A horizontal haulage locomotive coasting handling system and method

Abstract

The present application belongs to the technical field of tunnel construction equipment, and particularly relates to a horizontal transport vehicle slipping treatment system and method, which comprises a driven wheel speed sensor, a main drive wheel speed sensor, a frequency converter, a whole vehicle controller and an intermediate relay; the driven wheel speed sensor is fixedly installed on the axis of the driven wheel, and the driven wheel speed sensor is connected with the whole vehicle controller; the main drive wheel speed sensor is fixedly installed on the tail of the main drive wheel motor, and the main drive wheel speed sensor is connected with the frequency converter, and the frequency converter is connected with the whole vehicle controller; the whole vehicle controller is connected with the main coil of the intermediate relay in control mode, and the contact of the intermediate relay is connected with the safe torque off terminal of the frequency converter. The present application can slow down the horizontal transport vehicle to a safe parking state without using a rail hooking device when the horizontal transport vehicle slips, so as to avoid damage to the rail.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of tunnel construction equipment, and particularly relates to a horizontal transport locomotive skid handling system and method. BACKGROUND

[0002] The horizontal transport locomotive is mainly applied in tunnel excavation construction transportation of subway, highway, railway, power and water diversion, and bears the transportation work of materials such as spoil, mortar, pipe piece, track and grease. As one of the rail transportation, it often faces the situation that the track laying state is poor, the low-lying place water cannot be cleaned in time, and the grease falls on the track and adheres to the surface of the horizontal transport locomotive wheel, etc., which is easy to cause the phenomenon that the horizontal transport locomotive wheel slips with the track surface, and the skid risk occurs; at the same time, the driving level of the driver is uneven, and especially the operation error when starting and stopping may bring the occurrence of skid problem.

[0003] If the skid problem occurs, it is likely to hit the personnel and equipment on the construction of the tunnel without taking effective brake measures; usually, the driver controls the horizontal transport locomotive by intermittently stepping on the foot brake through personal judgment, and this brake mode needs personnel operation and tests the driving level of the driver; if the foot brake does not stop, the horizontal transport locomotive can only be slowed down by hooking the rail tie with the dropped rail hook, and this mode will damage the track. SUMMARY

[0004] In order to solve the problems in the prior art, the present application provides a horizontal transport locomotive skid handling system and method, which can slow down the horizontal transport locomotive to a safe parking state without using the rail hook when the horizontal transport locomotive appears in the skid state, and avoid damaging the track.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0006] The present application provides a horizontal transport locomotive skid handling system, which comprises a driven wheel speed sensor, a main drive wheel speed sensor, a frequency converter, a whole vehicle controller and an intermediate relay; the driven wheel speed sensor is fixedly installed on the shaft center of the driven wheel and is used for detecting the speed of the driven wheel, and the driven wheel speed sensor is connected with the whole vehicle controller; the main drive wheel speed sensor is fixedly installed at the tail of the main drive wheel motor and is used for detecting the speed of the main drive wheel, and the main drive wheel speed sensor is connected with the frequency converter, and the frequency converter is connected with the whole vehicle controller; the whole vehicle controller is connected with the main coil of the intermediate relay in control, and the contact of the intermediate relay is connected with the safety torque off terminal of the frequency converter.

[0007] Further, the power supply of the horizontal transport locomotive comprises a 24VDC power supply, which supplies power to the control part of the frequency converter and the whole vehicle controller.

[0008] Further, the whole vehicle controller is connected with the frequency converter through RS485 bus.

[0009] Further, the driven wheel speed sensor and the main drive wheel speed sensor are both photoelectric encoders.

[0010] The application also provides a horizontal transport vehicle coasting disposal method, comprising the following steps:

[0011] Step 1, the main drive wheel speed sensor transmits the main drive wheel speed to the frequency converter, and the frequency converter transmits the main drive wheel speed to the whole vehicle controller; the driven wheel speed sensor transmits the driven wheel speed to the whole vehicle controller.

[0012] Step 2, the whole vehicle controller calculates the speed deviation ratio in real time according to the main drive wheel speed and the driven wheel speed, and determines that the main drive wheel of the horizontal transport vehicle is in the condition of sliding with the track when the speed deviation ratio exceeds the threshold value.

[0013] Step 3, when it is determined that the main drive wheel of the horizontal transport vehicle is in the condition of sliding with the track, the whole vehicle controller controls the intermediate relay to cut off the power supply of the safety torque shutdown terminal of the frequency converter, the frequency converter is cut off, the main drive wheel motor loses power and is in a free parking state; due to the loss of driving force, the main drive wheel changes from sliding with the track to rolling under the action of friction, so that the main drive wheel speed matches the driven wheel speed.

[0014] Step 4, when the speed deviation ratio of the real-time detected main drive wheel speed and the driven wheel speed is less than the threshold value, it is determined that the main drive wheel is in the rolling state with the track, and the whole vehicle controller controls the intermediate relay to restore the power supply of the safety torque shutdown terminal of the frequency converter, so that the frequency converter controls the main drive wheel motor to run again.

[0015] Step 5, the whole vehicle controller writes the set deceleration time, and the frequency converter slowly reduces the frequency to realize the rolling deceleration between the main drive wheel and the track to the parking state.

[0016] Further, the speed deviation ratio formula of step 2 is as follows:

[0017]

[0018] Wherein, f represents the speed deviation ratio, V1 represents the driven wheel speed, and V2 represents the main drive wheel speed.

[0019] Further, step 3 further comprises: the whole vehicle controller modifies the starting mode of the frequency converter from direct starting to speed tracking and then starting through communication.

[0020] Further, the step 4 further comprises: the frequency converter tracks the real-time main drive wheel speed transmitted by the main drive wheel speed sensor, and then inputs a frequency matched with the speed to reacquire the control of the main drive wheel motor.

[0021] Compared with the prior art, the present application has the following advantages:

[0022] 1. The whole vehicle controller compares the main drive wheel speed with the driven wheel speed to determine whether the main drive wheel of the horizontal transport vehicle appears to slide with the track during braking, which can early detect the sliding state and take effective sliding treatment method to prevent the personnel and equipment from being hit on the tunnel construction.

[0023] 2. When the main drive wheel of the horizontal transport vehicle appears to slide with the track, the vehicle can be effectively controlled from the sliding state to the stable parking state without using the rail hooker, so as to avoid the damage of the track; compared with the traditional personnel operation, the automatic sliding treatment method of the present application will not affect the braking effect due to the uneven personnel driving level. BRIEF DESCRIPTION OF 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 needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a structural block diagram of the horizontal transport vehicle sliding treatment system of the embodiment of the present application;

[0026] Figure 2 is an electrical schematic diagram of the horizontal transport vehicle sliding treatment system of the embodiment of the present application.

[0027] The meanings represented by the serial numbers in the drawings are as follows:

[0028] 1. Driven wheel speed sensor, 2. Main drive wheel speed sensor, 3. Frequency converter, 4. Whole vehicle controller, 5. Intermediate relay. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0030] As Figure 1 shown, the horizontal transport vehicle coasting handling system of the embodiment includes driven wheel speed sensor 1, main drive wheel speed sensor 2, frequency converter 3, vehicle controller 4 and intermediate relay 5. The driven wheel speed sensor 1 is fixedly installed on the axis of the driven wheel for detecting the speed of the driven wheel, and the driven wheel speed sensor 1 is connected with the high-speed pulse input terminal of the vehicle controller 4. The main drive wheel speed sensor 2 is fixedly installed on the tail of the main drive wheel motor for detecting the speed of the main drive wheel, and the main drive wheel speed sensor 2 is connected with the PG card of the frequency converter 3. The frequency converter 3 is connected with the vehicle controller 4, and the frequency converter 3 transmits the detected main drive wheel speed information to the vehicle controller 4 through communication. The vehicle controller 4 is connected with the main coil of the intermediate relay 5, and the contact of the intermediate relay 5 is connected with the safety torque off terminal of the frequency converter 3. In this example, as Figure 2 shown, the contact of the intermediate relay 5 controls the on-off between H1, H2 and 24V+ of the frequency converter 3 to control the safety torque off function.

[0031] Further, the power supply of the horizontal transport vehicle includes a 24VDC power supply, which supplies power to the control part of the frequency converter and the vehicle controller 4.

[0032] Preferably, the frequency converter 3 and the vehicle controller 4 adopt RS485 bus interface and standard Modbus-RTU protocol, and the vehicle controller 4 is connected with the frequency converter 3 through RS485 bus. The driven wheel speed sensor 1 and the main drive wheel speed sensor 2 both adopt photoelectric encoder.

[0033] Based on the above horizontal transport vehicle coasting handling system, the embodiment further proposes a horizontal transport vehicle coasting handling method, which includes the following steps:

[0034] Step S1, the main drive wheel speed sensor 2 transmits the actual speed of the main drive wheel to the frequency converter 3, and the frequency converter 3 transmits the main drive wheel speed to the vehicle controller 4 through RS485 bus communication. The driven wheel speed sensor 1 transmits the actual speed of the driven wheel to the vehicle controller 4.

[0035] Step S2, the vehicle controller 4 calculates the speed deviation ratio f in real time according to the main drive wheel speed and the driven wheel speed, and the calculation formula is as follows:

[0036]

[0037] Wherein, f represents the speed deviation ratio, V1 represents the driven wheel speed, and V2 represents the main drive wheel speed.

[0038] When the speed deviation ratio f is greater than or equal to 30%, it is determined that the main drive wheel of the horizontal transport vehicle appears to slide with the track.

[0039] Step S3, when determining that the horizontal transport vehicle main drive wheel appears to slide with the track, the vehicle controller 4 controls the intermediate relay 5 to make the H1, H2 of the safety torque off function controlled by the frequency converter 3 lose power, at this time the frequency converter 3 will automatically close the output, so that the main drive wheel motor loses power and is in a free parking state; due to the loss of driving force, the main drive wheel changes from sliding to rolling between the track under the action of friction, so that the speed of the main drive wheel matches the speed of the driven wheel. At the same time, the vehicle controller 4 modifies the starting mode of the frequency converter 3 from direct starting to speed tracking restart by communication.

[0040] Step S4, when the speed deviation ratio f of the real-time detected main drive wheel speed and the driven wheel speed is less than or equal to 5%, it is determined that the main drive wheel is in a rolling state with the track, and the vehicle controller 4 controls the intermediate relay 5 to make the H1, H2 of the safety torque off function controlled by the frequency converter 3 and the 24V+ of the frequency converter 3 itself connected, so that the frequency converter 3 controls the main drive wheel motor to run again. The frequency converter 3 tracks the real-time main drive wheel speed transmitted by the main drive wheel speed sensor 2, and then inputs a frequency matched with the speed to reacquire the control of the main drive wheel motor.

[0041] Step S5, the vehicle controller 4 writes the set deceleration time (deceleration time when the test does not occur) through the RS485 communication mode, and the frequency converter 3 slowly reduces the frequency to realize the rolling deceleration between the main drive wheel and the track to the parking state.

[0042] The application can realize safe and stable parking of the horizontal transport vehicle under the condition of vehicle sliding during braking, on the one hand, the automatic vehicle sliding handling mode is used to replace the traditional personnel operation, and the braking effect is not affected by the personnel driving level, so that the safety is higher, and on the other hand, the rail hook is not used, and the damage to the track is reduced.

[0043] It should be noted that in this text, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment.

[0044] Finally, it should be noted that: the above only describes the preferred embodiments of the application, and is used to illustrate the technical scheme of the application, and is not used to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the application is included in the protection scope of the application.

Claims

1. A method for handling runaway horizontal transport locomotives, the method being implemented based on a horizontal transport locomotive runaway handling system, the system comprising a driven wheel speed sensor, a main drive wheel speed sensor, a frequency converter, a vehicle controller, and an intermediate relay; the driven wheel speed sensor is fixedly installed on the axle of the driven wheel for detecting the speed of the driven wheel, and the driven wheel speed sensor is connected to the vehicle controller; the main drive wheel speed sensor is fixedly installed at the tail of the main drive wheel motor for detecting the speed of the main drive wheel, the main drive wheel speed sensor is connected to the frequency converter, and the frequency converter is connected to the vehicle controller; the vehicle controller is controlled by the main coil of the intermediate relay, and the contacts of the intermediate relay are connected to the safety torque cut-off terminal of the frequency converter; characterized in that, The method includes the following steps: Step 1: The main drive wheel speed sensor transmits the speed of the main drive wheel to the frequency converter, and the frequency converter transmits the speed of the main drive wheel to the vehicle controller; the driven wheel speed sensor transmits the speed of the driven wheel to the vehicle controller. Step 2: The vehicle controller calculates the speed deviation ratio in real time based on the speed of the main drive wheel and the speed of the driven wheel. When the speed deviation ratio exceeds the threshold, it is determined that the main drive wheel of the horizontal transport locomotive is slipping on the track. Step 3: When it is determined that the main drive wheel of the horizontal transport locomotive is sliding with the track, the vehicle controller controls the intermediate relay to disconnect the power supply to the safety torque cut-off terminal of the frequency converter, the frequency converter cuts off the output, and the main drive wheel motor loses power and is in a free stop state; due to the loss of driving force, the main drive wheel changes from sliding with the track to rolling under the action of friction, so that the speed of the main drive wheel matches the speed of the driven wheel. Step 4: When the speed deviation ratio between the real-time detected main drive wheel speed and the driven wheel speed is less than the threshold, it is determined that the main drive wheel and the track are in a rolling state. The vehicle controller controls the intermediate relay to restore the power supply to the inverter's safe torque cut-off terminal, so that the inverter can control the main drive wheel motor to run again. Step 5: The vehicle controller writes the set deceleration time, and the frequency converter slowly reduces the frequency to achieve a rolling deceleration between the main drive wheel and the track until the vehicle stops.

2. The method for handling runaway horizontal transport locomotives according to claim 1, characterized in that, The power supply of the horizontal transport locomotive includes a 24VDC power supply, which powers the control section of the frequency converter and the vehicle controller.

3. The method for handling runaway horizontal transport locomotives according to claim 1, characterized in that, The vehicle controller is connected to the frequency converter via an RS485 bus.

4. The method for handling runaway horizontal transport locomotives according to claim 1, characterized in that, Both the driven wheel speed sensor and the main drive wheel speed sensor are photoelectric encoders.

5. The method for handling runaway horizontal transport locomotives according to claim 1, characterized in that, The formula for calculating the speed deviation ratio in step 2 is as follows: Where f represents the speed deviation ratio, V1 represents the driven wheel speed, and V2 represents the main drive wheel speed.

6. The method for handling runaway horizontal transport locomotives according to claim 1, characterized in that, Step 3 further includes: the vehicle controller modifies the frequency converter's start-up mode from direct start-up to speed tracking start-up via communication.

7. The method for handling runaway horizontal transport locomotives according to claim 6, characterized in that, Step 4 further includes: the frequency converter tracks the real-time speed of the main drive wheel transmitted by the main drive wheel speed sensor, and then inputs a frequency that matches this speed to regain control of the main drive wheel motor.

Images