WO2023097631A1 - Novel mining monorail crane and control method thereof - Google Patents

Abstract

Provided are a novel mining monorail crane and the control method thereof. A drive discarding control valve assembly is arranged on each driving part of the control system of the novel mining monorail crane, each driving part being independently controlled by the drive discarding control valve assembly. When one driving part leaks, the driving part can be directly discarded without influencing normal operation of other driving parts. In the control method of the novel monorail crane provided by the present invention, when the monorail crane is started after being parked on a steep slope, the working voltage of the drive system before parking is memorized via an electric control device, and the voltage is compared with the voltage during the restart, and if the working voltage drive system after restarting is equal to the working voltage of the drive system recorded before parking, the brake oil cylinder is then controlled to be opened, so as to prevent the vehicle from sliding. When the monorail crane travels on a flat section or on a mild slope, automatic discarding can be carried out on the basis of the load size so as to reduce energy consumption.

Description

A new mining monorail crane and its control method technical field

The invention belongs to the technical field of monorail crane braking, and in particular relates to a novel mining monorail crane and a control method thereof.

Background technique

Monorail crane refers to the auxiliary transportation equipment that is suspended on a monorail and powered by diesel engine, lithium battery and storage battery. The monorail crane drives the friction wheel of the driving part to rotate through the power source, so as to realize walking on the track.

The operation of the monorail crane on the track includes operating conditions such as flat section, turning, uphill and downhill. In the prior art, the monorail crane has the following problems during the track operation: 1. When the monorail crane is running on the flat section, all The driving parts are all running, which consumes a lot of energy and the running speed is limited; 2. When the monorail crane is started on a large ramp, there will be a sliding slope phenomenon, which affects the safety of the whole machine; 3. The driving part of the monorail crane cannot be controlled independently. When a driving part leaks, it will affect the operation of other drives. When the leakage is large, the whole machine cannot build up the working pressure.

Contents of the invention

The purpose of the present invention is to provide a novel mining monorail crane and its control method, which can solve the problems of the existing monorail braking system, such as slippage, faulty driving caused by leakage, and high energy consumption.

In order to solve the above problems, the present invention provides a new mining monorail crane, the control system of which includes a power unit and a hydraulic pump unit, the power unit is used to drive the hydraulic pump unit, and the hydraulic pump unit is connected to multiple a drive unit and a brake unit;

The hydraulic pump group includes a main pump and an auxiliary pump connected in series with the main pump through a shaft, the main pump is connected to a pump control valve group, and the pump control valve group is used to control the flow output of the main pump;

Each of the driving parts includes a clamping oil cylinder and a pair of hydraulic motors for driving friction wheels, the number of the braking parts is greater than or equal to the driving part, and the braking parts include a braking oil cylinder;

Each of the driving parts is respectively connected with a swing drive control valve group for cutting off the oil circuit of the hydraulic motor and the clamping oil cylinder;

The auxiliary pump is connected to each of the brake cylinders through the same brake control valve, and the brake control valve is used to control the release or lock of the brake cylinders;

The auxiliary pump is sequentially connected to the clamping control valve, the swing control valve group and the clamping oil cylinder, and the clamping control valve is used to control the clamping or loosening of the clamping oil cylinder.

In a possible implementation manner, the brake control valve, each of the swing control valve groups and each of the clamping control valves are solenoid valves, and are respectively electrically connected to the electric control device, and the pump control The valve group is controlled by manual control or solenoid valve.

In a possible implementation manner, the power device adopts a combination of an explosion-proof battery and a motor, a combination of an explosion-proof lithium battery and a motor, or an explosion-proof diesel engine.

The present invention also provides a control method for a monorail crane control system, including:

When the monorail crane stops, all the hydraulic motors are in the stop working state, and at the same time, all the brake cylinders are depressurized to lock the brake;

When the monorail crane is started, all the hydraulic motors are in the working state, and the position information of the monorail crane and the working pressure value of the driving system are obtained. If the monorail crane is running in the flat section, it directly controls the opening of each of the brake cylinders to release the brake. ; If the monorail crane is running on a large ramp, start the hydraulic motor so that the current driving system working pressure value rises to be equal to the driving system working pressure value before parking, and then control each of the brake cylinders to open to loosen the brake;

When the monorail crane is running, first obtain the position information of the monorail crane and the working pressure value of the driving system. If the monorail crane is running on a flat section, control the clamping cylinders of some of them according to the obtained working pressure value of the driving system. The oil circuit is disconnected, and the oil circuit corresponding to the hydraulic motor on the driving part is controlled to be disconnected at the same time; The hydraulic motor on the driving part remains in working condition.

In the above-mentioned control method, also include:

When the monorail crane cannot establish the minimum driving pressure, the system will automatically stop and find out the faulty driving part, and automatically cut off the oil circuit of the faulty driving part.

In the above control method, the system automatically stops and sorts out the faulty drive unit, and then automatically cuts off the oil circuit of the faulty drive unit, including:

Control the action of the swing drive control valve of a single or part of the drive parts through the electronic control device to cut off or open the oil circuit of the corresponding drive part; if the oil circuit of the single or multiple drive parts is cut off and the working pressure of the drive system returns to normal, stop Troubleshoot; otherwise, continue to troubleshoot.

In the above control method, the starting of the hydraulic motor to increase the current working pressure value of the driving system to be equal to the working pressure value of the driving system before parking includes:

Obtain the working pressure value of the drive system before parking through the electronic control device;

Start the hydraulic motor to work;

The electric control device obtains the current driving system working pressure value and compares the current driving system working pressure value with the driving system working pressure value obtained before parking, and if the two are equal, the electric control device controls The brake control valve acts to release the brake of the brake oil cylinder; otherwise, it does not release the brake.

In the above control method, the acquisition of the position information of the monorail crane includes:

An inclination sensor is arranged on the monorail crane, and the inclination sensor is electrically connected with the electric control device;

The inclination sensor obtains the inclination information of the running track and feeds it back to the electronic control device, and the electronic control device judges the operating position of the monorail crane according to the inclination angle, and the operating position includes uphill, downhill and flat sections.

In the above control method, according to the acquired working pressure value of the driving system, controlling the release of part of the clamping cylinders and simultaneously controlling the hydraulic motor on the corresponding driving part to stop working includes:

In the electronic control device, the swinging state of different monorail cranes is preset to correspond to different pressure sections;

Obtain the working pressure value of the drive system during the operation of the monorail crane;

Judging the pressure zone where the acquired current working pressure value of the drive system is located, and executing the oil passage cut-off action of the drive part at the preset position.

In the above control method, the execution of the oil passage cutting action of the drive part at the preset position includes:

The action of the swing control valve group on the drive part at the preset position is controlled by the electronic control device, and the oil circuit of the clamping oil cylinder and the hydraulic motor is cut off by the swing control valve group.

In the novel mine monorail crane provided by the present invention, the control system of the novel monorail crane is provided with a throwing drive control valve group on each driving part, and each driving part is independently controlled by the throwing drive control valve group. When one of the driving parts leaks , the driving part can be thrown away directly without affecting the normal operation of other driving parts. In addition, the control system of the present invention can use a lithium battery or a storage battery as a power device to reduce underground pollution.

The control method of the novel mining monorail crane provided by the present invention, when the monorail crane stops and starts on a large ramp, the working pressure of the driving system before parking is memorized by using the electronic control device, and the pressure is compared with the pressure when restarting If the working pressure of the driving system after starting is equal to the working pressure of the driving system recorded before stopping, then control the brake cylinder to release the brake to prevent the car from rolling. When the monorail crane runs on a flat section or a track with a gentle slope, it can be automatically driven according to the size of the load to reduce energy consumption. In the present invention, an inclination sensor is set in the cab to identify whether the track is on an uphill, downhill or flat section, and the pressure section is preset to define the number and position of the driving part. Through the control method, the safety performance of the operation of the monorail crane is improved, and the energy consumption is reduced at the same time.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a structural block diagram of a monorail crane control system provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the present invention scope of protection.

In the description of this specification, references to the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific examples", or "some examples" mean that a combination of the embodiments or An example describes a particular feature, structure, material, or characteristic that is included in at least one embodiment or example of the invention. In the present invention, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

With reference to Fig. 1, present embodiment provides a kind of novel mining monorail crane, and its control system includes power unit, optional, this power unit can be the combination of explosion-proof storage battery and motor or the combination of explosion-proof lithium battery and motor or explosion-proof diesel engine, That is to say, it can be connected to the motor through an explosion-proof lithium battery or an explosion-proof battery, and then the motor is connected to the hydraulic pump group, or the explosion-proof diesel engine is used to directly drive the hydraulic pump group, and the hydraulic pump group is used to drive several driving parts.

In some embodiments, the hydraulic pump set includes a main pump and an auxiliary pump, the main pump and the auxiliary pump are connected through a shaft, and the main pump drives the auxiliary pump to rotate synchronously.

Optionally, the driving part includes a pair of hydraulic motors and a clamping oil cylinder. Among them, a pair of hydraulic motors are respectively provided with a friction wheel, and a pair of friction wheels are arranged on both sides of the I-shaped track; the clamping oil cylinder is used to clamp the friction wheel on the track, when the piston rod of the clamping oil cylinder stretches out At this time, the friction wheel can be separated from the track so as to be easy to drive (that is, the hydraulic motor does not work when the hydraulic motor is running again) or to facilitate the replacement of the friction wheel. The monorail crane also includes a brake part, which includes a brake cylinder. The brake cylinder is used to brake the monorail crane. Some drive parts are equipped with a brake cylinder, and some are equipped with a pair of brake cylinders. The oil cylinder is independently arranged on the cab, that is, the number of braking parts is greater than or equal to the number of driving parts. In this embodiment, the driving part of the friction wheel is directly driven by the hydraulic motor, which can reduce the overall space of the driving part.

In some possible implementation manners, a pump control valve group is connected to the main pump, and the pump control valve group may include a proportional control valve, through which the flow rate of the main pump is controlled to control the rotational speed.

In some examples, each driving part is connected with a swing drive control valve group for cutting off the oil circuit of the hydraulic motor and the clamping cylinder, and the main pump is connected to the swing drive control valve group through a pipeline and then connected to the corresponding pair of hydraulic motors . The oil circuit of the hydraulic motor can be cut off through the swing control valve group, so that the hydraulic motor stops working. By setting independent swing control valve groups on each driving part, each driving part can be controlled independently. When the hydraulic motor of one of the driving parts leaks, the oil circuit of the driving part can be cut off through the swing control valve group. Thus, the normal operation of other driving parts will not be affected.

In some possible implementation manners, the auxiliary pump is sequentially connected to the clamping control valve, the swing control valve group and then connected to the clamping oil cylinder, and the clamping control valve is used to control the clamping or loosening of the clamping oil cylinder. Here, the hydraulic motor and the clamping oil cylinder share a swing drive control valve group, that is, when the driving part performs swing drive, the hydraulic motor and the clamping oil cylinder need to cut off the oil circuit through the swing drive control valve set at the same time.

It should be noted that when the drive system does not need to drive, the control valve group of the drive does not work, that is, the main pump and the hydraulic motor, as well as the auxiliary pump and the brake cylinder are connected.

In some embodiments, the auxiliary pump is connected to each brake cylinder through the same brake control valve, and the brake control valve is used to control the release or lock of the brake cylinder. When the brake control valve operates, the pressure of each brake cylinder is released simultaneously, that is, the brake is automatically clamped by the action of the spring force on the brake cylinder.

Optionally, the above clamping control valve, brake control valve, and swing control valve group all use solenoid valves, and the control ends of these solenoid valves are respectively electrically connected to the electric control device. By setting control instructions in the electronic control device, the control of each valve is realized through the control instructions.

Optionally, the hydraulic pipeline in this embodiment is divided into several sections, and the sections are connected by quick-insert pipe joints, so as to facilitate the connection and extension of the pipeline.

Optionally, the electric control device may adopt a PLC control box.

The embodiment of the present invention also provides a control method of a novel mining monorail crane, including:

① When the monorail crane stops, all the hydraulic motors are in the stop working state, and at the same time, all the brake cylinders are depressurized to lock the brakes.

Specifically, the clamping oil cylinder can be in a state of maintaining pressure and clamping, or can be in a state of releasing pressure. There is no specific limitation in this embodiment, and the clamping or loosening is switched by the electronic control device controlling the clamping control valve. The main pump controls its flow rate to zero through the pump control valve group, so that the hydraulic motor stops working, and the pressure relief lock of the brake cylinder is controlled through the brake control valve.

②When the monorail crane is started, all the hydraulic motors are in working state, and the position information of the monorail crane and the working pressure value of the driving system are obtained. Open the oil cylinder to release the brake; if the monorail crane is running on the uphill section, start the hydraulic motor to make the current driving system working pressure rise to be equal to the driving system working pressure before parking, and then control the braking The cylinder opens to release the brake.

Specifically, when the monorail crane is started, the pump control valve group controls the output flow of the main pump to control the hydraulic motor to be in the working state; the position information of the monorail crane is obtained, that is, whether the monorail crane is in a flat section, uphill or Downhill position status information and real-time driving system working pressure value are obtained at the same time. If the monorail crane is started on the flat section, the electronic control device will directly control the opening of each brake cylinder to release the brake, and the hydraulic motor will drive the friction wheel to rotate. , so as to realize the monorail crane operation. If the monorail crane is started on a large ramp, in order to avoid the phenomenon of the monorail crane slipping when starting, firstly start the hydraulic motor so that the current working pressure of the drive system rises to be equal to the working pressure of the drive system before parking, and then control each The brake cylinder is opened to loosen the brake, so that the monorail crane can maintain the traction before stopping and start, which can reduce the occurrence of sliding slopes.

In some embodiments, starting the hydraulic motor to increase the current working pressure value of the driving system to be equal to the working pressure value of the driving system before parking includes the following steps:

A. Obtain the working pressure value of the driving system before parking through the electronic control device, and store the obtained working pressure value of the driving system in the memory of the electric control device. Optionally, the memory can use an SD card;

B. Control the output flow of the main pump through the pump control valve group to drive the hydraulic motor to work;

C. Obtain the current driving system working pressure value by the electronic control device and compare the current driving system working pressure value with the driving system working pressure value obtained before parking. If the two are equal, the electronic control device will control the brake control valve. Action to release the brake cylinder; otherwise, do not release the brake.

Here, the electronic control device is used to memorize the working pressure of the driving system before parking, and then wait for the boost of the driving system, and obtain the real-time data of the working pressure of the driving system to compare with the working pressure of the driving system before parking. The monorail starts with the traction force it had before stopping, so that rolling can be avoided. Of course, it is also possible to simply preset the maximum working pressure of the drive system when the load is the largest, and then release the brake after first reaching the fixed pressure at each startup.

③When the monorail crane is running, first obtain the position information of the monorail crane and the working pressure value of the driving system. If the monorail crane is running on a flat section, control part of the clamping cylinders according to the obtained working pressure value of the driving system Disconnect the oil circuit and simultaneously control the disconnection of the oil circuit corresponding to the hydraulic motor on the driving part; if the monorail crane is running on a large slope, directly control the clamping cylinders of all the driving parts to clamp and control all the driving parts at the same time The hydraulic motor on the head remains in working condition.

Specifically, when the monorail crane is running on the flat section, several of the driving parts can be cut off and isolated from the oil circuit to reduce the energy consumption of the power unit. The oil passage of the driving part is cut off by cutting off the oil passage of the clamping cylinder and at the same time cutting off the oil passage of the hydraulic motor on the corresponding driving part. The control action signal is sent by the electric control device. If the monorail crane is running on the uphill section or downhill section, in order to ensure safety, it is not necessary to perform throwing drive.

In the above embodiment, it is necessary to obtain the position information of the monorail crane, which specifically includes:

Install an inclination sensor on the monorail crane. Optionally, the inclination sensor is arranged beside the control box, and the inclination sensor is electrically connected to the electric control device; when the monorail crane is running, the inclination sensor obtains the inclination information of the running track and feeds it back to the electric control device , the electronic control device judges the operating position of the monorail crane according to the inclination angle, and the operating position includes uphill, downhill and flat sections, and performs corresponding operations according to different operating positions.

In some possible implementations, according to the obtained working pressure value, control part of the clamping cylinder to loosen, and at the same time control the hydraulic motor on the corresponding driving part to stop working, specifically including:

a. Preset in the electronic control device that the throwing states of different monorail cranes correspond to different pressure sections;

b. Obtain the working pressure value of the drive system during the operation of the monorail crane;

c. Judging the pressure section where the acquired current working pressure value of the drive system is located, and executing the oil circuit cutoff action of the drive part at the preset position.

Here, the number of cutting drive units may be one or more, and may not be cut. When it is necessary to cut off multiple driving parts, it can be driven at intervals, and the position and quantity of these drives need to be set in advance.

Among them, the oil passage cut-off action of the drive unit at the preset position includes:

The action of the swing drive control valve group on the drive part at the preset position is controlled by the electronic control device, and the oil circuit of the clamping oil cylinder and the hydraulic motor is cut off by the swing drive control valve group.

In a possible implementation method, when the monorail crane cannot establish the minimum driving pressure, the system automatically stops and finds out the faulty driving part, and automatically cuts off the oil circuit of the faulty driving part, specifically including:

The electronic control device controls the action of the swing control valve of a single or part of the driving parts to cut off or open the oil passage of the corresponding driving part, so as to troubleshoot the driving part.

For example: a monorail crane has 8 driving parts in total. First, divide the 8 driving parts into two groups, with 4 driving parts in each group. The main pump continues to supply oil to the driving part of group B. If the working pressure of the driving system can be established, it means that the faulty driving part is in group A. Then restore the oil circuit of the two driving parts in group A, and then carry out The same judgment is made until one or more driving parts that restore the operating pressure of the drive system of the oil circuit after the cut-off is found.

If the working pressure of the driving system cannot be established, it means that there is a faulty driving part in group B. Group B also adopts the same investigation method as group A until one or the other faults that restore the working pressure of the driving system of the oil circuit after being cut off are found. Multiple drives.

It should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, rather than limit it; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it still The technical solutions described in the foregoing embodiments may be modified, or part or all of the technical solutions may be modified, or some or all of the technical features may be equivalently replaced; and these modifications or replacements do not make the corresponding technical solutions The essence deviates from the scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A novel mining monorail crane, characterized in that its control system includes a power unit and a hydraulic pump unit, the power unit is used to drive the hydraulic pump unit, and the hydraulic pump unit is connected to a plurality of driving parts and brake part;

   The hydraulic pump group includes a main pump and an auxiliary pump connected in series with the main pump through a shaft, the main pump is connected to a pump control valve group, and the pump control valve group is used to control the flow output of the main pump;

   Each of the driving parts includes a clamping cylinder and a pair of hydraulic motors for driving the friction wheel, the number of the braking parts is greater than or equal to the driving part, and the braking part includes a braking cylinder;

   Each of the driving parts is respectively connected with a swing drive control valve group for cutting off the oil circuit of the hydraulic motor and the clamping oil cylinder;

   The auxiliary pump is connected to each of the brake cylinders through the same brake control valve, and the brake control valve is used to control the release or lock of the brake cylinders;

   The auxiliary pump is sequentially connected to the clamping control valve, the swing control valve group and the clamping oil cylinder, and the clamping control valve is used to control the clamping or loosening of the clamping oil cylinder.
2. According to the novel mine monorail crane according to claim 1, it is characterized in that the brake control valve, each of the swing control valve groups and each of the clamping control valves are electromagnetic valves, and are respectively connected with the electric control valves. The device is electrically connected, and the pump control valve group is controlled by manual control or electromagnetic valve.
3. The novel mine monorail crane according to claim 1, characterized in that the power device is a combination of an explosion-proof battery and a motor, a combination of an explosion-proof lithium battery and a motor, or an explosion-proof diesel engine.
4. According to the control method of the novel mining monorail crane described in any one of claims 1-3, it is characterized in that, comprising:

   When the monorail crane stops, all the hydraulic motors are in the stop working state, and at the same time, all the brake cylinders are depressurized to lock the brake;

   When the monorail crane is started, all the hydraulic motors are in the working state, and the position information of the monorail crane and the working pressure value of the driving system are obtained. If the monorail crane is running in the flat section, it directly controls the opening of each of the brake cylinders to release the brake. ; If the monorail crane is running on a large ramp, start the hydraulic motor so that the current driving system working pressure value rises to be equal to the driving system working pressure value before parking, and then control each of the brake cylinders to open to loosen the brake;

   When the monorail crane is running, first obtain the position information of the monorail crane and the working pressure value of the driving system. If the monorail crane is running on a flat section, control the clamping cylinders of some of them according to the obtained working pressure value of the driving system. The oil circuit is disconnected, and the oil circuit corresponding to the hydraulic motor on the driving part is controlled to be disconnected at the same time; The hydraulic motor on the driving part remains in working condition.
5. The control method according to claim 4, further comprising:

   When the monorail crane cannot establish the minimum driving pressure, the system will automatically stop and find out the faulty driving part, and then cut off the oil circuit of the faulty driving part.
6. The control method according to claim 5, wherein the system automatically stops and finds out the faulty driving part, and then cuts off the oil circuit of the faulty driving part, including:

   Control the action of the swing drive control valve of a single or part of the drive parts through the electronic control device to cut off or open the oil circuit of the corresponding drive part; if the oil circuit of the single or multiple drive parts is cut off and the working pressure of the drive system returns to normal, stop Troubleshoot; otherwise, continue to troubleshoot.
7. The control method according to claim 4, wherein the starting of the hydraulic motor to increase the current driving system working pressure value to be equal to the driving system working pressure value before parking includes:

   Obtain the working pressure value of the drive system before parking through the electronic control device;

   Start the hydraulic motor to work;

   Obtain the current driving system working pressure value through the electronic control device and compare the current driving system working pressure value with the driving system working pressure value obtained before parking. If the two are equal, the electric control device will control The brake control valve acts to release the brake of the brake oil cylinder; otherwise, it does not release the brake.
8. The control method according to claim 4, wherein said obtaining the position information of the monorail crane comprises:

   An inclination sensor is arranged on the monorail crane, and the inclination sensor is electrically connected with the electric control device;

   The inclination information of the running track is obtained by the inclination sensor and fed back to the electronic control device, and the electric control device judges the operating position of the monorail crane according to the inclination angle, and the operating position includes uphill, downhill and flat sections.
9. The control method according to claim 4, characterized in that, according to the acquired working pressure value of the driving system, control part of the clamping cylinders to loosen, and simultaneously control the corresponding hydraulic motor on the driving part stop working, including:

   In the electronic control device, the swinging state of different monorail cranes is preset to correspond to different pressure sections;

   Obtain the working pressure value of the drive system during the operation of the monorail crane;

   Judging the pressure zone where the acquired current working pressure value of the drive system is located, and executing the oil passage cut-off action of the drive part at the preset position.
10. The control method according to claim 9, characterized in that, the execution of the oil passage cutting action of the drive part at the preset position comprises:

    The action of the swing control valve group on the drive part at the preset position is controlled by the electronic control device, and the oil circuit of the clamping oil cylinder and the hydraulic motor is cut off by the swing control valve group.

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