Pure electric 80-ton shovel-type support transporter

Abstract

The pure electric 80-ton shovel-type support transport vehicle of the present invention belongs to the technical field of design and manufacturing of auxiliary transportation equipment for coal mines; it comprises a shovel, a front frame, a middle frame, a rear frame, a battery lifting frame and a battery rack, the shovel is arranged in front of the front frame, the front frame is connected to the middle frame through a hinged part, the middle frame is connected to the rear frame through a slewing bearing, the rear frame is connected to the battery rack through a battery lifting frame, batteries are installed on the battery rack, the slewing bearing is a double-row slewing bearing, the battery rack is also connected to the rear frame through a battery tilting mechanism, under the action of the battery tilting mechanism, the tail of the battery rack is tilted up or laid flat to adapt to different ground slopes; the present invention adopts a dual-motor single-bridge input time-sharing drive mode to solve the shortcomings of large power and large volume of a single motor, separates motors of the same power to reduce the volume, and can be applied to vehicles with thin coal seams, and the time-sharing drive can improve the efficiency of the whole vehicle and extend the cruising range of the battery shovel truck.

Description

Technical Field

[0001] The invention discloses a pure electric 80-ton shovel-type support transporter, which belongs to the technical field of design and manufacturing of auxiliary transportation equipment for coal mines. Background Art

[0002] Support carrier refers to all vehicle-type equipment that can transport support products involved in various social production and operation activities. In actual production practice, hydraulic supports and their handling equipment specifically used in mines are a new type of special vehicle or special handling tool developed, designed and manufactured specifically for the handling or long-distance transportation of hydraulic supports during the relocation and reversal of the fully-mechanized working face (which can be broadly understood and extended to large-scale machinery such as scrapers that are difficult to transport, such as mining).

[0003] The types of shovel trucks currently in use include diesel power, pure electric power, and hybrid power. The maximum tonnage of domestic bridge-type explosion-proof battery shovel trucks is 45 tons. Battery shovel trucks above 45 tons are only bridgeless, and the voltage is high (above 480V). The drive motor is a one-bridge-one-motor transmission mode. The single motor has high power and large size, and cannot be arranged on vehicles with thin coal seams. There is also a risk of high-voltage electric shock. With the continuous upgrading of the mining height of the comprehensive mining working face equipment, the weight of the working face equipment has also increased. The weight of some equipment has reached 80 tons. Therefore, it is extremely important to realize the one-time transportation and handling of the working face equipment. Summary of the invention

[0004] The present invention overcomes the shortcomings of the prior art and provides a pure electric 80-ton shovel-type support transporter, thereby improving the overall efficiency and reliability of the support transporter and extending the cruising range of the support transporter.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a pure electric 80-ton shovel-type support transporter, including a shovel, a front frame, a middle frame, a rear frame, a battery lifting frame and a battery rack, the shovel is arranged in front of the front frame, the front frame is connected to the middle frame through a hinge, the middle frame is connected to the rear frame through a slewing bearing, the rear frame is connected to the battery rack through a battery lifting frame, the battery rack is equipped with batteries, the slewing bearing is a double-row slewing bearing, and the battery rack is also connected to the rear frame through a battery tilting mechanism. Under the action of the battery tilting mechanism, the tail of the battery rack is tilted up or flattened to adapt to different ground slopes.

[0006] Furthermore, the slewing bearing comprises an upper row of steel balls and a lower row of steel balls, and the upper row of steel balls and the lower row of steel balls are sequentially arranged in the raceway between the outer ring and the inner ring along the axial direction of the slewing bearing.

[0007] Furthermore, the battery tilting mechanism includes two battery tilting cylinders, the front ends of the battery tilting cylinders are fixed to the battery rack, and the rear ends of the battery tilting cylinders are fixed to the upper part of the rear rack.

[0008] Furthermore, the overall output voltage of the battery is 240V DC.

[0009] Furthermore, it also includes a front drive axle and a rear drive axle, the rear end of the front drive axle is connected to the two front explosion-proof AC motors through two front transmission shafts, the front drive axle is provided with a front axle-end reducer, and the front axle-end reducer is connected to the front tires through the two sides of the front drive axle; the front end of the rear drive axle is connected to the two rear explosion-proof AC motors through two rear transmission shafts, the rear drive axle is provided with a rear axle-end reducer, and the rear axle-end reducer is connected to the rear tires through the two sides of the rear drive axle; the batteries are divided into two groups, the DC power output by one group is inverted by a DC / AC inverter to supply power to the front explosion-proof AC motors, and the other group supplies power to the rear explosion-proof AC motors.

[0010] Furthermore, it also includes a vehicle controller, the number of the DC / AC inverters is 4, all of which are connected to the vehicle controller, and the vehicle controller is used to switch between three different working states of front drive, rear drive and four-wheel drive according to the operating conditions of the support transport vehicle; when in the front drive state, the front explosion-proof AC motor is in the electric state, and the rear explosion-proof AC motor is in the regenerative power generation state; when in the rear drive state, the front explosion-proof AC motor is in the regenerative power generation state, and the rear explosion-proof AC motor is in the electric state.

[0011] Furthermore, when the support transport vehicle is in a four-wheel drive state, the vehicle controller controls the torque-speed of the explosion-proof AC motor by:

[0012] On the explosion-proof AC motor torque-speed characteristic curve, the speed corresponding to the maximum output torque of the explosion-proof AC motor is set to n1, and the speed corresponding to the maximum power of the explosion-proof AC motor is set to n2. When the support transport vehicle runs at the highest speed, the speed of the explosion-proof AC motor is set to n3; the real-time speed of the explosion-proof AC motor is set to n; the corresponding relationship between torque and speed meets the following conditions:

[0013] When 0≤n<n1, the output torque of the explosion-proof motor is constant output;

[0014] When n1≤n<n2, the output torque of the explosion-proof motor is inversely proportional to the speed;

[0015] When n2≤n<n3, the output torque of the explosion-proof motor is inversely proportional to the square of the rotational speed.

[0016] Compared with the prior art, the present invention has the following beneficial effects.

[0017] 1. The present invention adopts low voltage DC240V as DC side input to solve the problem of high voltage danger.

[0018] 2. The present invention applies a low-voltage AC variable frequency motor to an explosion-proof battery forklift to solve the problem of high failure rate of previous DC motors.

[0019] 3. The present invention adopts a dual-motor single-bridge input time-sharing drive mode to solve the shortcomings of a single motor with high power and large size. The motors with the same power are separated to reduce the size. It can be applied to vehicles in thin coal seams. The time-sharing drive can improve the efficiency of the whole vehicle and extend the cruising range of the battery shovel truck.

[0020] 4. The present invention adopts a dual-battery dual-motor driving mode, which effectively improves the operating efficiency of the entire vehicle and avoids the disadvantage that the entire vehicle cannot continue to move after one motor fails, compared with the previous single-battery dual-motor driving mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an overall schematic diagram of an embodiment of the present invention.

[0022] Figure 2 The figure is a schematic diagram of the structure of an explosion-proof motor, a battery and a drive axle involved in an embodiment of the present invention.

[0023] Figure 3 It is a side view of an embodiment of the present invention.

[0024] Figure 4 FIG. 4 is a top view of an embodiment of the present invention.

[0025] Figure 5 The figure is a schematic diagram of the structure of a battery tipping mechanism according to an embodiment of the present invention.

[0026] Figure 6 It is a schematic diagram of an embodiment of the present invention when the shovel plate and the battery lifting device are both in a tilted state.

[0027] Figure 7 This is an exploded view of the slewing bearing.

[0028] Figure 8 This is the front view of the slewing bearing.

[0029] Fig. 9 for Figure 8 Cross-sectional view along the AA direction.

[0030] Fig.10 The hydraulic principle diagram of an embodiment of the present invention.

[0031] Fig.11 : is the torque-speed characteristic curve of the explosion-proof AC motor in the embodiment of the present invention.

[0032] In the figure, 1-shovel, 2-shovel lifting seat, 3-winch, 4-shovel tilting cylinder, 5-shovel lifting cylinder, 6-cab, 7-front frame, 8-middle frame, 9-rear frame, 10-battery lifting cylinder, 11-battery lifting frame, 12-battery tilting cylinder, 13-slewing bearing, 15-steering cylinder, 16-hinge, 17-front tire, 18-front drive axle, 19-front axle end reducer, 20-front drive shaft, 21-front explosion-proof AC motor, 26-rear tire, 23-battery frame, 24-battery, 25-rear drive axle, 27-rear axle end reducer, 28-rear drive shaft, 29-rear explosion-proof AC motor, 30-shovel crank, 31-hydraulic cross handle valve, 32-multiple valve, 33-pilot handle, 34-high pressure filter and safety valve, 35-oil pump, 36-hydraulic oil tank. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] like Figure 1-Figure 6 As shown, the present invention is a pure electric 80-ton shovel-type support transporter, including a shovel 1, a front frame 7, a middle frame 8, a rear frame 9, a battery lifting frame 11 and a battery rack 23. The shovel 1 is arranged in front of the front frame 7, the front frame 7 is connected to the middle frame 8 through a hinge 16, the middle frame 8 is connected to the rear frame 8 through a slewing bearing 13, and the rear frame 8 is connected to the battery rack 23 through the battery lifting frame 11. The battery rack 23 is equipped with a battery 24. The slewing bearing 13 is a double-row slewing bearing. The battery rack 23 is also connected to the rear frame 9 through a battery tilting mechanism. Under the action of the battery tilting mechanism, the tail of the battery rack 23 is tilted or laid flat to adapt to different ground slopes.

[0035] The battery tilting mechanism includes two battery tilting cylinders 12. The front end of the battery tilting cylinder 12 is fixed to the battery rack 23, and the rear end of the battery tilting cylinder 12 is fixed to the upper part of the rear frame 9. The two battery tilting cylinders 12 are arranged on the inner side of the battery lifting cylinder 10. The battery tilting cylinder 12 controls the tilting action of the battery rack 23, and the battery lifting cylinder 10 controls the lifting action of the battery rack 23. The hydraulic principle is as follows Fig.10 As shown, a hydraulic cross handle valve 31 is used to hydraulically control a multi-valve 32, and the multi-valve controls the battery lifting cylinder 10 and the battery tilting cylinder 12 through the oil circuit. The battery lifting cylinder 10 is connected to the battery lifting frame 11 to control the height of the battery frame 23, and the battery tilting cylinder 12 is connected to the battery frame 23 to control the angle of the battery frame 23. In this way, by changing the angle and height of the battery frame 23, the efficiency of loading and unloading batteries and tires can be improved.

[0036] The support transporter also includes a front drive axle 18 and a rear drive axle 25. The rear end of the front drive axle 18 is connected to two front explosion-proof AC motors 21 through two front transmission shafts 20. The front drive axle 18 is provided with a front axle end reducer 19. The front axle end reducer 19 is connected to the front tires 17 through the two sides of the front drive axle 18. The front end of the rear drive axle 25 is connected to two rear explosion-proof AC motors 29 through two rear transmission shafts 28. The rear drive axle 25 is provided with a rear axle end reducer 27. The rear axle end reducer 27 is connected to the rear tires 26 through the two sides of the rear drive axle 25. The overall output voltage of the battery 24 is 240V DC, and a large-capacity explosion-proof lead-acid battery is selected. The battery 24 is divided into two groups. The DC power output by one group is inverted by a DC / AC inverter to supply power to the front explosion-proof AC motor 21, and the other group supplies power to the rear explosion-proof AC motor 29.

[0037] The support transport vehicle also includes a vehicle controller, wherein the number of DC / AC inverters is 4, all of which are connected to the vehicle controller. The vehicle controller is used to switch between three different working states of front drive, rear drive and four-wheel drive according to the operating conditions of the support transport vehicle; when in the front drive state, the front explosion-proof AC motor 21 is in the electric state, and the rear explosion-proof AC motor 29 is in the regenerative power generation state; when in the rear drive state, the front explosion-proof AC motor 21 is in the regenerative power generation state, and the rear explosion-proof AC motor 29 is in the electric state.

[0038] Specifically, Figure 7-Figure 9 As shown, the slewing bearing 13 includes an upper row of steel balls and a lower row of steel balls, which are sequentially arranged in the raceway between the outer ring and the inner ring along the axial direction of the slewing bearing 13, and can achieve a swing within 20 degrees between the middle frame 8 and the rear frame 9.

[0039] An encoder and a Hall sensor are provided on the explosion-proof motor, and both the encoder and the Hall sensor are connected to the vehicle controller. The encoder is used to measure the speed of the explosion-proof motor, and the Hall sensor is used to measure the output current of the explosion-proof motor and calculate the actual torque value. When the support transport vehicle is in the four-wheel drive state, the vehicle controller controls the torque-speed of the explosion-proof AC motor in the following manner: Fig.11 As shown, curve a is the original torque-speed characteristic curve of the AC motor. On the basis of the torque-speed characteristic curve of the explosion-proof AC motor, the speed corresponding to the maximum output torque of the explosion-proof AC motor is set to n1, and the speed corresponding to the maximum power of the explosion-proof AC motor is set to n2. When the support transport vehicle runs at the highest speed, the speed of the explosion-proof AC motor is set to n3; the real-time speed of the explosion-proof AC motor is set to n; the corresponding relationship between torque and speed needs to meet the following conditions:

[0040] When 0≤n<n1, the output torque of the explosion-proof motor is constant output;

[0041] When n1≤n<n2, the output torque of the explosion-proof motor is inversely proportional to the speed;

[0042] When n2≤n<n3, the output torque of the explosion-proof motor is inversely proportional to the square of the rotational speed.

[0043] In the 0~n1 constant torque stage, it is a low-speed and high-torque stage, which is mainly used for heavy-load starting and full-load climbing. The designed maximum torque is 5 times the rated torque, giving full play to the torque overload capacity of the system, and the speed is automatically adjusted according to the load conditions. The DC / AC inverter adopts torque vector control, and the maximum speed is limited to n1. When the load torque is greater than the given torque, the explosion-proof AC motor automatically decelerates. When the load torque is less than the given torque, the motor runs at the speed n1 state.

[0044] In the constant power stage of n1 to n2, it is mainly used for full-load flat road driving. To make full use of the power of the traction system, the maximum power limit is set as the rated power, and the motor speed is adjusted according to the load conditions. At this time, the DC / AC inverter adopts the power setting method, and then realizes the zero-difference control of the traction power according to the feedback of the traction power, so as to achieve efficient traction.

[0045] In the n2~n3 high-speed stage, it is mainly used for no-load driving, which can make full use of the high-speed characteristics of the AC speed control system. The maximum power limit is set to the rated power, and the speed is automatically adjusted according to the load conditions. The DC / AC inverter adopts the torque given operation mode, and the maximum speed is limited to n3. When the load torque is greater than the given torque, the motor automatically decelerates. When the load torque is less than the given torque, the motor runs at the speed n3 state.

[0046] The support transporter adopts a front, middle and rear three-section frame articulated and oil cylinder steering structure. The power source uses a large-capacity explosion-proof lead-acid battery, and the front and rear axles are driven by dual motors to realize the operation of the whole vehicle. The electrical appliances of the whole vehicle are explosion-proof and equipped with a motor safety protection system. The parking brake and the driving brake both use multi-disc safety wet brakes. The whole vehicle has the characteristics of flexible steering, high transmission efficiency, simple operation and convenient maintenance.

[0047] While the invention has been particularly shown and described with reference to exemplary embodiments thereof, 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 invention as defined by the claims.

Claims

1. A pure electric 80-ton shovel-type support transporter, comprising a shovel (1), a front frame (7), a middle frame (8), a rear frame (9), a battery lifting frame (11) and a battery frame (23), wherein the shovel (1) is arranged in front of the front frame (7), the front frame (7) is connected to the middle frame (8) through a hinge (16), the middle frame (8) is connected to the rear frame (9) through a slewing bearing (13), the rear frame (9) is connected to the battery frame (23) through the battery lifting frame (11), and a storage battery (24) is installed on the battery frame (23), characterized in that: The slewing bearing (13) is a double-row slewing bearing, and the battery rack (23) is also connected to the rear frame (9) through a battery tilting mechanism. Under the action of the battery tilting mechanism, the tail of the battery rack (23) is tilted up or flattened to adapt to different ground slopes; The battery tilting mechanism comprises two battery tilting cylinders (12), the front end of the battery tilting cylinder (12) is fixed to the battery rack (23), and the rear end of the battery tilting cylinder (12) is fixed to the upper part of the rear frame (9); the two battery tilting cylinders (12) are arranged on the inner side of the battery lifting cylinder (10), the battery tilting cylinder (12) controls the tilting action of the battery rack (23), and the battery lifting cylinder (10) controls the lifting action of the battery rack (23); through a hydraulic cross handle valve (31), a hydraulic control multi-valve (32) is used, and the multi-valve controls the battery lifting cylinder (10) and the battery tilting cylinder (12) through an oil circuit, the battery lifting cylinder (10) is connected to the battery lifting rack (11) to control the height of the battery rack (23), and the battery tilting cylinder (12) is connected to the battery rack (23) to control the angle of the battery rack (23); It also includes a front drive axle (18) and a rear drive axle (25), wherein the rear end of the front drive axle (18) is connected to two front explosion-proof AC motors (21) via two front transmission shafts (20), a front axle end reducer (19) is provided in the front drive axle (18), and the front axle end reducer (19) is connected to the front tires (17) via the two sides of the front drive axle (18); the front end of the rear drive axle (25) is connected to the two rear explosion-proof AC motors (29) via two rear transmission shafts (28), a rear axle end reducer (27) is provided in the rear drive axle (25), and the rear axle end reducer (27) is connected to the rear tires (26) via the two sides of the rear drive axle (25); the storage battery (24) is divided into two groups, the DC power output by one group is respectively supplied to the front explosion-proof AC motors (21) after being inverted by a DC / AC frequency converter, and the other group supplies power to the rear explosion-proof AC motors (29); It also includes a vehicle controller, wherein the number of the DC / AC inverters is 4, all of which are connected to the vehicle controller, and the vehicle controller is used to switch between three different working states of front drive, rear drive and four-wheel drive according to the running road conditions of the support transport vehicle; when in the front drive state, the front explosion-proof AC motor (21) is in the electric state, and the rear explosion-proof AC motor (29) is in the regenerative power generation state; when in the rear drive state, the front explosion-proof AC motor (21) is in the regenerative power generation state, and the rear explosion-proof AC motor (29) is in the electric state; When the support transport vehicle is in a four-wheel drive state, the vehicle controller controls the torque-speed of the explosion-proof AC motor in the following manner: On the explosion-proof AC motor torque-speed characteristic curve, the speed corresponding to the maximum output torque of the explosion-proof AC motor is set to n1, and the speed corresponding to the maximum power of the explosion-proof AC motor is set to n2. When the support transport vehicle runs at the highest speed, the speed of the explosion-proof AC motor is set to n3; the real-time speed of the explosion-proof AC motor is set to n; the corresponding relationship between torque and speed meets the following conditions: When 0≤n<n1, the output torque of the explosion-proof motor is constant output; When n1≤n<n2, the output torque of the explosion-proof motor is inversely proportional to the speed; When n2≤n<n3, the output torque of the explosion-proof motor is inversely proportional to the square of the rotational speed.

2. The pure electric 80-ton shovel-type support transporter according to claim 1 is characterized in that: The slewing bearing (13) comprises an upper row of steel balls and a lower row of steel balls, which are arranged in sequence in the raceway between the outer ring and the inner ring along the axial direction of the slewing bearing (13).

3. The pure electric 80-ton shovel-type support transporter according to claim 1 is characterized in that: The overall output voltage of the storage battery (24) is 240V DC.

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