709577.4U CN202320709577U CN220019910U CN 220019910 U CN220019910 U CN 220019910U CN 202320709577 U CN202320709577 U CN 202320709577U CN 220019910 U CN220019910 U CN 220019910U
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- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
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- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000005693 optoelectronics Effects 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The utility model provides a control system of a power-supply electric loader with a power line, which comprises: the device comprises a rectifying cabinet, a rectifying cabinet controller, a whole vehicle controller, a brake resistor, a brake unit, a speed limiting proximity switch and a stopping proximity switch which are arranged on a power supply tower; when the voltage of the direct current bus rises to a first set value, the braking unit closes the connection between the direct current power supply and the braking resistor; the speed limiting proximity switch is at a first height from the ground, and the proximity switch is stopped at a second height from the ground; the speed limiting proximity switch detects whether the towing line of the loader reaches the distance of speed limiting operation or not, and the stop proximity switch detects whether the towing line reaches the distance of stopping operation or not; the rectifier cabinet controller sends a message related to the proximity switch to the whole vehicle controller; and the whole vehicle controller controls the speed limiting operation or the stopping operation of the loader according to the received message. The technical scheme provides a control system for the power-supply electric loader with the power-supply wire, avoids the over-distance running of the loader, and improves the safety.
Description
Technical Field
The utility model relates to the technical field of engineering, in particular to a control system of a power-supply electric loader with a power-on wire.
Background
The existing electric loader mainly adopts battery power supply, and the battery power supply electric loader can meet the construction for a certain time, and is generally cruising for 6 hours. In domestic port, steelworks and other industries, the loader needs continuous operation, and under the working condition, the battery-powered electric loader cannot meet the construction requirement.
There are also electric loaders powered by a power-line power grid in the industry, such as the utility model patent CN216564451U discloses a composition of an electric loader powered by a power-line power grid and a power supply system of the electric loader, but the utility model patent does not provide a control scheme related to the electric loader powered by a power-line power.
Disclosure of Invention
The utility model provides a control system of a power-supply-by-wire electric loader, which is used for controlling the power-supply-by-wire electric loader and improving the operation safety of the power-supply-by-wire electric loader.
To achieve the above object, in one aspect, there is provided a control system of a power-on-line electric loader, comprising:
the rectifying cabinet and the rectifying cabinet controller are arranged on the base of the power supply tower;
the whole vehicle controller is arranged on the loader;
the braking unit is used for detecting the direct current bus voltage of the direct current power supply, and closing the connection between the direct current power supply and the braking resistor when the direct current bus voltage rises to a first set value;
the speed limiting proximity switch and the stopping proximity switch are arranged on the power supply tower, the speed limiting proximity switch is at a first height from the ground, the stopping proximity switch is at a second height from the ground, and the second height is higher than the first height; the speed limiting proximity switch is used for detecting whether a towing line of the loader reaches a first distance of a set speed limiting operation; the stop proximity switch is used for detecting whether the towing line reaches a set second distance for stopping operation; the second distance is greater than the first distance;
the rectifier cabinet controller is respectively connected with the speed-limiting proximity switch and the stopping proximity switch and is used for sending a first message to the whole vehicle controller when the speed-limiting proximity switch detects that the wire drawing reaches a first distance and sending a second message to the whole vehicle controller when the stopping proximity switch detects that the wire drawing reaches a second distance;
the whole vehicle controller is used for controlling the loader to enter the speed limiting operation after receiving the first message and controlling the loader to stop operation after receiving the second message.
Preferably, the control system, wherein the power supply of the loader is realized by a pulley block mechanism; the pulley block mechanism includes: the device comprises a balancing weight, a steel wire rope, a movable pulley and a fixed pulley; wherein the towing line is a steel wire rope; one end of the steel wire rope is connected with the loader, and the other end of the steel wire rope is connected with the balancing weight; when the loader runs with one end of the steel wire rope pulled, the balancing weight moves vertically; when the balancing weight rises to the position of the speed limiting proximity switch, determining that the wire drawing reaches a first distance; and when the balancing weight is lifted to a position for stopping the proximity switch, determining that the wire drawing reaches a second distance.
Preferably, the control system, wherein the lifting height of the weight is a predetermined ratio to the pulling length of the wire rope.
Preferably, the control system, wherein the speed limiting proximity switch determines whether the balancing weight is lifted to the position of the speed limiting proximity switch; and determining whether the balancing weight is lifted to a position for stopping the proximity switch by stopping the proximity switch;
preferably, in the control system, the speed limiting proximity switch and the stopping proximity switch are diffuse reflection photoelectric switches.
Preferably, in the control system, the rectifier cabinet controller is connected with the whole vehicle controller through a CAN communication bus.
Preferably, the control system further comprises:
the navigation equipment is arranged on the loader and used for providing the position of the loader relative to the power supply tower for the whole vehicle controller.
Preferably, the control system, wherein the navigation device is a GPS-RTK real-time dynamic differential device.
Preferably, the control system, wherein the whole vehicle controller is further configured to determine a distance between the loader and the power tower according to a position of the loader relative to the power tower provided by the navigation device.
Preferably, the control system, wherein the rectifier cabinet controller further includes: the fault monitoring component is used for monitoring whether the circuit of the loader has a fault of electric leakage or broken line and open circuit, and notifying the whole vehicle controller and receiving a low-high voltage instruction sent by the whole vehicle controller when the fault of electric leakage or broken line and open circuit is monitored.
The technical scheme has the following technical effects:
the technical scheme of the embodiment of the utility model provides a control system for the power-supply electric loader with the power of the wire-pulling type, and aims at the limitation of the length of the wire-pulling type, so that the over-distance running of the loader is avoided, and the running safety of the loader is improved;
in a further scheme, fault detection of line short circuit or open circuit is realized through the fault monitoring component, the influence of faults such as line short circuit or open circuit on the operation of the loader is avoided, possible electric shock events are avoided, and the operation safety of the loader is further improved.
Drawings
Fig. 1 is a schematic structural diagram of a control system of a power-on-line electric loader according to an embodiment of the utility model.
Detailed Description
For further illustration of the various embodiments, the utility model is provided with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments and together with the description, serve to explain the principles of the embodiments. With reference to these matters, one of ordinary skill in the art will understand other possible embodiments and advantages of the present utility model. The components in the figures are not drawn to scale and like reference numerals are generally used to designate like components.
The utility model will now be further described with reference to the drawings and detailed description.
Referring to fig. 1, a control system of a power-on-line electric loader according to an embodiment of the present utility model includes:
the rectification cabinet 1 is used for providing a voltage-stabilizing direct current power supply for the electric loader and is arranged on a power supply tower, namely a base of a tower crane;
braking resistor 2: the rectifier is arranged in the rectifier cabinet and is connected with a direct current power supply through a switch; the motor is used for consuming reverse current during regenerative braking of the motor;
a braking unit 3: the motor control device is arranged in the rectifying cabinet and used for detecting the direct current bus voltage of the direct current power supply, and when the direct current bus voltage rises to a set value, the connection between the direct current power supply and the braking resistor is closed so as to prevent regenerative braking energy from being fed back to the direct current bus and causing continuous high voltage pulling and damage to a motor controller;
speed limit proximity switch 4: the device is arranged on a tower frame of the power supply tower, is at a first height from the ground and is used for detecting whether a towing line reaches a preset first distance for limiting speed operation of the loader;
stopping the proximity switch 5: the device is arranged on a tower frame of the power supply tower, is at a second height from the ground and is used for detecting whether a towing line reaches a preset second distance for stopping operation of the loader; wherein the second height is greater than the first height and the second distance is greater than the first distance;
GPS-RTK device 6: the real-time dynamic differential system adopts a phase differential technology in three types of differential GPS, and is navigation equipment capable of obtaining centimeter-level positioning accuracy outdoors in real time; the GPS-RTK equipment is arranged at the top of a cab of the loader, can be used as a reference of a towing tower crane, and is used for calibrating X Y H three-coordinate information of the reference, namely an abscissa, an ordinate and a height through a GPS-RTK technology; when the loader runs, the whole vehicle controller records the position information of the movable end, namely the selected position on the loader end, and can obtain the distance information of the loader and the tower crane through trigonometric function conversion; the whole vehicle controller further judges whether the distance between the loader and the power supply tower reaches a preset speed limiting operation distance or a preset stopping operation distance; if the distance between the loader and the tower crane reaches the preset speed limiting operation distance, the whole controller controls the loader to continue to move forwards, but the speed limiting operation is performed; if the distance between the loader and the tower crane reaches the preset stopping operation distance, the whole controller controls the loader to stop operation, so that the problem of the over-distance running of the loader is avoided;
rectifier cabinet controller 7: the control rectifier cabinet works and can be arranged on the power supply tower base for detecting the working state of the rectifier cabinet; the rectifier cabinet controller can communicate with the whole vehicle controller, receive a control instruction sent by the whole vehicle controller, and send the working state of the rectifier cabinet, the distance information of the distance limit switch and the RTK of the balancing weight to the whole vehicle controller;
preferably, the rectifier cabinet controller and the whole vehicle controller carry out information transmission through a CAN communication bus of the overhead line cable, wherein the rectifier cabinet controller sends the state information of the voltage, the current, the relay in the cabinet and the like of the rectifier cabinet and the information of whether the balancing weight reaches a proximity switch or not to the whole vehicle controller; meanwhile, the rectifier cabinet controller also receives control instructions sent by the whole vehicle controller, such as instructions for controlling the switching relay of the rectifier cabinet, such as a power-off instruction, and instructions for controlling the operation of the loader according to the operation state of the rectifier cabinet; when the CAN communication bus is broken, the whole vehicle controller and the rectifier cabinet controller prevent electric shock events caused by broken lines, such as broken lines of electric wires and cables dragged by steel wire ropes, by executing corresponding broken line and power-off protection strategies;
illustratively, the rectifier cabinet operating state includes: initializing an operation state by powering on; the initialization is completed, and the state of the control power-on instruction of the whole vehicle can be operated and waited; receiving a power-on instruction of the whole vehicle, closing a relay, and powering up the whole vehicle to the outside; abnormal and fault protection conditions; the whole vehicle controller can be provided with corresponding control strategies aiming at the states; preferably, the abnormal and fault protection states include: the cable which is insulated and monitored for leakage faults and dragged has a broken line and an open circuit fault; the rectification cabinet has preset highest faults and the like; preferably, the rectifier cabinet controller monitors the faults through a fault monitoring component arranged in the rectifier cabinet controller;
the whole vehicle controller 8: the device is arranged on the loader and used for controlling the operation of the loader; the whole vehicle controller checks the working state of the whole vehicle, communicates with the rectifying cabinet, and adjusts the whole vehicle control strategy according to the state information of the receiving rectifying cabinet;
preferably, when the vehicle controller receives the abnormal and fault protection states sent by the rectifier cabinet controller, a command for disconnecting the high-voltage output contactor of the rectifier cabinet, namely a low-voltage command, is sent to the rectifier cabinet controller;
master drive four-in-one controller 9: the power distribution unit is used for receiving instructions of the whole vehicle controller and controlling the power on and power off and working states of the power distribution unit PDU motor, the DCAC air pump, the air conditioner and the DCDC;
motor 10: the device is used for driving the loader to operate when power is supplied; a kind of electronic device with high-pressure air-conditioning system
The transition battery 11: for powering the loader when the loader is diverted and cannot be powered by the tug line.
In a specific implementation of the utility model, a wire-pulling system of the loader is realized by adopting a pulley block principle and comprises a balancing weight, a movable pulley, a fixed pulley, a steel wire rope and the like; dragging the cable through the steel wire rope; the steel wire rope serves as a wire; one end of the steel wire rope is connected with the loader, and the other end of the steel wire rope is connected with the balancing weight; when the loader runs with one end of the steel wire rope pulled, the balancing weight moves vertically. Preferably, in one embodiment of the present utility model the lifting height of the counterweight is 1/7 times the pull length of the wire rope. Illustratively, when the length of the pullable wire is set to 50 meters, the highest elevation of the counterweight is 50/7 meters. In view of the fact that the tow line is within a safe distance and in order to reduce the impact on the loader, it is preferable to preset the initial position of the counterweight, at which time the loader is also in its corresponding starting position. Preferably, a speed limiting proximity switch is arranged on the power supply tower 40/7 m above the initial position of the balancing weight, and a stopping proximity switch is arranged on the power supply tower 45/7 m above the initial position of the balancing weight. When the balancing weight is detected to rise to the position of the speed-limiting proximity switch, the whole vehicle controller controls the loader to enter speed-limiting operation, but the loader is still not stopped, and continues to move in the far direction at a limited speed until the balancing weight reaches the position of 45/7 m to stop the proximity switch, and at the moment, the whole vehicle controller controls the loader to brake and stop operation; preferably, the proximity switch is used for detecting whether the balancing weight reaches the position corresponding to the proximity switch; preferably, the proximity switch is a diffuse reflective optoelectronic switch, which can be reliably used in the field or in a dusty environment.
In one embodiment, wireless communication via GPS-RTK devices is a redundant strategy based on wired communication via proximity switches and CAN buses, primarily to determine the distance of the loader from the power tower to prevent over-distance travel of the loader due to damage to wired data or related sensors such as proximity switches.
In another embodiment, the proximity switch and the GPS-RTK device are in a parallel detection scheme, meanwhile, whether the loader needs speed limiting operation or stopping operation is judged through the proximity switch and the GPS-RTK device, and the loader is controlled to perform corresponding speed limiting operation or stopping operation as long as the distance that the wire rope, namely the wire rope, is pulled out or the distance between the loader and the tower reaches a preset speed limiting distance or stopping distance through any one of the proximity switch and the GPS-RTK device.
While the utility model has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (10)
1. A control system for a power-on, electric loader of the type comprising:
the rectifying cabinet and the rectifying cabinet controller are arranged on the base of the power supply tower;
the whole vehicle controller is arranged on the loader;
the braking unit is used for detecting the direct current bus voltage of the direct current power supply, and closing the connection between the direct current power supply and the braking resistor when the direct current bus voltage rises to a first set value;
the speed limiting proximity switch is arranged on the power supply tower, the speed limiting proximity switch is at a first height from the ground, the stopping proximity switch is at a second height from the ground, and the second height is higher than the first height; the speed limit proximity switch is used for detecting whether a towing line of the loader reaches a first distance of a set speed limit operation; the stop proximity switch is used for detecting whether the towing line reaches a set second distance for stopping operation; the second distance is greater than the first distance;
the rectifier cabinet controller is respectively connected with the speed limiting proximity switch and the stopping proximity switch and is used for sending a first message to the whole vehicle controller when the speed limiting proximity switch detects that the wire drawing reaches the first distance and sending a second message to the whole vehicle controller when the stopping proximity switch detects that the wire drawing reaches the second distance;
and the whole vehicle controller is used for controlling the loader to enter speed limiting operation after receiving the first message and controlling the loader to stop operation after receiving the second message.
2. The control system of claim 1, wherein the power supply of the loader is provided by a pulley block mechanism; the pulley block mechanism comprises: the device comprises a balancing weight, a steel wire rope, a movable pulley and a fixed pulley; wherein the tug is the steel wire rope; one end of the steel wire rope is connected with the loader, and the other end of the steel wire rope is connected with the balancing weight; when the loader pulls one end of the steel wire rope to run, the balancing weight moves vertically; when the balancing weight rises to the position of the speed limiting proximity switch, determining that the wire drawing reaches the first distance; and when the balancing weight is lifted to the position for stopping the proximity switch, determining that the wire drawing reaches the second distance.
3. The control system of claim 2, wherein the lifting height of the counterweight is a predetermined ratio to the pull length of the wire rope.
4. The control system of claim 2, wherein the speed limit proximity switch determines whether the weight is raised to the speed limit proximity switch position; and determining whether the counterweight rises to the position of the stop proximity switch by the stop proximity switch.
5. The control system of claim 1, wherein the speed limit proximity switch and the stop proximity switch are diffuse reflective optoelectronic switches.
6. The control system of claim 1, wherein the rectifier cabinet controller is connected to the vehicle controller via a CAN communication bus.
7. The control system of claim 1, further comprising:
the navigation equipment is arranged on the loader and used for providing the position of the loader relative to the power supply tower for the whole vehicle controller.
8. The control system of claim 7, wherein the navigation device is a GPS-RTK real-time kinematic differential device.
9. The control system of claim 7, wherein the vehicle controller is further configured to determine a distance of the loader from the power tower based on a position of the loader relative to the power tower provided by the navigation device.
10. The control system of claim 1, wherein the rectifier cabinet controller further comprises: the fault monitoring component is used for monitoring whether the circuit of the loader has a fault of electric leakage or broken line and open circuit, and notifying the whole vehicle controller and receiving a low-high voltage instruction sent by the whole vehicle controller when the fault of electric leakage or broken line and open circuit is monitored.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320709577.4U CN220019910U (en) | 2023-04-03 | 2023-04-03 | Control system of power-supply electric loader with power-on by wire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320709577.4U CN220019910U (en) | 2023-04-03 | 2023-04-03 | Control system of power-supply electric loader with power-on by wire |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220019910U true CN220019910U (en) | 2023-11-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320709577.4U Active CN220019910U (en) | 2023-04-03 | 2023-04-03 | Control system of power-supply electric loader with power-on by wire |
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| Country | Link |
|---|---|
| CN (1) | CN220019910U (en) |
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2023
- 2023-04-03 CN CN202320709577.4U patent/CN220019910U/en active Active
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