Pure electric driving part for lithium battery monorail crane

Abstract

The invention relates to the technical field of pure electric driving parts, and discloses a pure electric driving part for a lithium battery monorail crane locomotive, which comprises a clamping module for providing rail clamping force of the monorail crane locomotive; the braking module is used for realizing electric output and mechanical redundancy of braking force; the control module is used for integrating a multi-channel closed-loop controller, independently controlling each driving part to operate and receiving a sensor signal in real time; a traditional clamping oil cylinder and a traditional brake oil cylinder are replaced by the clamping electric cylinder and the anti-explosion electric cylinder, pure electric drive control is accurate, actions are synchronous, meanwhile, clamping pressure can be adjusted in real time according to actual working condition requirements, locomotive sliding caused by wet and slippery rails of a locomotive is prevented, and through closed-loop control of the control module, the control precision of the locomotive is improved. The operation state of each driving part is monitored in real time, the fault can be accurately positioned, the fault reason can be quickly checked, and the driving device can be used for driving the pure electric driving part in emergency through the arrangement of the power supply module, so that the operation safety of the monorail crane is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pure electric drive units, and particularly to a pure electric drive unit for a lithium battery single rail hoist locomotive. Background Technique

[0002] A single rail hoist locomotive is a mine auxiliary transportation equipment. Its guide rail is suspended at the top of the roadway, and the single rail hoist locomotive can be movably suspended below the guide rail. When the single rail hoist locomotive runs below the guide rail, it can be used to carry goods, transport personnel, etc. Currently, the single rail hoist locomotives mainly include diesel single rail hoists, pneumatic single rail hoists, and battery electric single rail hoists, etc. The diesel single rail hoist is an auxiliary transportation equipment powered by a diesel engine, which has the advantage of large load capacity. However, the exhaust gas generated by the diesel engine during use is an important pollution source in the mine. Especially when used in narrow spaces such as "fully mechanized mining relocation", the air pollution is more serious. Fully mechanized mining relocation refers to using auxiliary transportation equipment to transfer the equipment, materials, etc. in the fully mechanized mining face to the next designated position. Usually, the space in the fully mechanized mining face is narrow and the air quality is poor; although the pneumatic single rail hoist has no disadvantage of exhaust gas pollution, the pneumatic single rail hoist has a small load capacity and cannot transport large equipment such as supports, and is only suitable for the transportation of some small goods; the battery electric single rail hoist uses a battery as the power source and has the advantages of large load capacity and no exhaust gas pollution.

[0003] For the drive unit of the lithium battery single rail hoist locomotive, it still cannot fully achieve pure electric operation. The oil cylinder is used to control the clamping and braking of the locomotive, and it is difficult to achieve precise control of each drive unit. There will be problems such as the braking and clamping of the whole vehicle being out of sync, the braking force and clamping force cannot be adjusted in real time. At the same time, multiple groups of hydraulic oil circuits are connected in series. When a failure occurs in the oil cylinder of the drive unit, it is difficult to troubleshoot. Therefore, a pure electric drive unit for a lithium battery single rail hoist locomotive is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a pure electric drive unit for a lithium battery single rail hoist locomotive, so as to solve the problems raised in the above background technique that for the drive unit of the lithium battery single rail hoist locomotive, it still cannot fully achieve pure electric operation. The oil cylinder is used to control the clamping and braking of the locomotive, it is difficult to achieve precise control of each drive unit, there will be problems such as the braking and clamping of the whole vehicle being out of sync, the braking force and clamping force cannot be adjusted in real time, and at the same time, multiple groups of hydraulic oil circuits are connected in series. When a failure occurs in the oil cylinder of the drive unit, it is difficult to troubleshoot.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A pure electric drive unit for a lithium battery single rail hoist locomotive, including a drive frame body, a drive module, a clamping module, a braking module, a control module, and a power module;

[0006] The drive frame body is a bearing bracket for the drive module, the clamping module, and the braking module;

[0007] The driving module is used for the driving of the single-rail hoist locomotive;

[0008] The clamping module is used to provide the rail clamping force for the single-rail hoist locomotive;

[0009] The braking module is used to realize the electric output of braking force and mechanical redundancy;

[0010] The control module is used to integrate a multi-channel closed-loop controller, independently control the operation of each driving part, and receive sensor signals in real time;

[0011] The power supply module is used to supply power to the driving part separately and isolate it from the power supply of the single-rail hoist locomotive.

[0012] Preferably, the above-mentioned driving frame body is respectively connected to the driving module, the clamping module and the braking module, the driving module, the clamping module and the braking module are all connected to the control module, and the driving module, the clamping module and the braking module are all connected to the power supply module.

[0013] Preferably, the above-mentioned driving module includes a permanent magnet synchronous integrated machine, a reducer and a driving wheel. The permanent magnet synchronous integrated machine is installed on the driving frame body, the reducer is installed on the driving frame body and connected to the output shaft of the permanent magnet synchronous integrated machine, and the driving wheel is connected to the output shaft of the reducer.

[0014] Preferably, the above-mentioned clamping module includes a clamping electric cylinder, and the clamping electric cylinder is installed on the mounting swing arm of the permanent magnet synchronous integrated machine.

[0015] Preferably, the above-mentioned braking module includes an explosion-proof electric cylinder, a spring assembly, a rocker arm assembly and a braking shoe. The spring assembly is installed outside the explosion-proof electric cylinder, the braking shoe is installed on the rocker arm assembly, the explosion-proof electric cylinder is connected to the rocker arm assembly, and the spring assembly is located inside the rocker arm assembly.

[0016] Preferably, the above-mentioned control module includes a controller, a temperature sensor, a resolver, a position sensor and a PID controller. The temperature sensor and the resolver are both installed inside the permanent magnet synchronous integrated machine, the position sensor is installed on the explosion-proof electric cylinder, and the PID controller is used to realize the closed-loop control of the permanent magnet synchronous integrated machine and the explosion-proof electric cylinder;

[0017] The controller is used to read the data of the sensor;

[0018] The temperature sensor is used to monitor the temperature of the motor winding in real time;

[0019] The resolver is used to provide accurate position feedback for the motor controller to ensure the synchronous operation of the motor;

[0020] The position sensor is used to monitor the displacement position of the electric cylinder in real time to achieve precise positioning.

[0021] Preferably, the power supply module includes a lithium battery pack, a bidirectional DC / DC converter and a super capacitor. The lithium battery pack is used for independent power supply of the driving part. The bidirectional DC / DC converter and the super capacitor are in a parallel structure and are used to store electric energy during braking energy recovery.

[0022] Preferably, the explosion-proof electric cylinder and the spring assembly are coaxially arranged. The pre-tightening force of the spring assembly is used to maintain the braking state. After the explosion-proof electric cylinder is powered on, the spring assembly releases the brake, and when powered off, the spring assembly automatically resets to achieve emergency braking.

[0023] Compared with the prior art, the present invention adopts the above technical solutions and has the following technical effects: by using a clamping electric cylinder and an explosion-proof electric cylinder to replace the traditional clamping oil cylinder and braking oil cylinder, the pure electric drive control is precise and the actions are synchronous. At the same time, according to the actual working conditions, the clamping pressure can be adjusted in real time to prevent the locomotive from slipping due to wet rails. Moreover, through the closed-loop control of the control module, the operating states between the driving parts are monitored in real time, and faults can be accurately located and the causes of the faults can be quickly checked. And through the setting of the power supply module, it can be used to drive the pure electric driving part in an emergency, improving the safety of the single-track crane locomotive operation. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic structural diagram of the driving frame of the present invention;

[0026] Figure 2 It is a schematic structural diagram of the speed reducer of the present invention.

[0027] Description of the reference numerals: 1, permanent magnet synchronous integrated machine; 2, driving frame; 3, explosion-proof electric cylinder; 4, driving wheel; 5, speed reducer; 6, clamping electric cylinder; 7, braking shoe. Detailed Embodiments

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read, and are not used to limit the limiting conditions that can be implemented in this application. Therefore, they do not have technical substance significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the efficacy that this application can produce and the purpose that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in this application.

[0030] Embodiment

[0031] In the prior art, for the drive part of the lithium battery single-track hoist locomotive, it is still impossible to completely achieve pure electric operation. The oil cylinder is used to control the clamping and braking of the locomotive, and it is difficult to achieve precise control of each drive part. There will be asynchronous braking and clamping of the whole vehicle, and the braking force and clamping force cannot be adjusted in real time. At the same time, multiple groups of hydraulic oil circuits are connected in series. When a failure occurs in the oil cylinder of the drive part, it is difficult to troubleshoot.

[0032] Please refer to Figure 1-2 , the present invention provides a technical solution: a pure electric drive part for a lithium battery single-track hoist locomotive, including a drive frame body 2, a drive module, a clamping module, a braking module, a control module and a power supply module;

[0033] The drive frame body 2 is a carrier bracket for the drive module, the clamping module and the braking module;

[0034] The drive module is used for driving the single-track hoist locomotive;

[0035] The clamping module is used to provide the track clamping force of the single-track hoist locomotive;

[0036] The braking module is used to realize the electric output of the braking force and mechanical redundancy;

[0037] The control module is used to integrate a multi-channel closed-loop controller, independently control the operation of each drive part, and receive sensor signals in real time;

[0038] The power supply module is used to supply power to the drive part separately and is isolated from the power supply of the single-track hoist locomotive.

[0039] The driving frame 2 is connected to the driving module, the clamping module and the braking module respectively. The driving module, the clamping module and the braking module are all connected to the control module. The driving module, the clamping module and the braking module are all connected to the power module.

[0040] The driving module includes a permanent magnet synchronous machine 1, a reducer 5 and a driving wheel 4. The permanent magnet synchronous machine 1 is installed on the driving frame 2. The reducer 5 is installed on the driving frame 2 and connected to the output shaft of the permanent magnet synchronous machine 1. The driving wheel 4 is connected to the output shaft of the reducer 5. The driving part uses the permanent magnet synchronous machine 1 as a driving motor and is driven by the rubber driving wheel 4.

[0041] The clamping module includes a clamping electric cylinder 6, which is installed on the mounting swing arm of the permanent magnet synchronous machine 1. The clamping electric cylinder 6 is used to connect the mounting swing arms of the two permanent magnet synchronous machines 1, and the driving wheel 4 is made to hold the track tightly under the contraction of the piston rod of the clamping electric cylinder 6. When the track is slippery, the tightening stroke of the clamping electric cylinder 6 is increased to increase the positive pressure of the driving wheel 4 on the track, increase the friction force, and play a role in preventing the car from slipping.

[0042] The brake module includes an explosion-proof electric cylinder 3, a spring assembly, a rocker arm assembly and a brake shoe 7. The spring assembly is installed on the outside of the explosion-proof electric cylinder 3, the brake shoe 7 is installed on the rocker arm assembly, the explosion-proof electric cylinder 3 is connected to the rocker arm assembly, and the spring assembly is located on the inside of the rocker arm assembly; the explosion-proof electric cylinder 3 and the spring assembly are coaxially arranged, and the preload force of the spring assembly is used to maintain the braking state. After the explosion-proof electric cylinder 3 is powered on, the spring assembly releases the brake, and when the power is off, the spring assembly automatically resets to achieve emergency braking; the explosion-proof electric cylinder 3 is used to connect the rockers on both sides of the brake shoe 7. When the locomotive starts, the piston rod of the explosion-proof electric cylinder 3 contracts and compresses the spring assembly. When the locomotive is in place and needs to be parked, the explosion-proof electric cylinder 3 resets, the spring assembly instantly returns to its original shape, and the brake shoe 7 engages the brake to achieve the braking effect. The overall drive unit is a pure electric structure without hydraulic and pneumatic participation, which improves the accuracy and intelligent control of the equipment.

[0043] The control module includes a controller, a temperature sensor, a rotary transformer, a position sensor and a PID controller. The temperature sensor and the rotary transformer are installed inside the permanent magnet synchronous machine 1, and the position sensor is installed on the explosion-proof electric cylinder 3. The PID controller is used to realize the closed-loop control of the permanent magnet synchronous machine 1 and the explosion-proof electric cylinder 3; the permanent magnet synchronous machine 1 has a built-in temperature sensor and a rotary transformer, and the explosion-proof electric cylinder 3 is equipped with a position sensor. The controller reads the sensor data and feeds it back to the PID controller, analyzes the gain / phase margin through the Bode diagram, and the redundant sensor responds to the fault, realizing the closed-loop control of the permanent magnet synchronous machine 1 and the explosion-proof electric cylinder 3, and feeding back the driving data in real time. When the drive unit fails, the damaged part can be accurately determined and the cause of the failure can be quickly checked.

[0044] A controller for reading data from sensors;

[0045] A temperature sensor for real-time monitoring of the temperature of the motor windings;

[0046] A resolver for providing precise position feedback to the motor controller to ensure synchronous operation of the motor;

[0047] A position sensor for real-time monitoring of the displacement position of the electric cylinder to achieve precise positioning.

[0048] The power supply module includes a lithium battery pack, a bidirectional DC / DC converter, and a super capacitor. The lithium battery pack is used for independent power supply of the driving part. The bidirectional DC / DC converter and the super capacitor are in a parallel structure and are used to store electrical energy during braking energy recovery. The super capacitor instantaneously absorbs braking energy to avoid the life attenuation of the lithium battery pack caused by high-rate charge and discharge. The DC / DC converter and the super capacitor are backup to each other, and the power output can still be maintained when a single unit fails. The lithium battery pack is only activated when the main power supply fails to ensure the use safety of the single-rail hoist locomotive. The lithium battery pack only serves the core functions of the pure electric driving part for clamping and braking and does not participate in the power supply of other systems of the locomotive, reducing the load dependence.

[0049] The pure electric driving part uses a permanent magnet synchronous integrated machine 1 as the driving force and uses a clamping electric cylinder 6 to replace the clamping oil cylinder; an explosion-proof electric cylinder 3 plus a spring assembly replaces the braking oil cylinder. Its feature is that the braking and clamping oil cylinders of the traditional driving part are removed and pure circuit control is adopted. The clamping and braking control is more precise. The explosion-proof electric cylinder 3 and the permanent magnet synchronous integrated machine 1 can achieve closed-loop control through a PID controller, real-time feedback of driving data, and accurate positioning of faults when a fault occurs, quickly troubleshooting the cause of the fault.

[0050] In summary, the present invention replaces the traditional clamping oil cylinder and braking oil cylinder with a clamping electric cylinder 6 and an explosion-proof electric cylinder 3. The pure electric drive control is precise and the actions are synchronous. At the same time, according to the actual working conditions, the clamping pressure can be adjusted in real time to prevent the locomotive from slipping due to wet rails. Moreover, through the closed-loop control of the control module, the running states between the driving parts are monitored in real time, faults can be accurately positioned, and the cause of the fault can be quickly troubleshot. And through the setting of the power supply module, it can be used to drive the pure electric driving part in case of emergency, improving the running safety of the single-rail hoist locomotive.

[0051] So far, the embodiments of the present invention have been described in detail with reference to the accompanying drawings. It should be noted that the implementation manners not shown or described in the accompanying drawings or the text of the specification are all forms known to those of ordinary skill in the art and have not been described in detail. In addition, the above definitions of each component are not limited to the specific structures, shapes, or manners mentioned in the embodiments, and those of ordinary skill in the art can make simple changes or replacements to them.

[0052] Those skilled in the art can understand that the features recited in various embodiments and / or claims of the present invention can be combined or / and combined in various ways, even if such combinations or combinations are not explicitly recited in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features recited in various embodiments and / or claims of the present invention can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present invention.

[0053] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only for the specific embodiments of the present invention and is not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pure electric drive unit for a single-rail hoisting locomotive of a lithium battery, characterized in that: It includes a driving frame (2), a driving module, a clamping module, a braking module, a control module and a power module; The driving frame (2) is a bearing bracket for the driving module, the clamping module and the braking module; The driving module is used for driving the single-rail hoist locomotive; The clamping module is used to provide the track clamping force of the single-rail hoist locomotive; The braking module is used to realize the electrified output of braking force and mechanical redundancy; The control module is used to integrate a multi-channel closed-loop controller, independently control the operation of each driving part, and receive sensor signals in real time; The power module is used to supply power to the driving part separately and isolate it from the power supply of the single-rail hoist locomotive.

2. The pure electric drive unit for a lithium battery single-rail hoist locomotive according to claim 1, wherein: The driving frame (2) is respectively connected to the driving module, the clamping module and the braking module. The driving module, the clamping module and the braking module are all connected to the control module. The driving module, the clamping module and the braking module are all connected to the power module.

3. The pure electric drive unit for a lithium battery single-rail hoist locomotive according to claim 1, wherein: The driving module includes a permanent magnet synchronous integrated machine (1), a reducer (5) and a driving wheel (4). The permanent magnet synchronous integrated machine (1) is installed on the driving frame (2). The reducer (5) is installed on the driving frame (2) and connected to the output shaft of the permanent magnet synchronous integrated machine (1). The driving wheel (4) is connected to the output shaft of the reducer (5).

4. The pure electric drive unit for a lithium battery single-rail hoist locomotive according to claim 3, wherein: The clamping module includes a clamping electric cylinder (6). The clamping electric cylinder (6) is installed on the installation swing arm of the permanent magnet synchronous integrated machine (1).

5. The pure electric drive unit for a single-rail hoist locomotive of a lithium battery according to claim 4, characterized in that: The braking module includes an explosion-proof electric cylinder (3), a spring assembly, a rocker arm assembly and a braking slide shoe (7). The spring assembly is installed outside the explosion-proof electric cylinder (3). The braking slide shoe (7) is installed on the rocker arm assembly. The explosion-proof electric cylinder (3) is connected to the rocker arm assembly. The spring assembly is located inside the rocker arm assembly.

6. The pure electric drive unit for a lithium battery single-rail hoist locomotive according to claim 3, characterized in that: The control module includes a controller, a temperature sensor, a resolver, a position sensor and a PID controller. The temperature sensor and the resolver are both installed inside the permanent magnet synchronous integrated machine (1). The position sensor is installed on the explosion-proof electric cylinder (3). The PID controller is used to realize the closed-loop control of the permanent magnet synchronous integrated machine (1) and the explosion-proof electric cylinder (3); The controller is used to read the data of the sensor; The temperature sensor is used to monitor the temperature of the motor winding in real time; The resolver is used to provide accurate position feedback for the motor controller to ensure the synchronous operation of the motor; The position sensor is used to monitor the displacement position of the electric cylinder in real time to achieve precise positioning.

7. The pure electric drive unit for a lithium battery single-rail hoist locomotive according to claim 1, characterized in that: The power module includes a lithium battery pack, a bidirectional DC / DC converter and a super capacitor. The lithium battery pack is used to supply power to the driving part separately. The bidirectional DC / DC converter and the super capacitor are in a parallel structure and are used to store electric energy during braking energy recovery.

8. The pure electric drive unit for a lithium battery single-rail hoist locomotive according to claim 5, characterized in that: The explosion-proof electric cylinder (3) and the spring assembly are arranged coaxially. The pre-tightening force of the spring assembly is used to maintain the braking state. When the explosion-proof electric cylinder (3) is powered on, the spring assembly releases the brake. When powered off, the spring assembly automatically resets to achieve emergency braking.

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