Underground carry-scraper and safe steering control system and control method thereof

Abstract

The invention discloses an underground carry-scraper and a safe steering control system and control method thereof, and belongs to the technical field of engineering machinery. The safe steering control system comprises a steering handle used for being operated by a user to achieve steering of the underground carry-scraper; the steering feedback device is used for acquiring steering data of the underground carry-scraper; the steering electromagnetic valve is used for achieving connection or disconnection of a steering oil way of the underground carry-scraper according to the input electric signals; the safe steering control system further comprises a control device used for sending a control signal to the steering electromagnetic valve according to a control signal sent by the steering handle and steering data obtained by the steering feedback device so as to control the steering electromagnetic valve. The main purpose of the invention is to provide the underground carry-scraper and the safe steering control system thereof. The control method can avoid potential safety hazards caused by steering failure and misoperation of the underground carry-scraper.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and more specifically, to an underground scraper and a safety steering control system and a control method thereof. Background Art

[0002] At present, the steering system of underground loaders is not very safe. In actual use, steering failure is prone to occur, causing great safety risks. At present, the steering control of loaders has changed from traditional manual direct control or manual hydraulic control to electric proportional control with a higher degree of automation. The electric proportional handle has replaced the mechanical hydraulic handle.

[0003] The electrification and automation of the scraper must use a large number of electrical control modules. If the electrical control module fails or the communication between the electrical modules fails during the operation of the scraper, it is easy to cause the scraper to lose control, resulting in safety accidents. Steering control is the most important link in the safety production process of the scraper. If the steering control system fails during the operation of the scraper, it is easy to cause harm to the operator. Especially underground scrapers work in underground mine tunnels, the working environment is very harsh. Once the operation is out of control, it will cause very serious safety accidents.

[0004] Since the scraper has a compact structure, a small cab, and the cab is at the hinge, some non-human operations, such as non-human steering during maintenance and non-human steering when getting on the vehicle, will bring great safety hazards. Summary of the invention

[0005] The content of this application is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this application is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0006] Some embodiments of the present application propose an underground shovel loader and a safe steering control system and control method thereof to solve the technical problems mentioned in the above background technology section.

[0007] As a first aspect of the present application, some embodiments of the present application provide a safe steering control system for steering an underground shovel loader, comprising: a steering handle for a user to operate to achieve steering of the underground shovel loader; a steering feedback device for obtaining steering data of the underground shovel loader; a steering solenoid valve for opening or closing the steering oil circuit of the underground shovel loader according to an input electrical signal; the safe steering control system also includes: a control device for sending a control signal to the steering solenoid valve according to the control signal sent by the steering handle and the steering data obtained by the steering feedback device to control the steering solenoid valve.

[0008] Furthermore, the steering feedback device includes a safety angle sensor and a cylinder position sensor; wherein the control device sends a control signal to the steering solenoid valve according to the steering data sent by the safety angle sensor and the cylinder position sensor to control the steering solenoid valve.

[0009] Furthermore, the steering feedback device also includes a steering cylinder pressure sensor; wherein the control device sends a control signal to the steering solenoid valve according to the steering data sent by the cylinder pressure sensor to control the steering solenoid valve.

[0010] Furthermore, the safety steering control system also includes: a vehicle speed sensor for obtaining the vehicle speed of the underground scraper; wherein the control device sends a control signal to the steering solenoid valve according to the vehicle speed data sent by the vehicle speed sensor to control the steering solenoid valve.

[0011] Furthermore, the safety steering control system also includes: a vehicle status acquisition device, used to acquire the status of the vehicle; a brake solenoid valve, used to realize the conduction or closing of the underground loader service brake oil circuit according to the input electrical signal; the control device sends a control signal to the brake solenoid valve according to the vehicle status data of the underground loader acquired by the vehicle status acquisition device to control the brake solenoid valve; wherein, the vehicle status acquisition device includes: a door switch, a seat switch, a start button and a service brake switch.

[0012] Furthermore, the control device includes: a main controller, which is electrically connected to the steering handle, the steering feedback device, the vehicle speed sensor, and the vehicle state acquisition device to receive their control signals.

[0013] Furthermore, the control device also includes: an engine controller and a transmission controller, and the engine controller and the transmission controller are electrically connected to the vehicle state acquisition device to receive its control signal.

[0014] As a second aspect of the present application, some embodiments of the present application provide a safe steering control method for controlling safe steering of an underground scraper, wherein the scraper comprises:

[0015] A steering handle, used for the user to operate to achieve the steering of the underground scraper;

[0016] Steering feedback device for obtaining steering data of underground loaders;

[0017] A steering solenoid valve is used to open or close the steering oil circuit of the underground scraper according to the input electrical signal;

[0018] A control device, used for sending a control signal to the steering solenoid valve according to the control signal sent by the steering handle and the steering data acquired by the steering feedback device to control the steering solenoid valve;

[0019] Vehicle speed sensor, used to obtain the speed of underground loaders

[0020] A vehicle status acquisition device, used to acquire the status of the vehicle;

[0021] Brake solenoid valve, used to open or close the underground scraper's service brake oil circuit according to the input electrical signal;

[0022] Wherein, the steering feedback device includes a safety angle sensor, a cylinder position sensor and a steering cylinder pressure sensor;

[0023] The vehicle state acquisition device comprises: a door switch, a seat switch, a start button and a service brake switch;

[0024] The control method comprises:

[0025] Acquire a control signal sent by a steering handle according to a control signal sent by a steering feedback device;

[0026] determining whether the control signal sent by the steering handle matches the control signal sent by the feedback device;

[0027] If yes, a control signal is sent to the steering solenoid valve according to the control signal sent by the steering handle to control the steering solenoid valve.

[0028] Furthermore, the control method further includes:

[0029] Acquire the data of the oil cylinder position sensor according to the control signal sent by the steering handle;

[0030] Determine whether the data from the cylinder position sensor matches the control signal sent by the steering handle;

[0031] If otherwise, a control signal is sent to the brake solenoid valve to de-energize the brake solenoid valve.

[0032] Furthermore, the control method further includes:

[0033] The vehicle state acquisition device acquires the vehicle state signal and the vehicle speed data acquired by the vehicle speed sensor;

[0034] Determine whether the vehicle status is that the door switch is activated, the seat switch is activated, the service brake switch is activated, and the vehicle speed sensor is higher than a set speed;

[0035] If not, a control signal is sent to the steering solenoid valve to de-energize the steering solenoid valve.

[0036] As a third aspect of the present application, some embodiments of the present application provide an underground shovel loader, including the above-mentioned safety steering control system.

[0037] Compared with the prior art, the present invention provides an underground scraper and its safe steering control system and control method, which can avoid the safety hazards caused by steering failure and misoperation of the underground scraper. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The illustrative embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application.

[0039] In addition, throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the components and elements are not necessarily drawn to scale.

[0040] Figure 1 It is a schematic structural diagram of an underground scraper and a safety steering control system thereof according to an embodiment of the present application;

[0041] Figure 2 It is a schematic diagram of signal transmission of an underground scraper and its safety steering control system according to an embodiment of the present application;

[0042] Explanation of the symbols in the schematic diagram:

[0043] 100. Steering handle;

[0044] 200, steering feedback device; 210, safety angle sensor; 220, oil cylinder position sensor; 230, oil cylinder pressure sensor;

[0045] 300, steering solenoid valve;

[0046] 400, control device; 410, main controller; 420, engine controller; 430, transmission controller;

[0047] 500, vehicle speed sensor;

[0048] 600, vehicle status acquisition device; 610, door switch; 620, seat switch; 630, start button; 640, service brake switch;

[0049] 700. Brake solenoid valve. DETAILED DESCRIPTION

[0050] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0051] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0052] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0053] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0054] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0055] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0056] like Figure 1 and Figure 2As shown, a safety steering control system of an embodiment of the present application is used for steering an underground scraper loader, comprising: a steering handle 100, for a user to operate to achieve steering of the underground scraper loader; a steering feedback device 200, for obtaining steering data of the underground scraper loader; a steering solenoid valve 300, for realizing the conduction or closing of the steering oil circuit of the underground scraper loader according to an input electrical signal; the safety steering control system also includes: a control device 400, for sending a control signal to the steering solenoid valve 300 according to the control signal sent by the steering handle 100 and the steering data obtained by the steering feedback device 200 to control the steering solenoid valve 300.

[0057] Specifically, the underground scraper includes a cab, and there is a steering handle 100 in the cab for the operator to operate. The operator controls the steering of the underground scraper by operating the steering handle 100. Among them, the steering handle 100 is a dual-output handle, which adopts a redundant design, outputs a linear increase signal on one side, and outputs a linear decrease signal on the other side, to ensure that the signal of the steering handle 100 can be accurately output to the control device 400, even if one of the ways fails, the operation can be performed according to the other signal. The steering feedback device 200 includes a safety angle sensor 210 and a cylinder position sensor 220. The control device 400 sends a control signal to the steering solenoid valve 300 according to the steering data sent by the safety angle sensor 210 and the cylinder position sensor 220 to control the steering solenoid valve 300. The safety angle sensor 210 is a dual-output sensor, which adopts a redundant design, outputs a linear increase signal on one side, and outputs a linear decrease signal on the other side, to ensure that the signal of the angle sensor can be accurately output. Even if one of the ways fails, the operation can be performed according to the other signal. The safety angle sensor 210 is connected to the steering shaft of the underground scraper and can obtain the steering angle of the underground scraper. A plurality of cylinder position sensors 220 are provided, and the plurality of cylinder position sensors 220 can transmit the steering cylinder position to the control device 400 in multiple directions.

[0058] More specifically, the steering feedback device 200 further includes a steering cylinder pressure sensor 230; wherein the control device 400 sends a control signal to the steering solenoid valve 300 according to the steering data sent by the cylinder pressure sensor 230 to control the steering solenoid valve 300. The steering cylinder pressure sensor 230 includes a steering cylinder rodless chamber pressure sensor and a steering cylinder rod chamber pressure sensor, wherein the steering cylinder rodless chamber pressure sensor is used to detect the pressure value of the steering cylinder rodless chamber, and the steering cylinder rod chamber pressure sensor is used to detect the pressure of the steering cylinder rod chamber. The pressure values ​​of the steering cylinder rodless chamber pressure sensor and the steering cylinder rod chamber pressure sensor can be used to further determine whether the steering is executed, thereby determining the consistency of the steering, thereby ensuring the steering accuracy and safety of the underground scraper.

[0059] The steering solenoid valve 300 is used to control the opening and closing of the oil circuit of the vehicle's steering cylinder, that is, when the steering solenoid valve 300 is energized, the steering cylinder can enable the underground scraper to perform steering operations, and when the steering solenoid valve 300 is de-energized, the underground scraper cannot perform steering operations. The control device 400 sends a control signal to the steering solenoid valve 300 to energize and de-energize the steering solenoid valve 300. Multiple steering solenoid valves 300 are provided, and multiple steering solenoid valves 300 can ensure the safety and accuracy of the underground scraper's steering in multiple directions.

[0060] In a specific embodiment, the safety steering control system also includes: a vehicle speed sensor 500 for obtaining the vehicle speed of the underground loader; wherein the control device 400 sends a control signal to the steering solenoid valve 300 according to the vehicle speed data sent by the vehicle speed sensor 500 to control the steering solenoid valve 300.

[0061] Specifically, the vehicle speed sensor 500 obtains the real-time vehicle speed of the scraper, and the vehicle speed sensor 500 transmits the real-time vehicle speed information to the control device 400. The control device 400 determines whether it is in a non-driving state based on the real-time vehicle speed transmitted by the vehicle speed sensor 500. If it is in a non-driving state, such as the vehicle speed is too low, the control device 400 controls the steering solenoid valve 300 to lose power and thus cannot complete the steering.

[0062] In a specific embodiment, the safety steering control system further includes: a vehicle state acquisition device 600, which is used to acquire the state of the vehicle; a brake solenoid valve 700, which is used to realize the conduction or closing of the underground scraper service brake oil circuit according to the input electrical signal; the control device 400 sends a control signal to the brake solenoid valve 700 according to the vehicle state data of the underground scraper acquired by the vehicle state acquisition device 600 to control the brake solenoid valve 700; wherein, the vehicle state acquisition device 600 includes: a door switch 610, a seat switch 620, a start button 630 and a service brake switch 640. wherein, a plurality of brake solenoid valves 700 are provided, and a plurality of brake solenoid valves 700 can ensure the safety and accuracy of the underground scraper's braking in multiple directions.

[0063] The control device 400 includes: a main controller 410, which is electrically connected to the steering handle 100, the steering feedback device 200, the vehicle speed sensor 500, and the vehicle state acquisition device 600 to receive their control signals. The control device 400 also includes: an engine controller 420 and a transmission controller 430, which are electrically connected to the vehicle state acquisition device 600 to receive its control signals. Among them, the engine controller 420 is used to control the start and stop of the engine, and the transmission controller 430 is used to control the gear change of the underground scraper.

[0064] Specifically, after the vehicle status acquisition device 600 acquires the vehicle status, it sends a control signal to the control device 400, and then the control device 400 sends a control signal to the brake solenoid valve 700 according to the vehicle status signal, wherein the engine controller 420 is activated, the transmission controller 430 is activated, the transmission gear is in neutral, when the door is in a closed state, the door switch 610 is in an activated state, the operator sits on the seat, the seat switch 620 is in an activated state, and the service brake switch 640 is activated to release the brake state. Specifically, the door switch 610 is activated, the seat switch 620 is activated, the display shows the engine and transmission related information, and the engine starts after the start button 630 is operated. If the transmission gear is not in neutral or the door switch 610 is not closed or the seat switch 620 is not activated, the engine cannot be started.

[0065] In a specific implementation, some embodiments of the present application provide a safe steering control method for controlling safe steering of an underground loader, wherein the underground loader comprises:

[0066] A steering handle 100, for a user to operate to achieve steering of the underground scraper;

[0067] A steering feedback device 200, used to obtain steering data of the underground scraper;

[0068] The steering solenoid valve 300 is used to open or close the steering oil circuit of the underground scraper according to the input electrical signal;

[0069] The control device 400 is used to send a control signal to the steering solenoid valve 300 according to the control signal sent by the steering handle 100 and the steering data obtained by the steering feedback device 200 to control the steering solenoid valve 300;

[0070] Vehicle speed sensor 500, used to obtain the speed of the underground scraper

[0071] The vehicle state acquisition device 600 is used to acquire the state of the vehicle;

[0072] The brake solenoid valve 700 is used to open or close the underground scraper driving brake oil circuit according to the input electrical signal;

[0073] The steering feedback device 200 includes a safety angle sensor 210, a cylinder position sensor 220 and a steering cylinder pressure sensor 230;

[0074] The vehicle state acquisition device 600 includes: a door switch 610, a seat switch 620, a start button 630 and a service brake switch 640;

[0075] The control method comprises:

[0076] S100 , obtaining a control signal sent by the steering handle 100 according to a control signal sent by the steering feedback device 200 .

[0077] S200, determining whether the control signal sent by the steering handle 100 matches the control signal sent by the feedback device.

[0078] S300 , if yes, sending a control signal to the steering solenoid valve 300 according to the control signal sent by the steering handle 100 to control the steering solenoid valve 300 .

[0079] Specifically, the control device 400 first obtains the steering control signal sent by the steering handle 100, and then the control device 400 obtains the control signal sent by the steering feedback device 200, that is, the value of the safety angle sensor 210 is calibrated with the calculated values ​​of the steering cylinder position sensors 220, so as to determine whether the steering matches the command of the steering handle 100. The relationship between the safety angle sensor 210 and the cylinder position sensor 220 can be established through calibration, so as to be used to feedback the specific position of the steering, and if they do not match, no command is executed.

[0080] In a specific embodiment, the control method further includes:

[0081] S400 , acquiring data of the oil cylinder position sensor 220 according to the control signal sent by the steering handle 100 .

[0082] S500 , determining whether the data of the oil cylinder position sensor 220 matches the control signal sent by the steering handle 100 .

[0083] S600 , if not, sending a control signal to the brake solenoid valve 700 to de-energize the brake solenoid valve 700 .

[0084] Specifically, after the steering handle 100 sends a control signal to the control device 400, the control device 400 captures the data of the cylinder position sensor 220 and determines whether the data of the cylinder position sensor 220 matches the control signal sent by the steering handle 100. If they match, the control device 400 controls the steering solenoid valve 300 to steer the underground loader. If the data of the cylinder position sensor 220 does not match the control signal sent by the steering handle 100, it means that the oil pipe is broken or other faults occur at this time, and the steering cylinder has not turned. Therefore, the control device 400 sends a fault alarm message to the display and sends a control signal to the brake solenoid valve 700 to make the brake solenoid valve 700 lose power, and the underground loader is in a braking state.

[0085] In a specific embodiment, the control method further includes:

[0086] The control method further comprises:

[0087] S700, the vehicle state acquisition device 600 acquires the vehicle state signal and the vehicle speed data acquired by the vehicle speed sensor 500;

[0088] S800, determining whether the vehicle status is that the door switch 610 is activated, the seat switch 620 is activated, the service brake switch 640 is activated, and the vehicle speed sensor 500 is higher than a set speed;

[0089] S900 , if not, a control signal is sent to the steering solenoid valve 300 to de-energize the steering solenoid valve 300 .

[0090] Specifically, the vehicle status acquisition device 600 acquires the vehicle status and the vehicle speed data acquired by the vehicle speed sensor 500 and sends data information to the control device 400. The control device 400 controls the engine to start. The door switch 610 is not activated or the seat switch 620 is not activated, the service brake switch 640 is not activated or the service brake switch 640 is activated and the value of the vehicle speed sensor 500 is lower than the set speed (4Km / h), then the steering solenoid valve 300 is in a power-off state and the underground shovel loader cannot steer.

[0091] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. A safe steering control system for steering underground loaders. include: A steering handle, used for the user to operate to achieve the steering of the underground scraper; Steering feedback device for obtaining steering data of underground loaders; A steering solenoid valve is used to open or close the steering oil circuit of the underground scraper according to the input electrical signal; Features: The safety steering control system further comprises: The control device is used to send a control signal to the steering solenoid valve according to the control signal sent by the steering handle and the steering data obtained by the steering feedback device to control the steering solenoid valve.

2. The safety steering control system according to claim 1, Features: The steering feedback device includes a safety angle sensor and a cylinder position sensor; Wherein, the control device sends a control signal to the steering solenoid valve according to the steering data sent by the safety angle sensor and the cylinder position sensor to control the steering solenoid valve.

3. The safety steering control system according to claim 2, Features: The steering feedback device also includes a steering cylinder pressure sensor; Wherein, the control device sends a control signal to the steering solenoid valve according to the steering data sent by the cylinder pressure sensor to control the steering solenoid valve.

4. The safety steering control system according to claim 3, Features: The safety steering control system further comprises: A vehicle speed sensor is used to obtain the speed of the underground scraper; Wherein, the control device sends a control signal to the steering solenoid valve according to the vehicle speed data sent by the vehicle speed sensor to control the steering solenoid valve.

5. The safety steering control system according to any one of claims 1 to 4, Features: The safety steering control system further comprises: A vehicle status acquisition device, used to acquire the status of the vehicle; Brake solenoid valve, used to open or close the underground scraper's service brake oil circuit according to the input electrical signal; The control device sends a control signal to the brake solenoid valve according to the vehicle status data of the underground scraper acquired by the vehicle status acquisition device to control the brake solenoid valve; Wherein, the vehicle status acquisition device includes: a door switch, a seat switch, a start button and a service brake switch.

6. The safety steering control system according to claim 5, Features: The control device comprises: The main controller is electrically connected with the steering handle, the steering feedback device, the vehicle speed sensor, and the vehicle state acquisition device to receive control signals from them.

7. The safety steering control system according to claim 6, Features: The control device also includes: An engine controller and a transmission controller are electrically connected to the vehicle state acquisition device to receive control signals therefrom.

8. A safe steering control method for controlling the safe steering of an underground scraper. in, The scraper comprises: A steering handle, used for the user to operate to achieve the steering of the underground scraper; Steering feedback device for obtaining steering data of underground loaders; A steering solenoid valve is used to open or close the steering oil circuit of the underground scraper according to the input electrical signal; A control device, used for sending a control signal to the steering solenoid valve according to the control signal sent by the steering handle and the steering data acquired by the steering feedback device to control the steering solenoid valve; Vehicle speed sensor, used to obtain the speed of underground loaders A vehicle status acquisition device, used to acquire the status of the vehicle; Brake solenoid valve, used to open or close the underground scraper's service brake oil circuit according to the input electrical signal; Wherein, the steering feedback device includes a safety angle sensor, a cylinder position sensor and a steering cylinder pressure sensor; The vehicle state acquisition device comprises: a door switch, a seat switch, a start button and a service brake switch; The control method comprises: Acquire a control signal sent by a steering handle according to a control signal sent by a steering feedback device; determining whether the control signal sent by the steering handle matches the control signal sent by the feedback device; If yes, a control signal is sent to the steering solenoid valve according to the control signal sent by the steering handle to control the steering solenoid valve.

9. The safe steering control method according to claim 8, Features: The control method further comprises: Acquire the data of the oil cylinder position sensor according to the control signal sent by the steering handle; Determine whether the data from the cylinder position sensor matches the control signal sent by the steering handle; If otherwise, a control signal is sent to the brake solenoid valve to de-energize the brake solenoid valve.

10. The safe steering control method according to claim 9, Features: The control method further comprises: The vehicle state acquisition device acquires the vehicle state signal and the vehicle speed data acquired by the vehicle speed sensor; Determine whether the vehicle status is that the door switch is activated, the seat switch is activated, the service brake switch is activated, and the vehicle speed sensor is higher than a set speed; If not, a control signal is sent to the steering solenoid valve to de-energize the steering solenoid valve.

11. An underground scraper, comprising the safety steering control system according to any one of claims 1 to 7.

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