Multi-gear large-range speed-adjustable heavy-load rack rail vehicle and speed adjusting method

Abstract

The invention discloses a multi-gear large-range speed-adjustable heavy-load rack rail vehicle and a speed adjusting method. The rack rail vehicle comprises a cockpit, a driving unit, a power unit, an auxiliary cockpit, an energy storage compartment and a transfer flat car. The power unit comprises a three-phase motor, a torque sensor, a first linear motor, a second linear motor, a synchronizer, a multi-stage gear, a shell and a load-sensitive pump; an output shaft of the three-phase motor is connected with an input shaft of the multi-stage gear, and an output shaft of the multi-stage gear is connected with an input shaft of the load-sensitive pump; the torque sensor is installed between the three-phase motor and the multi-stage gear, the position of the linear motor is adjusted according to the torque change of the output shaft of the three-phase motor, and the gear of the rack rail vehicle is changed. Through the mode of combining the motor, the multi-stage gear and the load-sensitive pump, the rack rail vehicle hydraulic system keeps proper flow under different loads, the working efficiency of the system is improved, the self-adaptive capacity of the rack rail vehicle is improved, the bearing capacity of the rack rail vehicle is improved, the speed adjustable range of the rack rail vehicle is widened, and the vehicle speed change is more stable.

Description

Technical Field

[0001] The invention relates to the field of transportation equipment, and in particular to a multi-gear, wide-range, speed-adjustable, heavy-load rack rail vehicle and a speed regulation method. Background Art

[0002] In mining production, the importance of transportation is self-evident. As one of the auxiliary transportation equipment in mining, rack rail vehicles have outstanding advantages in climbing and carrying, and play an important role in the entire transportation process.

[0003] However, in the prior art, most rack and pinion vehicles use a traditional mechanical transmission system, including gear boxes, clutches, drive shafts and other components, to achieve power transmission through a fixed transmission ratio. This system structure is relatively simple, but it lacks flexibility when facing complex and changeable working conditions. Although some rack and pinion vehicles are equipped with speed adjustment functions, most of them can only be manually switched between several preset speed gears. This speed regulation method is inadequate when manual operation, precise speed control, or continuously changing road conditions are required. Especially in the case of mining transportation requiring a large output torque, the existing rack and pinion vehicle motor cannot directly drive the load, has poor climbing performance, cannot adapt to some occasions with high power requirements, and the system is susceptible to impact and damage when the load is large.

[0004] To sum up, the research and development and application of multi-speed heavy-load rack rail cars have important practical significance for improving mining transportation efficiency, reducing operating costs, enhancing equipment reliability and promoting green and sustainable development of the mining industry by expanding the speed range and improving the load-bearing capacity and performance of rack rail cars. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle and a speed regulation method, which can adapt to the working requirements of higher power, steadily reduce the output speed, increase the reliability and stability of the system, and flexibly adjust the output torque and speed under different working conditions.

[0006] The present invention adopts the following technical solution: a multi-gear, wide-range, adjustable-speed, heavy-duty rack rail vehicle, comprising: a cockpit, a drive unit, a co-pilot cabin, an energy storage vehicle box, and a transfer flatbed vehicle, characterized in that:

[0007] In the drive unit, the power unit is fixed on the chassis through a shock-absorbing connecting plate, and the power unit includes: a three-phase motor, a torque sensor, a first linear motor, a second linear motor, a synchronizer, a multi-stage gear, a housing and a load-sensitive pump.

[0008] The output shaft of the three-phase motor is connected to the input shaft of the multi-stage gear, and the output shaft of the multi-stage gear is connected to the input shaft of the load-sensitive pump; the torque sensor is installed at the connection between the three-phase motor and the multi-stage gear, and is used to detect the torque change of the output shaft of the three-phase motor; the three-phase motor, the multi-stage gear, and the load-sensitive pump are installed on the mounting plate of the drive unit, and the multi-stage gear and the load-sensitive pump are jointly controlled to adjust the positions of the first linear motor and the second linear motor, change the gear position of the rack rail vehicle, and adjust the speed of the rack rail vehicle.

[0009] Preferably, the cockpit includes a visual sensor, a driving status display module, and an onboard computer; the driving status display module is used to display the driving speed, hydraulic system pressure, and motor output torque; the image detected by the visual sensor is input into the onboard computer to detect the image information of people or obstacles on the track ahead; the onboard computer is used to detect the image information obtained by the visual sensor. The visual sensor is installed in the installation hole in front of the cockpit. When an obstacle is identified in front of the rack rail vehicle, the onboard computer controls the rack rail vehicle to actively brake.

[0010] Furthermore, the visual sensor uses a CCD fisheye camera, and the on-board computer manually adds labels to the collected pictures to build a deep learning model and perform model training, extract feature information in the pictures, establish a track obstacle avoidance model, and perform real-time monitoring and obstacle avoidance on the rack-and-rail vehicle.

[0011] Preferably, the shock-absorbing connecting plate includes: an upper plate, a chassis, and a rubber shock absorber; the rubber shock absorber is used to absorb and reduce the vibration generated during the operation of the rack rail vehicle, and is installed on the chassis by screws; the chassis is used to disperse and alleviate the impact force generated during the operation of the rack rail vehicle; the upper plate is used to fix the rubber shock absorber, and is connected to the rubber shock absorber by an intermediate screw.

[0012] Preferably, a slide groove for moving the linear motor is provided in the outer housing of the multi-stage gear, and the first linear motor and the second linear motor are installed in the slide groove in the housing to drive the synchronizer to move linearly and adjust the gear position of the rack vehicle.

[0013] Preferably, the multi-stage gear comprises a gear set, a driving shaft, a driven shaft, and a connecting rod. The multi-stage gear is fixed to the housing through the driving shaft and the driven shaft, and the two ends of the connecting rod are respectively connected to the linear motor and the synchronizer. The multi-stage gear is provided with three sets of gears, corresponding to the three reduction ratios of 2:1, 1:1, and 1:2 respectively; the torque sensor adjusts the position of the first linear motor and the second linear motor according to the change of the torque of the output shaft of the three-phase motor, and changes the gear position of the rack vehicle.

[0014] Preferably, the first linear motor drives the synchronizer to move left to engage the first-stage gear of the multi-stage gear, the first linear motor drives the synchronizer to move right to engage the second-stage gear of the multi-stage gear, and the second linear motor drives the synchronizer to move right to engage the third-stage gear of the multi-stage gear, which respectively correspond to the three reduction ratios of the multi-stage gear.

[0015] Furthermore, the displacement of the load-sensitive pump decreases as the load increases, and adaptive stepless speed change is performed under the condition that the multi-stage gear reduction ratio remains unchanged.

[0016] Preferably, the first linear motor and the second linear motor autonomously move through PLC logic control according to the torque sensor to perform gear shifting operations.

[0017] The technical solution of the present invention also provides a speed regulation method for a multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle, which is applied to any of the above-mentioned speed-adjustable, heavy-duty rack rail vehicles and comprises the following steps:

[0018] S1, torque sensor obtains the output torque of the three-phase motor;

[0019] S2, when the torque of the three-phase motor is between 450Nm-1000Nm, the first linear motor moves to the right, the second linear motor is in the middle position, and the multi-stage gear reduction ratio is 1:1;

[0020] S3, when the torque of the three-phase motor is greater than 1000Nm, the second linear motor remains in the middle position, the first linear motor moves to the left, the reduction ratio becomes 2:1, the flow of the hydraulic system is reduced, and the rack vehicle runs at a low speed;

[0021] S4. When the torque of the three-phase motor is less than 450Nm, the first linear motor moves to the middle position, the second linear motor moves to the left, the multi-stage gear reduction ratio becomes 1:2, the input speed of the load-sensitive pump is increased, and the rack car runs at high speed.

[0022] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0023] 1. The adjustable speed heavy-load rack rail vehicle of the present invention uses a multi-stage gear in combination with a load-sensitive pump to increase the adjustable speed range of the rack rail vehicle, increase the load-bearing capacity, and make the vehicle speed change more stable, thereby improving the working efficiency of the whole vehicle system. When the rack rail vehicle encounters a steep slope with a heavy load, the sensor senses the increase in the torque of the motor output shaft and automatically increases the multi-stage gear reduction ratio to obtain greater power; when the rack rail vehicle is on a light-loaded flat section, the sensor senses the decrease in the torque of the motor output shaft and automatically reduces the multi-stage gear reduction ratio to obtain a faster speed.

[0024] 2. The speed-adjustable heavy-load rack rail vehicle of the present invention adds a shock absorber between the drive unit and the power unit to improve the stability of the rack rail vehicle, reduce vibration and noise during operation, and protect the rack rail vehicle components.

[0025] 3. The speed-adjustable heavy-load rack rail vehicle of the present invention monitors the surrounding environment in real time through visual sensors and actively avoids obstacles, thereby improving the safety of the rack rail vehicle and the driving experience of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a structural block diagram of the speed-adjustable heavy-load rack rail vehicle of the present invention;

[0027] Figure 2 This is a structural diagram of the power unit of the speed-adjustable heavy-load rack rail vehicle of the present invention;

[0028] Figure 3 This is a flow chart of the visual inspection method of the adjustable speed heavy-load rack rail vehicle of the present invention;

[0029] Figure 4 This is a cross-sectional view of the structure of the speed-adjustable heavy-load rack railcar shock absorber of the present invention;

[0030] Figure 5 This is a structural diagram of the shock-absorbing connecting plate of the speed-adjustable heavy-load rack rail vehicle of the present invention;

[0031] Figure 6 This is a flow chart of the gear adjustment of the rack vehicle according to the change of the motor torque of the present invention;

[0032] Explanation of the reference numerals: 1. Cockpit; 2. Drive unit; 3. Co-pilot cabin; 4. Energy storage box; 5. Transfer flatbed truck; 1-1. Visual sensor; 1-2. Driving status display module; 1-3. On-board computer; 2-1. Power unit; 2-2. Shock-absorbing connecting plate; 2-3. Chassis; 2-1-1. Three-phase motor; 2-1-2. Torque sensor; 2-1-3. First linear motor; 2-1-4. Second linear motor; 2-1-5. Synchronizer; 2-1-6. Multi-stage gear; 2-1-7. Housing; 2-1-8. Load-sensitive pump; 2-2-1. Upper plate; 2-2-2. Rubber shock absorber; 2-2-3. Chassis. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the application is further elaborated in detail below in conjunction with the accompanying drawings. The described embodiments are only a part of the embodiments involved in the present invention. All non-innovative embodiments of other researchers in the field on this embodiment belong to the protection scope of the present invention. At the same time, for the step numbering in the embodiment of the present invention, it is only set for the convenience of explanation, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0034] In one embodiment of the present invention, a multi-gear, wide-range, adjustable-speed, heavy-duty rack rail vehicle is provided. Figure 1As shown, the overall structure includes a cockpit 1, a drive unit 2, a co-pilot cabin 3, an energy storage box 4, and a transfer flatbed truck 5.

[0035] Specifically, the cockpit 1 includes: a visual sensor 1-1, a driving status display module 1-2, and an on-board computer 1-3.

[0036] The driving status display module 1-2 is installed in the center of the front of the cockpit 1, and can display the driving speed, hydraulic system pressure, motor output torque, etc. The visual sensor 1-1 is installed in front of the cockpit 1, and can detect the driving situation in front of the rack rail vehicle. The on-board computer 1-3 is installed below the driving status display module 1-2, and can detect the image information obtained by the visual sensor 1-1.

[0037] Before the rack rail vehicle runs, first, the visual sensor 1-1 is used to collect images in front of the track, and the collected images are manually labeled through the on-board computer 1-3; then, a deep learning model is constructed and trained to extract feature information from the images and establish an accurate track obstacle avoidance model.

[0038] During the operation of the rack rail car, the visual sensor 1-1 is used to obtain the picture in front of the rack rail car, and the established deep learning model is used to analyze whether there are obstacles or people in the picture, so as to realize real-time monitoring and obstacle avoidance, which effectively improves the safety and reliability of the rack rail car, greatly reduces the accident rate, and has good practical application value.

[0039] In particular, the visual sensor 1-1 of this embodiment uses a CCD fisheye camera to collect images, such as Figure 3 As shown, the CCD fisheye camera collects the picture in front of the running vehicle and sends it to the on-board computer 1-3. The on-board computer 1-3 detects people or obstacles in front of the vehicle in combination with the deep learning model. If there are obstacles or people, the on-board computer 1-3 will start the rack rail vehicle brake in time to avoid collision or accidents, thereby improving the safety of the rack rail vehicle and the driving experience of the driver.

[0040] Specifically, Figure 2 As shown, the driving unit 2 includes: a power unit 2-1, a shock-absorbing connecting plate 2-2 and a chassis 2-3, and the power unit 2-1 is fixed on the chassis 2-3 through the shock-absorbing connecting plate 2-2.

[0041] Shock-absorbing connecting plate 2-2, such as Figure 4As shown, it includes: an upper plate 2-2-1, a chassis 2-2-3, and a rubber shock absorber 2-2-2. The rubber shock absorber 2-2-2 is installed on the chassis 2-2-3 by screws, and the upper plate 2-2-1 and the rubber shock absorber 2-2-2 are connected by middle screws. The rubber shock absorber 2-2-2 is used to absorb and reduce the vibration generated when the rack rail vehicle is running, the chassis 2-2-3 is used to disperse and alleviate the impact force generated when the rack rail vehicle is running, and the upper plate 2-2-1 is used to fix the rubber shock absorber 2-2-2 and ensure that the rubber shock absorber is stable and reliable during the installation process. Specifically, the connection part between the shock-absorbing connecting plate 2-2 and the car body, as shown in FIG. Figure 5 shown.

[0042] It is particularly important to note that, in this embodiment, by adding a shock-absorbing connecting plate between the drive unit and the power unit, the stability of the rack vehicle is improved, the vibration and noise during operation are reduced, and the components of the rack vehicle are protected.

[0043] Furthermore, the power unit 2-1 includes: a three-phase motor 2-1-1, a torque sensor 2-1-2, a first linear motor 2-1-3, a second linear motor 2-1-4, a synchronizer 2-1-5, a multi-stage gear 2-1-6, a housing 2-1-7 and a load-sensitive pump 2-1-8.

[0044] The output shaft of the three-phase motor 2-1-1 is connected to the input shaft of the multi-stage gear 2-1-6, and the output shaft of the multi-stage gear 2-1-6 is connected to the input shaft of the load-sensitive pump 2-1-8. The torque sensor 2-1-2 is installed between the three-phase motor 2-1-1 and the multi-stage gear 2-1-6 to detect the torque change of the motor output shaft.

[0045] In particular, in this embodiment, the multi-stage gear 2-1-6 is provided with three sets of gears, corresponding to the three reduction ratios of 2:1, 1:1, and 1:2. The first linear motor 2-1-3 and the second linear motor 2-1-4 are installed in the slide groove in the housing 2-1-6, which can drive the synchronizer 2-1-5 to move linearly and adjust the gear position of the rack vehicle.

[0046] When in use, the speed regulation method of the multi-gear, wide-range, adjustable-speed heavy-duty rack rail vehicle is as follows: Figure 6 As shown in the figure, the torque sensor obtains the output torque of the three-phase motor, and the rack car adjusts the torque and speed through the load-sensitive pump, as follows:

[0047] When the rack rail vehicle is traveling on a gentle slope, the corresponding motor torque is between 450Nm and 1000Nm. At this time, the first linear motor 2-1-3 is in the right position, the second linear motor 2-1-4 is in the middle position, and the reduction ratio of the rack rail vehicle system is 1:1.

[0048] When the rack rail vehicle enters a steep slope section, the load-sensitive pump is first adjusted. When the load-sensitive pump is adjusted to the lowest displacement, the torque of the motor output shaft increases. When the torque of the motor output shaft reaches 1000Nm, the first linear motor 2-1-3 moves to the left position, and the second linear motor 2-1-4 remains in the middle position. The reduction ratio of the rack rail vehicle system becomes 2:1, the speed of the rack rail vehicle is reduced, and greater power is obtained to ensure the safe operation of the rack rail vehicle system.

[0049] When the rack rail vehicle is lightly loaded and enters a flat road section, the load-sensitive pump is first adjusted. When the load-sensitive pump is adjusted to the highest displacement, the motor output shaft torque is reduced, and the motor output shaft torque is lower than 450Nm. The first linear motor 2-1-3 moves to the middle position, and the second linear motor 2-1-4 moves to the left position. At this time, the reduction ratio of the rack rail vehicle system becomes 1:2, realizing high-speed operation of the rack rail vehicle.

[0050] In summary, the rack rail vehicle of the present invention increases the adjustable speed range of the rack rail vehicle by combining a three-phase motor, multi-stage gears, and a load-sensitive pump. When the rack rail vehicle is heavily loaded and encounters a steep slope, the sensor senses the increase in the torque of the motor output shaft, and automatically increases the multi-stage gear reduction ratio to obtain greater power; when the rack rail vehicle is lightly loaded on a flat road section, the sensor senses the decrease in the torque of the motor output shaft, and automatically reduces the multi-stage gear reduction ratio to obtain a faster speed. At the same time, the rack rail vehicle of the present invention has an enhanced load-bearing capacity, and the vehicle speed changes more smoothly, which greatly improves the working efficiency of the system.

[0051] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-gear, wide-range, adjustable-speed, heavy-duty rack rail vehicle, characterized in that: include: The cockpit (1), the drive unit (2), the co-pilot cabin (3), the energy storage box (4), and the transfer flatbed vehicle (5) are characterized by: In the drive unit (2), the power unit (2-1) is fixed on the chassis (2-3) via a shock-absorbing connecting plate (2-2), and the power unit (2-1) comprises: a three-phase motor (2-1-1), a torque sensor (2-1-2), a first linear motor (2-1-3), a second linear motor (2-1-4), a synchronizer (2-1-5), a multi-stage gear (2-1-6), a housing (2-1-7) and a load-sensitive pump (2-1-8); The output shaft of the three-phase motor (2-1-1) is connected to the input shaft of the multi-stage gear (2-1-6), and the output shaft of the multi-stage gear (2-1-6) is connected to the input shaft of the load-sensitive pump (2-1-8); the torque sensor (2-1-2) is installed at the connection between the three-phase motor (2-1-1) and the multi-stage gear (2-1-6) and is used to detect the torque change of the output shaft of the three-phase motor (2-1-1); through the joint control of the multi-stage gear (2-1-6) and the load-sensitive pump (2-1-8), the positions of the first linear motor (2-1-3) and the second linear motor (2-1-4) are adjusted, the gear position of the rack vehicle is changed, and the speed of the rack vehicle is adjusted.

2. The multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle according to claim 1, characterized in that: The cockpit (1) comprises a visual sensor (1-1), a driving status display module (1-2), and an on-board computer (1-3); The driving state display module (1-2) is used to display the driving speed, hydraulic system pressure, and motor output torque; the image detected by the visual sensor (1-1) is input into the onboard computer (1-3); the onboard computer (1-3) receives the image information obtained by the visual sensor (1-1) and detects the image information of a person or obstacle on the front track; when an obstacle is identified in front of the rack rail vehicle, the rack rail vehicle is controlled to brake actively.

3. The multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle according to claim 2, characterized in that: The visual sensor (1-1) uses a CCD fisheye camera, and the onboard computer (1-3) manually adds labels to the collected images to build a deep learning model and perform model training, extract feature information in the images, establish a track obstacle avoidance model, and perform real-time monitoring and obstacle avoidance of the rack-and-rail vehicle.

4. The multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle according to claim 1, characterized in that: The shock-absorbing connecting plate (2-2) comprises: an upper plate (2-2-1), a bottom plate (2-2-3), and a rubber shock absorber (2-2-2); The rubber shock absorber (2-2-2) is used to absorb and reduce vibration generated when the rack rail vehicle is running, and is installed on the chassis (2-2-3) through screws. The chassis (2-2-3) is used to disperse and reduce impact force generated when the rack rail vehicle is running; the upper plate (2-2-1) is used to fix the rubber shock absorber (2-2-2) and is connected to the rubber shock absorber (2-2-2) through an intermediate screw.

5. The multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle according to claim 1, characterized in that: The first linear motor (2-1-3) and the second linear motor (2-1-4) are installed in a slide groove in the housing (2-1-7) to drive the synchronizer (2-1-5) to move linearly and adjust the gear position of the rack vehicle.

6. The multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle according to claim 5, characterized in that: The multi-stage gear (2-1-6) is fixed on the housing (2-1-7) via a driving shaft and a driven shaft, and is provided with three-stage gears corresponding to three reduction ratios of 2:1, 1:1, and 1:2 respectively; the torque sensor (2-1-2) adjusts the positions of the first linear motor (2-1-3) and the second linear motor (2-1-4) according to the torque change of the output shaft of the three-phase motor (2-1-1), thereby changing the gear position of the rack vehicle.

7. The multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle according to claim 6, characterized in that: The first linear motor (2-1-4) is moved to the left by shifting the synchronizer (2-1-5) and meshes with the first stage gear of the multi-stage gear (2-1-6); the first linear motor (2-1-4) is moved to the right by shifting the synchronizer (2-1-5) and meshes with the second stage gear of the multi-stage gear (2-1-6); The second linear motor (2-1-4) is moved rightward by shifting the synchronizer, and meshes with the third gear of the multi-stage gear (2-1-6), respectively corresponding to the three reduction ratios of the multi-stage gear (2-1-6).

8. The multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle according to claim 7, characterized in that: The displacement of the load-sensitive pump (2-1-6) decreases as the load increases, and adaptive stepless speed change is performed when the reduction ratio of the multi-stage gear (2-1-6) remains unchanged.

9. The multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle according to claim 7, characterized in that: The first linear motor (2-1-3) and the second linear motor (2-1-4) autonomously move through PLC logic control according to the torque sensor (2-1-2) to perform gear shifting operations.

10. A speed regulating method for a multi-gear, wide-range, speed-adjustable, heavy-duty rack rail vehicle, applied to the speed-adjustable, heavy-duty rack rail vehicle according to any one of claims 1 to 9, characterized in that: The steps include: S1, a torque sensor (2-1-2) obtains the output torque of the three-phase motor (2-1-1); S2, when the torque of the three-phase motor (2-1-1) is between 450Nm and 1000Nm, the first linear motor (2-1-3) moves right, the second linear motor (2-1-4) is in the middle position, and the reduction ratio of the multi-stage gear (2-1-6) is 1:1; S3, when the torque of the three-phase motor (2-1-1) is greater than 1000Nm, the second linear motor (2-1-4) remains in the middle position, the first linear motor (2-1-3) moves to the left, the reduction ratio becomes 2:1, the flow of the hydraulic system is reduced, and the rack vehicle runs at a low speed; S4. When the torque of the three-phase motor (2-1-1) is less than 450 Nm, the first linear motor (2-1-3) moves to the middle position, the second linear motor (2-1-4) moves to the left, the reduction ratio of the multi-stage gear (2-1-6) becomes 1:2, the input speed of the load-sensitive pump (2-1-7) is increased, and the rack vehicle runs at high speed.

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