Support withdrawing tractor body stability control system and control method thereof

Abstract

The invention belongs to the technical field of coal mine underground auxiliary transportation equipment, and particularly relates to a vehicle body stability control system of a support withdrawing tractor and a control method of the vehicle body stability control system. Comprising a frame which is provided with a walking mechanism; the supporting and jacking mechanism is arranged on the frame, and a supporting and jacking oil cylinder is arranged between the supporting and jacking mechanism and the frame; the working mechanism is mounted on the frame, and the working mechanism comprises a telescopic mechanism which is hinged to the frame; the slewing mechanism is installed at the front end of the telescopic mechanism, a variable-amplitude oil cylinder is arranged between the telescopic mechanism and the slewing mechanism, and the telescopic mechanism swings up and down under the action of the variable-amplitude oil cylinder. The safety accidents such as tipping and sideslip caused by the fact that force needed by vehicle hoisting cannot be predicted are avoided, the vehicle is controlled not to longitudinally turn and sideslip, and operation safety is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of auxiliary transportation equipment in underground coal mines, and in particular is a body stability control system and a control method thereof for a support retraction traction machine. Background Art

[0002] When the hydraulic supports of the fully mechanized mining face in underground coal mines are being retracted, roof pressure often occurs, which makes it more difficult to withdraw the supports. When the support withdrawal tractor is used to pull the supports, the roof pressure cannot be predicted, resulting in different supports being subjected to very different resistances when being withdrawn. When the support withdrawal tractor is withdrawing the support, it lifts the front end of the hydraulic support base, loosens the support, thereby reducing the resistance to withdrawal, and then pulls the support out. During the operation, when the lifting force is too large, the tail of the support withdrawal tractor will tilt longitudinally; when the lateral drag force is too large, the crawler of the support withdrawal tractor will slip and the ground, and the body of the support withdrawal tractor will move easily, causing squeezing injuries. Summary of the invention

[0003] The present invention solves the problem that the force required for vehicle lifting is unpredictable, resulting in safety accidents such as tipping over and skidding, while being able to exert the maximum lifting force, minimize the pressure damage to the top plate, and safely and efficiently withdraw the bracket, and provides a bracket withdrawal traction machine body stability control system and control method.

[0004] The present invention adopts the following technical scheme: a support retraction traction machine body stability control system, comprising: A vehicle frame, wherein a traveling mechanism is arranged on the vehicle frame; A top supporting mechanism, wherein the top supporting mechanism is arranged on the vehicle frame, and a top supporting cylinder is arranged between the top supporting mechanism and the vehicle frame; A working mechanism, the working mechanism is mounted on the vehicle frame, and the working mechanism comprises: A telescopic mechanism, wherein the telescopic mechanism is hinged on the vehicle frame; The slewing mechanism is installed at the front end of the telescopic mechanism. A variable-length oil cylinder is arranged between the telescopic mechanism and the slewing mechanism. The telescopic mechanism swings up and down under the action of the variable-length oil cylinder.

[0005] In some embodiments, the telescopic mechanism includes a telescopic arm and a fixed sleeve, and a boom telescopic oil cylinder is arranged between the telescopic arm and the fixed sleeve; the telescopic arm reciprocates in the fixed sleeve under the action of the boom telescopic oil cylinder.

[0006] In some embodiments, a first position detection mechanism and a first pressure detection mechanism are provided in the luffing oil cylinder, the first position detection mechanism is used to detect the stroke of the luffing oil cylinder, and the first pressure detection mechanism is used to detect the oil pressure in the cylinder of the luffing oil cylinder; A second position detection mechanism is arranged in the boom telescopic oil cylinder for detecting the stroke of the boom telescopic oil cylinder.

[0007] In some embodiments, two longitudinal support mechanisms are symmetrically arranged at the front end of the frame, and an outrigger oil cylinder is arranged in the longitudinal support mechanism, and a pressure detection mechanism is arranged in the outrigger oil cylinder.

[0008] In some embodiments, the first position detection mechanism, the first pressure detection mechanism, the second position detection mechanism and the pressure detection mechanism are respectively connected to the vehicle controller signal.

[0009] In some embodiments, two sets of rotary cylinders are respectively arranged between the two sides of the working mechanism and the two sides of the frame.

[0010] A control method based on a support retraction traction machine body stability control system comprises the following steps: S100: lifting the heavy object, during the process of lifting the bracket, the first position detection mechanism, the first pressure detection mechanism and the second position detection mechanism read the pressure value and displacement in real time and inject them into the controller; S200: The controller calculates the real-time lifting force of the telescopic arm; S300: The controller determines whether the lifting weight is within a safe range according to the set value. When the lifting weight is within a safe value, the vehicle can safely withdraw the bracket through the telescopic mechanism; S400: During the bracket extraction process, the length and pressure signals of the first position detection mechanism, the first pressure detection mechanism, and the second position detection mechanism are collected in real time to control whether the longitudinal support is extended to ensure that the vehicle is always in a stable state and exerts maximum traction.

[0011] In some embodiments, in step S300, When the lifting weight exceeds the set value, the controller issues a command, the hydraulic system supplies high-pressure oil to the outrigger cylinder, the longitudinal support mechanism extends to support the ground, and the front end of the vehicle body is steadily lifted off the ground before continuing the draw work; When the lifting weight still exceeds the set value, the controller issues a command, and the hydraulic system provides high-pressure oil to the top support cylinder. The top support stabilizing mechanism extends to support the top plate, and the outrigger cylinder remains extended, so that the vehicle stands upright. At this time, the vehicle first loosens the bracket by retracting the telescopic mechanism; if the bracket is not loose, continue to increase the pressure of the outrigger cylinder and continue to loosen the bracket until the bracket is loosened. When the vehicle needs to move, retract the outrigger cylinder and the top support cylinder, move the vehicle, and pull the bracket out of the comprehensive mining working face.

[0012] In some embodiments, the calculation formula of the lifting force in step S200 is obtained by the following formula: Wherein, F1 is the supporting force of the luffing cylinder, D is the piston diameter of the luffing cylinder, L1 is the installation distance of the luffing cylinder. △L1 is the minimum installation distance of the luffing cylinder. L2 is the stroke of the luffing cylinder, Point (x, y) is the hinge point between the luffing cylinder and the telescopic arm. Point (a, b) is the hinge point between the luffing cylinder and the slewing mechanism. R is the distance from the hinge point between the luffing cylinder and the telescopic arm to the slewing hinge point O (0,0), L3 is the installation distance of the boom telescopic cylinder. △L2 is the minimum installation distance of the boom telescopic cylinder. L4 is the stroke of the boom telescopic cylinder, k1 is the vertical distance from the hinge point O to the thrust of the luffing cylinder. K2 is the vertical distance from the hinge point O to the gravity of the suspended object. G is the gravity acting on the hoisted load, i.e. the hoisting force.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention proposes a method in which a support retracting traction machine can automatically calculate the lifting weight during the process of lifting the support, so as to solve the problem of safety accidents such as tipping over and side sliding caused by the unpredictable force required for vehicle lifting, and control the vehicle to prevent longitudinal tipping and side sliding, thereby ensuring operation safety. At the same time, it can exert the maximum lifting force and withdraw the support safely and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the load hoisted by the tractor; Figure 2 This is the front view of the tractor vehicle; Figure 3 This is a top view of the tractor vehicle; Figure 4 This is a schematic diagram of the complete structure of a tractor; Figure 5 It is the plan view of the working tunnel of the present invention; Figure 6 This is a schematic diagram of the luffing cylinder; Figure 7 This is a schematic diagram of the boom telescopic cylinder; Figure 8 It is a schematic diagram of the longitudinal support arm structure; Fig. 9 It is a simplified diagram of load analysis; In the figure: 1-working mechanism, 2-frame, 3-traveling mechanism, 4-telescopic arm, 5-fixed sleeve, 6-big arm telescopic cylinder, 7-boom variable cylinder, 8-rotating cylinder, 9-second position detection mechanism, 10-first position detection mechanism, 11-pressure detection mechanism, 12-first pressure detection mechanism, 13-vehicle controller, 14-longitudinal support mechanism, 15-outrigger cylinder, 16-top support mechanism, 17-top support cylinder. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0016] The purpose of the present invention is to address the deficiencies of the background technology and provide a bracket retraction traction machine and a center of gravity control method, which can automatically calculate the lifting weight during the bracket lifting process, so that the vehicle will not tip over and can exert the maximum lifting force, thereby improving the stability of the vehicle during the bracket retraction process.

[0017] In order to solve the above technical problems, the present invention adopts the following technical solutions: The support retraction traction machine body stability control system includes a three-degree-of-freedom working mechanism 1 that can swing forward and backward, left and right, and up and down, a frame 2, a walking mechanism 3, a top supporting mechanism 16, and a top supporting cylinder 17. The working mechanism 1 is hinged to the frame 2, and a rotary cylinder 8 is arranged between the working mechanism 1 and the frame 2, and the working mechanism can rotate left and right around the hinge point.

[0018] Furthermore, the working mechanism 1 includes a telescopic mechanism and a slewing mechanism, the front end of the telescopic mechanism is hinged to the top of the slewing mechanism, a variable amplitude cylinder 7 is arranged between the telescopic mechanism and the slewing mechanism, and the telescopic mechanism swings up and down under the action of the variable amplitude cylinder 7; the telescopic mechanism includes a telescopic arm 4 and a fixed sleeve 5, and a large arm telescopic cylinder 6 is arranged between the telescopic arm 4 and the fixed sleeve 5; the telescopic arm 4 can reciprocate in the fixed sleeve 5 under the action of the large arm telescopic cylinder 6; Furthermore, a first position detection mechanism 10 is provided in the luffing cylinder 7 , and a second position detection mechanism 9 is provided in the boom telescopic cylinder. The first and second position detection mechanisms are connected to the vehicle controller 13 by signals.

[0019] Furthermore, a first pressure detection mechanism 12 is provided in the luffing cylinder, and the first pressure detection mechanism is connected to a vehicle controller 13 via a signal.

[0020] Furthermore, two longitudinal support mechanisms 14 are symmetrically arranged at the front end of the frame 2, the front longitudinal support mechanism adopts a one-stage telescopic arm structure, a leg cylinder 15 is arranged in the longitudinal telescopic arm, a pressure detection mechanism 11 is arranged in the leg cylinder 15, and the pressure detection mechanism 11 is connected to the vehicle controller 13 by signal.

[0021] A control method based on a support retraction traction machine body stability control system comprises the following steps: S100: hook the bracket, and in the process of lifting the bracket, read the pressure value and displacement injection controller 13 in real time according to the first position detection mechanism 10, the first pressure detection mechanism 12 and the second position detection mechanism 9.

[0022] S200: The controller calculates the real-time lifting force of the telescopic arm through equation 1-9. (1) (2) (3) (4) (5) (6) (7) (8) (9) Wherein, F1 is the supporting force of the luffing cylinder, D is the piston diameter of the luffing cylinder 7, L1 is the installation distance of the luffing cylinder 7, △L1 is the minimum installation distance of the luffing cylinder 7, L2 is the stroke of the luffing cylinder 7, Point (x, y) is the hinge point between the luffing cylinder 7 and the telescopic arm. Point (a, b) is the hinge point between the luffing cylinder 7 and the slewing mechanism. R is the distance from the hinge point between the luffing cylinder 7 and the telescopic arm to the rotation hinge point O (0,0) L3 is the installation distance of the boom telescopic cylinder. △L2 is the minimum installation distance of the boom telescopic cylinder. L4 is the stroke of the boom telescopic cylinder, k1 is the vertical distance from the hinge point O to the thrust of the luffing cylinder 7, K2 is the vertical distance from the hinge point O to the gravity of the suspended object. G is the gravity acting on the hoisted load, i.e. the hoisting force.

[0023] S300: The controller 13 determines whether the lifting weight is within a safe range according to the set value. When the lifting weight is within a safe value, the vehicle can safely withdraw the bracket through the telescopic mechanism; When the set value is exceeded, the controller issues a command, and the hydraulic system provides high-pressure oil to the outrigger cylinder 15, and the longitudinal support mechanism extends to support the ground, and the front end of the vehicle body is steadily lifted off the ground, and then the drawer operation continues; When it still exceeds the set value, the controller issues a command, and the hydraulic system provides high-pressure oil to the top support cylinder 17, the top support stabilizing mechanism extends to support the top plate, the outrigger cylinder 15 remains extended, and the vehicle is in an upright state; At this time, the vehicle can first loosen the bracket by retracting the telescopic mechanism; if the bracket is not loose, continue to increase the pressure of the outrigger cylinder 15, continue to loosen the bracket until the bracket is loosened. When the vehicle needs to move, retract the outrigger cylinder 15 and the top support cylinder 17, move the vehicle, and pull the bracket out of the comprehensive mining working face.

[0024] S400: During the bracket extraction process, the length and pressure signals of the telescopic arms of the first position detection mechanism, the first pressure detection mechanism, and the second position detection mechanism are collected in real time to control whether the longitudinal support is extended, so as to ensure that the vehicle is always in a stable state and exerts maximum traction.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle body stability control system for a support retraction traction machine, characterized in that: include: A vehicle frame (2), wherein a walking mechanism (3) is provided on the vehicle frame (2); A top supporting mechanism (16), wherein the top supporting mechanism (16) is arranged on the vehicle frame (2), and a top supporting oil cylinder (17) is arranged between the top supporting mechanism (16) and the vehicle frame (2); A working mechanism (1), wherein the working mechanism (1) is mounted on a vehicle frame (2), and the working mechanism (1) comprises: A telescopic mechanism, the telescopic mechanism being hinged on the vehicle frame (2); The slewing mechanism is installed at the front end of the telescopic mechanism, and a variable amplitude oil cylinder (7) is arranged between the telescopic mechanism and the slewing mechanism. The telescopic mechanism swings up and down under the action of the variable amplitude oil cylinder (7).

2. The support retraction traction machine body stability control system according to claim 1, characterized in that: The telescopic mechanism comprises a telescopic arm (4) and a fixed sleeve (5), wherein a large arm telescopic oil cylinder (6) is arranged between the telescopic arm (4) and the fixed sleeve (5); the telescopic arm (4) reciprocates in the fixed sleeve (5) under the action of the large arm telescopic oil cylinder (6).

3. The support retraction traction machine body stability control system according to claim 2, characterized in that: A first position detection mechanism (10) and a first pressure detection mechanism (12) are arranged in the luffing oil cylinder (7), the first position detection mechanism (10) being used to detect the stroke of the luffing oil cylinder (7), and the first pressure detection mechanism (12) being used to detect the oil pressure in the cylinder of the luffing oil cylinder (7); A second position detection mechanism (9) is arranged inside the boom telescopic oil cylinder (6) and is used to detect the stroke of the boom telescopic oil cylinder (6).

4. The support retraction traction machine body stability control system according to claim 1 or 3, characterized in that: Two longitudinal support mechanisms (14) are symmetrically arranged at the front end of the vehicle frame (2), an outrigger oil cylinder (15) is arranged in the longitudinal support mechanism (14), and a pressure detection mechanism (11) is arranged in the outrigger oil cylinder (15).

5. The support retraction traction machine body stability control system according to claim 4, characterized in that: The first position detection mechanism (10), the first pressure detection mechanism (12), the second position detection mechanism (9) and the pressure detection mechanism (11) are respectively connected to the vehicle controller (13) by signal.

6. The support retraction traction machine body stability control system according to claim 1, characterized in that: Two groups of rotary oil cylinders (8) are respectively arranged between the two sides of the working mechanism (1) and the two sides of the vehicle frame (2).

7. A control method based on the support retraction traction machine body stability control system according to claim 5, characterized in that: The following steps are involved: S100: lifting a heavy object, during which the first position detection mechanism (10), the first pressure detection mechanism (12) and the second position detection mechanism (9) read the pressure value and displacement in real time and inject them into the controller (13); S200: The controller calculates the real-time lifting force of the telescopic arm; S300: the controller (13) determines whether the lifting weight is within a safe range according to a set value. When the lifting weight is within a safe range, the vehicle can safely withdraw the bracket through the telescopic mechanism. S400: During the process of bracket extraction, the length and pressure signals of the first position detection mechanism (10), the first pressure detection mechanism (12), and the second position detection mechanism (9) are collected in real time to control whether the longitudinal support is extended, thereby ensuring that the vehicle is always in a stable state and exerts maximum traction.

8. The control method of the support retraction traction machine body stability control system according to claim 7, characterized in that: include: In step S300, When the lifting weight exceeds the set value, the controller issues a command, and the hydraulic system supplies high-pressure oil to the outrigger cylinder (15), so that the longitudinal support mechanism extends to support the ground, and the front end of the vehicle body is stably lifted off the ground, and then the gantry operation continues; When the lifting weight still exceeds the set value, the controller issues a command, and the hydraulic system supplies high-pressure oil to the top support cylinder (17), so that the top support stabilizing mechanism extends to support the top plate, and the outrigger cylinder (15) remains in the extended state, so that the vehicle is in the upright state; At this time, the vehicle first loosens the support by retracting the telescopic mechanism; if the support does not loosen, the pressure of the outrigger cylinder (15) is continued to be increased to continue loosening the support until the support is loosened. When the vehicle needs to be moved, the outrigger cylinder (15) and the top support cylinder (17) are retracted, the vehicle is moved, and the support is pulled away from the comprehensive mining working face.

9. The control method of the support retraction traction machine body stability control system according to claim 7, characterized in that: The calculation formula of the lifting force in step S200 is obtained by the following formula: Wherein, F1 is the supporting force of the luffing cylinder, D is the piston diameter of the luffing cylinder (7), L1 is the installation distance of the luffing cylinder (7), △L1 is the minimum installation distance of the luffing cylinder (7), L2 is the stroke of the luffing cylinder (7), Point (x, y) is the hinge point between the luffing cylinder (7) and the telescopic arm. Point (a, b) is the hinge point between the luffing cylinder (7) and the slewing mechanism. R is the distance from the hinge point between the luffing cylinder (7) and the telescopic arm to the slewing hinge point O (0,0), L3 is the installation distance of the boom telescopic cylinder. △L2 is the minimum installation distance of the boom telescopic cylinder. L4 is the stroke of the boom telescopic cylinder, k1 is the vertical distance from the hinge point O to the thrust of the luffing cylinder (7), K2 is the vertical distance from the hinge point O to the gravity of the suspended object. G is the gravity acting on the hoisted load, i.e. the hoisting force.

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