A high-efficiency hydraulic control system for mining shuttle cars

Abstract

The present invention provides a high-energy-efficiency mining shuttle hydraulic control system, comprising: a controller; a frequency conversion device, electrically connected to the controller, the controller controls the output power frequency of the frequency conversion device according to the working condition of the shuttle car; a power device, electrically connected to the frequency conversion device, and adjusting the size of the driving source provided by the power device in real time based on the output power frequency; an execution device, connected to the power output end of the power device, and adjusting the working power in real time based on the driving source to complete the operation of the shuttle car under the corresponding working condition; wherein the output power frequency of the frequency conversion device corresponds to the working condition of the shuttle car one by one; based on the working condition of the shuttle car, the controller adjusts the size of the driving source output by the power device in real time by controlling the output power frequency of the frequency conversion device to adjust the working power of the execution device in real time, which helps to avoid the power device, especially the cable drum, from being impacted, and the real-time flow regulation improves the system efficiency; under the condition of starting in situ, it also avoids the cable from being tensioned by impact, reducing the heat generated by the system.

Description

Technical Field

[0001] The invention relates to the field of tunnel excavation, mining and transportation equipment, and in particular to a high-energy-efficiency mining shuttle hydraulic control system. Background Art

[0002] The shuttle car is a key supporting equipment for mechanized mining technology and is used for short-distance transportation of coal in short-wall working faces. The specific work process is to load coal from the continuous miner or anchor miner, transport it to the feeder crusher for unloading, and frequently run back and forth between the loading and unloading points to realize the transportation of coal on the working face. The shuttle car is powered by a towing cable and is equipped with an onboard automatic cable winding system. The device can accommodate a certain length of cable and has the function of automatically retracting and releasing the cable as the equipment moves backward and forward. The stability and reliability of the onboard automatic cable retraction and release control system are crucial to the safe and efficient operation of the shuttle car.

[0003] The shuttle car is not only a key supporting equipment for short-wall mechanized mining technology, but also an important transportation equipment for some tunneling working faces and potash mining working faces. The specific working process is to load from the continuous coal miner or anchor miner, transport to the feeder crusher for unloading, and frequently run back and forth between the loading and unloading points to realize the transportation of coal or potash on the working face.

[0004] The existing shuttle hydraulic system uses an asynchronous motor to drive a quantitative pump. Under all circumstances, the flow rate is fixed and the maximum flow rate is output, which can easily cause excessive impact on the hydraulic system, low system efficiency, and high heat generation. For example, at the moment the oil pump starts, the oil pump outputs the maximum flow rate, which causes excessive impact on the shuttle cable winding system, which also shortens the service life of the hydraulic system and the cable. In addition, when the shuttle is in an idling state or driving at a low speed, the hydraulic system has a large overflow energy loss. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a high-energy-efficiency mining shuttle hydraulic control system, which overcomes the above technical problems.

[0006] In order to achieve the above objectives, the first aspect of the present application provides a high-efficiency mining shuttle hydraulic control system, comprising:

[0007] Controller;

[0008] A frequency conversion device, electrically connected to the controller, wherein the controller controls the output frequency of the frequency conversion device according to the working condition of the shuttle car;

[0009] A power device, electrically connected to the frequency conversion device, and adjusting the magnitude of the driving source provided by the power device in real time based on the output power frequency;

[0010] An execution device, connected to the power output end of the power device, and adjusting the working power in real time based on the driving source to complete the work of the shuttle car under corresponding working conditions;

[0011] Among them, the output frequency of the frequency conversion device corresponds one-to-one to the working condition of the shuttle car.

[0012] Optionally, the controller obtains operating parameters of the shuttle car under different working conditions, and controls the output power frequency of the frequency conversion device based on the operating parameters.

[0013] Optionally, the driving source includes: an output flow rate of a working medium per unit time of a hydraulic pump;

[0014] The power device comprises:

[0015] An oil pump motor, electrically connected to the frequency conversion device, and used to adjust the operating speed based on the output power frequency;

[0016] The hydraulic pump is connected to the power output end of the oil pump motor, and adjusts the output flow of the working medium per unit time based on the running speed of the oil pump motor, thereby adjusting the output of the corresponding working power of the actuator.

[0017] Optionally, when the shuttle vehicle is in a cable winding driving condition, the controller is used to:

[0018] Based on the operating parameters under the cable winding driving condition, the controller determines the operating speed of the oil pump motor in real time through a preset adjustment calculation model;

[0019] Based on the running speed of the oil pump motor, the output power frequency of the frequency conversion device is calculated according to a preset power frequency calculation model, and the frequency conversion device is controlled to output the calculated output power frequency.

[0020] Optionally, the preset adjustment calculation model includes:

[0021] The running speed n of the oil pump motor x for:

[0022]

[0023] in,

[0024] Moreover, when the shuttle car is in the cable winding driving condition, the operating parameters include: the real-time driving speed v of the shuttle car in the cable winding driving condition; c , when the shuttle car is in the cable winding driving condition, the cable winding motor displacement q m , the inner diameter of the cable drum R0, the speed ratio i of the cable motor and the cable drum, and the real-time displacement q of the hydraulic pump when the shuttle car is in the cable winding driving condition p, the real-time efficiency η of the hydraulic pump when the shuttle car is in the cable winding driving condition p , the cable winding motor efficiency η when the shuttle car is in the cable winding driving condition m Moreover, v1 is a preset critical vehicle speed, and n1 is an operating speed of the oil pump motor when the shuttle vehicle is in an idle condition and is used to drive the hydraulic pump to charge the accumulator.

[0025] Optionally, the preset power frequency calculation model includes:

[0026] n x =60f(1-s) / p;

[0027] Among them, n x is the operating speed of the oil pump motor when the shuttle car is in the cable winding condition; f is the output power frequency of the frequency conversion device when the shuttle car is in the cable winding condition; and s and p are the motor slip rate and the number of motor poles of the oil pump motor respectively.

[0028] Optionally, the actuator includes one or more of the following: a cable winding motor, a steering cylinder, an accumulator and a lifting cylinder.

[0029] Optionally, the cable winding motor is connected to the hydraulic pump;

[0030] When the shuttle car is in the in-situ starting condition, the controller controls the running speed of the oil pump motor through the output power frequency of the frequency converter, thereby driving the hydraulic pump to increase the output flow rate of the working medium per unit time at a uniform speed and thereby controlling the speed of the cable winding drum driven by the cable winding motor to increase at a uniform speed.

[0031] Optionally, when the shuttle car is in an idle condition, the operating parameters include: the pressure of the accumulator;

[0032] The execution device also includes:

[0033] an accumulator connected to the hydraulic pump and to the controller;

[0034] A charging valve, disposed between the accumulator and the hydraulic pump and connected to the controller, for responding to the controller to control the connection and disconnection between the accumulator and the hydraulic pump;

[0035] When the shuttle car is in an idle condition, the controller controls the frequency conversion device based on the pressure condition of the accumulator to adjust the flow rate of the working medium supplied to the accumulator by the hydraulic pump per unit time.

[0036] A first aspect of the present application provides a shuttle car, comprising the above-mentioned high-efficiency mining shuttle car hydraulic control system.

[0037] Through the high-efficiency mining shuttle hydraulic control system of the present invention, based on the working conditions of the shuttle car, the controller adjusts the driving source size of the power unit output in real time by controlling the output frequency of the frequency converter to adjust the working power of the actuator in real time, which helps to avoid the power unit from being impacted and thereby improves the system efficiency; under the condition of in-situ starting, it avoids the impact tension of the cable and also avoids the disadvantage of large overflow energy loss in the hydraulic system when the shuttle car is in an idling state or a low-speed driving state. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0039] In the attached picture:

[0040] Figure 1 This is a schematic diagram of the structure of a hydraulic control system for a high-efficiency mining shuttle car according to the present invention;

[0041] Figure 2 The present invention is a schematic diagram of a high-efficiency mining shuttle hydraulic control system.

[0042] In the figure, 20, power unit; 21, oil pump motor; 22, hydraulic pump; 30, actuator; 31, cable winding motor; 311, cable winding valve; 32, steering cylinder; 321, steering valve; 33, accumulator; 331, charging valve; 34, lifting cylinder; 341, conveyor lifting valve. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0046] In order to facilitate understanding of the embodiments of the present invention, the structure of the present invention is described in detail below through several specific embodiments.

[0047] Figure 1 It is a structural schematic diagram of the hydraulic control system of the energy-efficient mining shuttle car of the present invention; Figure 2 It is a schematic diagram of the hydraulic control system of the energy-efficient mining shuttle car of the present invention.

[0048] according to Figure 1 and 2 As shown, the first embodiment of the present invention provides a high-efficiency mining shuttle hydraulic control system, including: a controller; a frequency conversion device, electrically connected to the controller, the controller controls the output frequency of the frequency conversion device according to the working condition of the shuttle car; a power device 20, electrically connected to the frequency conversion device, and adjusting the size of the driving source provided by the power device 20 in real time based on the output frequency; the execution device 30, connected to the power output end of the power device 20, and adjusting the working power in real time based on the driving source to complete the operation of the shuttle car under the corresponding working condition; wherein the output frequency of the frequency conversion device corresponds one-to-one to the working condition of the shuttle car.

[0049] In this regard, based on the working condition of the shuttle car, the controller adjusts the driving source size output by the power unit 20 in real time to adjust the working power of the actuator 30 in real time by controlling the output frequency of the frequency converter, which helps to avoid the power unit 20 from being impacted and thereby improves the system efficiency; under the condition of in-situ starting, it avoids the impact tension of the cable and also avoids the disadvantage of large overflow energy loss in the hydraulic system when the shuttle car is in an idling state or a low-speed driving state.

[0050] Specifically, according to Figure 1 and 2As shown, the first embodiment of the present invention provides a high-efficiency mining shuttle hydraulic control system, including: a controller, a frequency conversion device, a power device 20 and an actuator 30. Among them, the controller is connected to the shuttle operation end, and is used to receive control instructions from the operating console, such as: turning the steering handle on the operating console to complete the steering of the shuttle through the controller steering cylinder 32, turning the walking pedal on the operating console to control the walking motor through the controller to complete the travel and opening and closing of the shuttle, and using the lifting button on the operating console to control the lifting cylinder 34 through the controller to complete material loading and unloading. In addition, the controller can also control the opening and closing, working state and power of the corresponding actuator according to the feedback of the actuator.

[0051] The frequency conversion device is electrically connected to the controller, and the controller controls the output frequency of the frequency conversion device according to the working condition of the shuttle. In another embodiment, the frequency conversion device includes but is not limited to: a frequency converter.

[0052] The power device 20 is electrically connected to the frequency conversion device, and the size of the driving source provided by the power device 20 is adjusted in real time based on the output power frequency. In another embodiment, the power device 20 includes: an oil pump motor 21 and a hydraulic pump 22 (described in detail below). In addition, in this embodiment, the power device 20 is not limited, as long as it can meet the requirements of this embodiment, such as: the power device 20 can be set as one or more of the following items: a mechanical power device 20, an electrical power device 20, a hydraulic power device 20, and a pneumatic power device 20.

[0053] The actuator 30 is connected to the power output end of the power device 20, and adjusts the working power in real time based on the driving source to complete the operation of the shuttle car under corresponding working conditions; in another embodiment, the actuator 30 includes but is not limited to one or more of the following items: a cable winding motor 31, a steering cylinder 32, an accumulator 33 and a lifting cylinder 34.

[0054] Moreover, the output frequency of the frequency conversion device corresponds one-to-one to the working condition of the shuttle car.

[0055] Moreover, in another embodiment, the working condition of the shuttle car includes but is not limited to one or more of the following: starting condition in situ, idling condition, turning condition in situ, cable winding condition, cable releasing condition and unloading condition.

[0056] In addition, in another embodiment, the power device 20 and the frequency conversion device can be arranged as an integral whole, such as a frequency conversion motor.

[0057] Moreover, in another embodiment, the controller obtains operating parameters of the shuttle car under different working conditions, and controls the output power frequency of the frequency conversion device based on the operating parameters.

[0058] In another embodiment, the driving source includes: the output flow rate of the working medium per unit time of the hydraulic pump 22;

[0059] Moreover, the power device 20 includes: an oil pump motor 21 and a hydraulic pump 22, wherein the oil pump motor 21 is electrically connected to the frequency conversion device, and the oil pump motor 21 is used to adjust the operating speed based on the output industrial frequency; the hydraulic pump 22 is connected to the power output end of the oil pump motor 21, and the hydraulic pump 22 adjusts the output flow of the working medium per unit time based on the operating speed of the oil pump motor 21, thereby adjusting the actuator 30 to output the corresponding working power.

[0060] It is worth noting that, in the present embodiment, the flow rate of the working medium outputted per unit time by the hydraulic pump 22 can be realized by using a common asynchronous motor to drive an electro-hydraulic proportional or servo variable pump.

[0061] In another embodiment, when the shuttle car is in the cable winding driving condition, the controller is used to:

[0062] Based on the operating parameters under the cable winding driving condition, the controller determines the operating speed of the oil pump motor 21 in real time through a preset adjustment calculation model;

[0063] Based on the running speed of the oil pump motor 21 , the output power frequency of the frequency conversion device is calculated according to a preset power frequency calculation model, and the frequency conversion device is controlled to output the calculated output power frequency.

[0064] The preset adjustment calculation model includes:

[0065] The running speed n of the oil pump motor 21 x for:

[0066]

[0067] in,

[0068] Moreover, when the shuttle car is in the cable winding driving condition, the operating parameters include: the real-time driving speed v of the shuttle car in the cable winding driving condition; c , when the shuttle car is in the cable winding driving condition, the displacement of the cable winding motor 31 is q m , the inner diameter of the cable drum R0, the speed ratio i of the cable motor 31 and the cable drum, and the real-time displacement q of the hydraulic pump 22 when the shuttle car is in the cable winding driving condition p , the real-time efficiency η of the hydraulic pump 22 when the shuttle car is in the cable winding driving condition p , when the shuttle car is in the cable winding driving condition, the efficiency η of the cable winding motor 31 mMoreover, v1 is the preset critical vehicle speed, and n1 is the running speed of the oil pump motor 21 when the shuttle car is in the idle state for driving the hydraulic pump 22 to charge the accumulator 33. Among them, the real-time driving speed v of the shuttle car in the cable winding driving state is c For real-time monitoring.

[0069] In another embodiment, n1 = 500 r / min.

[0070] Moreover, the preset output power frequency calculation model includes:

[0071] n x =60f(1-s) / p; (c)

[0072] Among them, n x is the operating speed of the oil pump motor 21 when the shuttle car is in the cable winding condition; f is the output power frequency of the frequency conversion device when the shuttle car is in the cable winding condition; and s and p are the motor slip rate and the number of motor poles of the oil pump motor 21 respectively.

[0073] When the shuttle vehicle is in the cable winding driving condition, the output flow of the hydraulic pump 22 or the running speed of the oil pump motor 21 matches the vehicle speed, so that the speed of the cable winding motor 31 matches the cable winding line speed to avoid overflow heating of the constant flow.

[0074] When the driving button is in the "return" position, the shuttle car is in the cable winding driving condition. At this time, the oil pump motor 21 rotates at a speed n x Press to:

[0075] Among them, v c is the shuttle speed under this condition, q m is the displacement of the cable winding motor 31 under this working condition, R0 is the inner diameter of the cable winding drum, i is the speed ratio of the cable winding motor 31 to the cable winding drum, q p is the oil pump displacement, η p is the oil pump efficiency, η m is the efficiency of the cable winding motor 31.

[0076] Furthermore, suppose:

[0077] During the cable winding process, the relationship between the speed of the oil pump motor 21 and the vehicle speed is as follows:

[0078] n x =k0v c (3)

[0079] When the hydraulic system and cable drum are designed, the shuttle car travel speed v c , Cable winding motor 31 displacement q m, inner diameter of cable drum R0, speed ratio i of cable motor 31 and cable drum, displacement q of oil pump p , oil pump efficiency η p , cable winding motor 31 efficiency η m All of them are known parameters, so the value of k0 can be determined by the above formula (2).

[0080] In order to ensure steering sensitivity, n x should be greater than n1. The critical vehicle speed v1 can be obtained by substituting n1 (n1 is the running speed of the oil pump motor 21 when the shuttle car is in the idle state and is used to drive the hydraulic pump 22 to charge the accumulator 33, n1 = 500r / min) into the above formula (3). The control program can be written according to formula (4). The vehicle speed v c Measured in real time by sensors.

[0081]

[0082] The basic principle of variable frequency speed regulation technology is based on the relationship that the running speed of the oil pump motor 21 is proportional to the input frequency of the working power supply:

[0083] n x =60 f(1-s) / p, (5)

[0084] In formula (5), n x , f, s, and p represent the speed, input frequency, motor slip rate, and number of motor pole pairs respectively, and the other parameters are known parameters.

[0085] In addition, when the shuttle car is in the cable-releasing driving condition, if the shuttle car driving button is in the "forward" gear, the shuttle car is in the cable-releasing state. At this time, the system only needs to meet the minimum flow required for steering, and the oil pump motor 21 runs at a speed of n1, which can reduce the overflow loss of the cable winding.

[0086] Therefore, when the shuttle car is in the cable winding driving condition, the controller is used to: determine the operating speed of the oil pump motor 21 in real time based on the operating parameters under the cable winding driving condition and through the above formulas (a) and (b); then, based on the operating speed of the oil pump motor 21, calculate the output power frequency of the frequency conversion device through the above formula (c), and control the frequency conversion device to output the calculated output power frequency. Then, the controller controls the frequency conversion device to output the output power frequency to control the oil pump motor 21 to rotate at the corresponding operating speed. At the same time, the operating speed of the oil pump motor 21 also matches the vehicle speed. The controller also controls the travel motor through the operating speed to control the shuttle car to run at the speed. In this way, the output flow of the hydraulic pump 22 or the operating speed of the oil pump motor 21 are both adjusted and matched with the shuttle car speed in real time. Among them, the shuttle car speed can be obtained through the speed sensor.

[0087] In this regard, when the shuttle car is in the cable winding driving condition, the working medium output flow rate per unit time of the hydraulic pump 22 or the running speed of the oil pump motor 21 matches the vehicle speed. The running speed of the cable winding motor matches the cable winding line speed, avoiding constant flow overflow heating.

[0088] In another embodiment, when the actuator 30 is a cable motor 31, the cable motor 31 is connected to the hydraulic pump 22, and a cable valve 311 is provided between the cable motor 31 and the hydraulic valve. The cable valve 311 is used to control the switching of the oil circuit of the cable motor 31, and accordingly control the opening and closing of the cable motor 31; when the shuttle car is in the in-situ starting condition, the controller controls the running speed of the oil pump motor 21 through the output power frequency of the frequency conversion device, thereby driving the output flow rate of the working medium of the hydraulic pump 22 per unit time to increase uniformly, and accordingly controlling the speed of the cable drum driven by the cable motor 31 to increase uniformly. Among them, the cable valve 311 can be preferably a hydraulic solenoid valve.

[0089] Specifically, when the shuttle car is in the in-situ starting condition, after the start button of the hydraulic pump 22 is pressed, the frequency converter controls the oil pump motor 21 to start at a uniform acceleration, and the operating speed of the hydraulic pump 22 gradually increases from 0 to the idle speed n0=200r / min, corresponding to the frequency f0, and the flow entering the cable winding motor 31 through the cable winding valve 311 increases at a uniform speed, so the speed of the cable winding drum driven by the cable winding motor 31 increases at a uniform speed, which solves the problem of the existing system pump outputting a large flow instantly, causing a large impact on the cable.

[0090] In another embodiment, when the actuator 30 includes an accumulator 33, specifically, when the shuttle car is in an idle condition, the operating parameters include: the pressure of the accumulator 33; the actuator 30 specifically includes: an accumulator 33 and a charging valve 331, wherein the accumulator 33 is connected to the hydraulic pump 22 and to the controller; the charging valve 331 is arranged between the accumulator 33 and the hydraulic pump 22, and is connected to the controller, and the charging valve 331 is used to respond to the controller to control the connection and disconnection between the accumulator 33 and the hydraulic pump 22; when the shuttle car is in an idle condition, the controller controls the frequency conversion device based on the pressure of the accumulator 33 to adjust the flow rate of the working medium supplied to the accumulator 33 by the hydraulic pump 22 per unit time.

[0091] Specifically, when the shuttle car is in an idle condition, when the system detects that the pressure of the accumulator 33 is less than the set pressure (or when the pressure of the accumulator 33 is less than the set pressure, the accumulator 33 feeds back response status information to the controller to trigger the controller to complete the filling work in the idle condition), the running speed of the oil pump motor 21 increases from n0 to n1, n1 = 500r / min, and the hydraulic pump 22 quickly fills the accumulator 33 through the filling valve 331. When the filling pressure of the accumulator 33 reaches the rated value, the running speed of the oil pump motor 21 drops to the idle speed n0, and the hydraulic pump 22 outputs an idle small flow rate, and this flow rate value is about 3l / min, which is used to lubricate the internal friction pair of the hydraulic pump 22 and reduce the heat of the hydraulic pump 22.

[0092] In another embodiment, when the actuator 30 includes a steering device, specifically, the steering device includes a steering cylinder 32 and a steering valve 321, wherein the special cylinder is connected to the hydraulic pump 22 and electrically connected to the controller; the steering valve 321 is arranged between the steering cylinder 32 and the hydraulic pump 22, and electrically connected to the controller, and the steering valve 321 is used to respond to the controller to control the on-off between the steering cylinder 32 and the hydraulic pump 22; when the shuttle car is in the in-situ steering condition, the controller controls the output power frequency of the frequency conversion device to adjust the filling flow of the steering cylinder 32 driven by the oil pump motor 21 to the hydraulic pump 22.

[0093] Specifically, when the shuttle car is in the on-site steering condition, the steering electric control handle (the steering handle on the above-mentioned rotating operating table) sends a steering signal, the controller receives the steering signal, and outputs instructions to the frequency converter and the steering valve 321 at the same time. The frequency converter controls the speed of the oil pump motor 21 to n1 to ensure that the hydraulic pump 22 can output sufficient flow, and the steering valve 321 outputs flow to the steering cylinder 32 to complete the on-site steering. Among them, the steering valve 321 can preferably be a proportional valve.

[0094] In another embodiment, when the shuttle car is in the unloading condition, the conveyor lifting valve 341 is associated with the running speed of the oil pump motor 21. When the "lift" button (the lifting button on the above operating table) is pressed, the frequency converter controls the oil pump motor 21 to increase its speed from n0 to n3, and the hydraulic pump 22 outputs flow to the lifting cylinder 34 to meet the lifting speed requirements; after releasing the "lift" button (the lifting button on the above operating table), the speed of the oil pump motor 21 drops to n0. When the "lower" button (the lifting button on the above operating table) is pressed, the oil pump motor 21 still runs at idle speed n0, and the hydraulic pump 22 only needs to provide the pressure required to open the hydraulic lock of the lifting cylinder 34 to avoid overflow and heating due to large flow. Among them, the conveyor lifting valve 341 can be preferably an electromagnetic proportional valve.

[0095] In this regard, combined with the above content, it can be known that, according to the working conditions, the frequency converter can be used in real time to control the speed of the oil pump motor 21, so that the output flow of the hydraulic pump 22 can be adjusted in real time according to the working conditions. Moreover, when the hydraulic pump 22 is started, the speed of the oil pump motor 21 increases uniformly to the set value according to the program design, which can reduce the pressure shock at the moment of starting the hydraulic pump 22, avoid the cable being stretched by impact, avoid the hydraulic pump 22 outputting at a constant current with a maximum flow rate, reduce the impact of the hydraulic system to which each actuator belongs, improve the system efficiency, and reduce the system heat generation.

[0096] In another embodiment, a shuttle car is provided, comprising the above-mentioned high energy-efficient mining shuttle car hydraulic control system.

[0097] The nouns and implementation principles involved in a shuttle car in this embodiment can be specifically referred to the high-efficiency mining shuttle car hydraulic control system in the above embodiment of the present invention, and will not be repeated here.

[0098] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0099] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0100] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-efficiency mining shuttle hydraulic control system, characterized in that: include: Controller; A frequency conversion device, electrically connected to the controller, wherein the controller controls the output frequency of the frequency conversion device according to the working condition of the shuttle car; A power device (20) is electrically connected to the frequency conversion device and adjusts the magnitude of the driving source provided by the power device (20) in real time based on the output power frequency; An execution device (30) is connected to the power output end of the power device (20) and adjusts the working power in real time based on the driving source to complete the operation of the shuttle car under corresponding working conditions; Wherein, the output power frequency of the frequency conversion device corresponds one-to-one to the working condition of the shuttle car; The controller obtains the operating parameters of the shuttle car under different working conditions, and controls the output power frequency of the frequency conversion device based on the operating parameters; The driving source comprises: an output flow rate of a working medium per unit time of a hydraulic pump (22); The power device (20) comprises: An oil pump motor (21), electrically connected to the frequency conversion device, and used to adjust the operating speed based on the output power frequency; The hydraulic pump (22) is connected to the power output end of the oil pump motor (21), and adjusts the output flow rate of the working medium per unit time based on the running speed of the oil pump motor (21), thereby adjusting the output of the corresponding working power of the actuator (30); When the shuttle car is in the cable winding driving condition, the controller is used to: Based on the operating parameters under the cable winding driving condition, the controller determines the operating speed of the oil pump motor (21) in real time through a preset adjustment calculation model; Based on the running speed of the oil pump motor (21), the output power frequency of the frequency conversion device is calculated according to a preset power frequency calculation model, and the frequency conversion device is controlled to output the calculated output power frequency; The preset adjustment calculation model includes: The running speed n of the oil pump motor (21) is x for: in, Moreover, when the shuttle car is in the cable winding driving condition, the operating parameters include: the real-time driving speed v of the shuttle car in the cable winding driving condition; c , when the shuttle vehicle is in the cable winding driving condition, the displacement q of the cable winding motor (31) m , the inner diameter R0 of the cable drum, the speed ratio i of the cable motor (31) and the cable drum, and the real-time displacement q of the hydraulic pump (22) when the shuttle vehicle is in the cable winding driving condition p , the real-time efficiency η of the hydraulic pump (22) when the shuttle vehicle is in the cable winding driving condition p , when the shuttle car is in the cable winding driving condition, the efficiency η of the cable winding motor (31) m Moreover, v1 is a preset critical vehicle speed, and n1 is the operating speed of the oil pump motor (21) when the shuttle vehicle is in an idle state and is used to drive the hydraulic pump (22) to fill the accumulator (33).

2. The high-efficiency mining shuttle hydraulic control system according to claim 1 is characterized in that: The preset power frequency calculation model includes: n x =60f(1-s) / p; Among them, n x is the operating speed of the oil pump motor (21) when the shuttle car is in the cable winding running condition; f is the output power frequency of the frequency conversion device when the shuttle car is in the cable winding running condition; and s and p are the motor slip rate and the number of motor pole pairs of the oil pump motor (21), respectively.

3. The high energy efficiency mining shuttle hydraulic control system according to claim 2 is characterized in that: The actuator (30) includes one or more of the following items: a cable winding motor (31), a steering cylinder (32), an accumulator (33) and a lifting cylinder (34).

4. The high energy efficiency mining shuttle hydraulic control system according to claim 3 is characterized in that: The cable winding motor (31) is connected to the hydraulic pump (22); When the shuttle car is in the in-situ starting condition, the controller controls the running speed of the oil pump motor (21) through the output power frequency of the frequency conversion device, thereby driving the hydraulic pump (22) to increase the output flow rate of the working medium per unit time at a uniform speed and thereby controlling the speed of the cable winding drum driven by the cable winding motor (31) to increase at a uniform speed.

5. The high energy efficiency mining shuttle hydraulic control system according to claim 2, characterized in that: When the shuttle car is in an idle state, the operating parameters include: the pressure of the accumulator (33); The execution device (30) further comprises: an accumulator (33) connected to the hydraulic pump (22) and to the controller; a charging valve (331), arranged between the accumulator (33) and the hydraulic pump (22), and connected to the controller, and used for controlling the on-off between the accumulator (33) and the hydraulic pump (22) in response to the controller; When the shuttle car is in an idle condition, the controller controls the frequency conversion device based on the pressure condition of the accumulator (33) to adjust the flow rate of the working medium supplied to the accumulator (33) by the hydraulic pump (22) per unit time.

6. A shuttle car, characterized in that: The invention comprises the high-efficiency mining shuttle hydraulic control system as described in any one of claims 1 to 5.

Images