Lifting control method and system for mining dump truck, terminal and storage medium

Abstract

The invention relates to the technical field of mining dump trucks, and particularly provides a mining dump truck lifting control method and system, a terminal and a storage medium, and the mining dump truck lifting control method comprises the steps that a target compartment limiting angle and target required lifting time are obtained, and lifting oil cylinder initial parameters and pump parameters are obtained; the extension length of the lifting oil cylinder is calculated based on the target compartment limiting angle and the initial parameters of the lifting oil cylinder, the participation condition of the oil cylinder in the lifting oil cylinder is judged based on the target compartment limiting angle and the extension length of the lifting oil cylinder, and the oil liquid demand quantity is calculated; when the target required lifting time is smaller than the lifting threshold value, the flow collecting valve group is opened and the displacement of the master pump is calculated, and when the target required lifting time is larger than the lifting threshold value, the flow collecting valve group is closed and the displacement of the master pump is calculated; and calculating the required engine speed, and controlling and operating the compartment to lift when the vehicle is in a safe starting condition. A user changes the target required lifting time according to requirements to obtain different engine rotating speeds, different working condition requirements are met, and guarantee is provided for efficient and stable operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of mining dump trucks, and in particular relates to a lifting control method, system, terminal and storage medium for a mining dump truck. Background Art

[0002] Mining dump trucks are essential engineering machinery for transporting ore and stripping layers in large open-pit mines at home and abroad. As special engineering vehicles, they have complex structures, high technical content and high prices. Due to the super-high and super-wide vehicle, they can only be operated on special roads in mining areas. Their working characteristics are short transportation distance, heavy load, frequent ups and downs, and going back and forth between mining and unloading points. They are often combined with electric shovels to form a mine loading, transportation and unloading production line.

[0003] The lifting hydraulic system of a mining dump truck is generally composed of a hydraulic pump, a lifting control valve, a lifting cylinder, etc. When transported to the unloading point, the driver performs the loading brake and operates the lifting control handle. The high-pressure oil of the hydraulic pump enters the lifting chamber of the lifting cylinder through the lifting control valve, pushing the lifting cylinder to extend, thereby causing the mining dump truck to flip over for unloading.

[0004] At present, the lifting time of the lifting hydraulic system of mining dump trucks is controlled by the maximum displacement of the lifting pump and the engine speed. The lifting time is a fixed value, but the different safety requirements, vehicle-shovel ratios, and driving habits of various mines at home and abroad make the requirements for lifting time different, making it difficult to achieve an effective balance. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides a lifting control method, system, terminal and storage medium for a mining dump truck to solve the above-mentioned technical problems.

[0006] In a first aspect, the present invention provides a lifting control system for a mining dump truck, comprising: an engine, a triple pump, a first coarse filter, a second coarse filter, a steering brake valve group, a confluence valve group, a lifting control valve, a lifting cylinder and a control device; The engine is connected to the triple pump; The first coarse filter is connected to the hydraulic oil tank; The triple pump includes a first lifting pump, a second lifting pump and a steering brake pump. One end of the first lifting pump is connected to the first coarse filter, and the other end is connected to the second coarse filter; one end of the second lifting pump is connected to the first coarse filter, and the other end is connected to the second coarse filter; one end of the steering brake pump is connected to the first coarse filter, and the other end is connected to the steering brake valve group; One end of the merging valve group is connected to the steering brake valve group, and the other end is connected to the second coarse filter; The lifting control valve is connected to the second coarse filter, the hydraulic oil tank and the lifting cylinder respectively; The lower side of the lifting cylinder is hinged to the lifting beam of the frame, the upper side is hinged to the hinge point at the front of the carriage, and the rear of the carriage is hinged to the rear tail beam of the frame through a pin shaft; The control device is connected to the engine, the confluence valve group and the lift control valve respectively; When all three pumps are involved in lifting control, the hydraulic oil enters the first lifting pump, the second lifting pump and the steering brake pump from the hydraulic oil tank through the first coarse filter, the hydraulic oil enters the lift control valve from the first lift pump and the second lift pump through the second coarse filter, the hydraulic oil enters the lift control valve from the steering brake pump through the steering brake valve group, the merging valve group and the second coarse filter, the oil enters the lift control valve from the lift control valve, and returns to the hydraulic oil tank from the lift cylinder through the lift control valve.

[0007] In an optional embodiment, the system further comprises a limit sensor installed at the rear side of the carriage, the limit sensor detecting the lifting angle and lifting height of the carriage and sending the information to the control device.

[0008] In an optional embodiment, a priority selection valve is integrated in the steering brake valve group. After the hydraulic oil enters the steering brake valve group, it is first supplied to the vehicle's steering brake system through the priority selection valve, and then the remaining hydraulic oil enters the merging valve group.

[0009] In a second aspect, the present invention provides a method for controlling the lifting of a mining dump truck. The method is implemented when the above-mentioned lifting control system for a mining dump truck is executed. The lifting cylinder is a three-stage cylinder. The method comprises the following steps: S1, based on user requirements, obtaining a target car limit angle and a target required lifting time, obtaining initial parameters of the lifting cylinder and pump parameters of the first lifting pump, the second lifting pump, and the steering brake pump; S2, calculating the extension length of the lifting cylinder based on the target compartment limit angle and the initial parameters of the lifting cylinder, judging the cylinder participation status in the lifting cylinder based on the target compartment limit angle and the extension length of the lifting cylinder, and calculating the oil demand based on the cylinder participation status in the lifting cylinder and the initial parameters of the lifting cylinder; S3, when the target required lifting time is less than the preset lifting threshold, the merging valve group is opened, and the total pump displacement is calculated based on the pump parameters of the first lifting pump, the second lifting pump, and the steering brake pump; when the target required lifting time is greater than the preset lifting threshold, the merging valve group is closed, and the total pump displacement is calculated based on the pump parameters of the first lifting pump and the second lifting pump; S4, calculating the required engine speed based on the target required lifting time, the total pump displacement and the oil demand, and when the vehicle is in a safe starting condition, controlling the vehicle cabin lifting based on the required engine speed, the target vehicle cabin limit angle and the target required lifting time.

[0010] In an optional embodiment, in step S2, the lifting cylinder extension length is calculated based on the target vehicle compartment limit angle and the initial parameters of the lifting cylinder as follows:

[0011]

[0012] Among them, BC is the distance from the hinge point between the car body and the rear tail beam of the frame to the hinge point between the lifting cylinder and the frame, BD is the distance between the front and rear hinge points of the car body, ∠ABD is the limit angle of the car body, ∠CBA is the initial design angle of the car body, CD is the total length of the lifting cylinder, AC is the initial length of the lifting cylinder, It is the extension length of the lifting cylinder.

[0013] In an optional embodiment, in step S2, judging the cylinder participation status in the lifting cylinder based on the target carriage limit angle and the extension length of the lifting cylinder specifically includes: The lifting cylinder includes a first cylinder, a second cylinder and a third cylinder, and the maximum elongation of the first cylinder, the second cylinder and the third cylinder are respectively obtained, and a first-level angle threshold and a second-level angle threshold are preset; When the target carriage limit angle is not greater than the first-level angle threshold and the extension length of the lifting cylinder is not greater than the maximum extension length of the first cylinder, it is determined that the first cylinder participates in the lifting control; When the target carriage limit angle is greater than the first angle threshold but not greater than the second angle threshold and the extension length of the lifting cylinder is not greater than the sum of the maximum extension lengths of the first cylinder and the second cylinder, it is determined that the first cylinder and the second cylinder participate in the lifting control; When the target vehicle compartment limit angle is greater than the secondary angle threshold and the extension length of the lifting cylinder is greater than the sum of the maximum extension lengths of the first cylinder and the second cylinder, it is determined that the first cylinder, the second cylinder and the third cylinder are involved in the lifting control.

[0014] In an optional embodiment, in step S2, calculating the oil demand based on the cylinder participation status in the lifting cylinder and the initial parameters of the lifting cylinder specifically includes: Calculate the amount of oil required to extend the piston rod of the first cylinder :

[0015] Calculate the amount of oil required to extend the piston rod of the second cylinder :

[0016] Calculate the amount of oil required to extend the piston rod of the third cylinder :

[0017] Oil demand Calculated as:

[0018] in, is the inner diameter of the first cylinder, is the piston rod extension length, is the inner diameter of the second stage cylinder, is the piston rod extension length, is the inner diameter of the third-stage oil cylinder, is the piston rod extension length, when it is determined to be and Not involved in lifting control time and is zero, when it is judged as Not involved in lifting control time is zero.

[0019] In an optional implementation, step S3 is specifically calculated as follows:

[0020]

[0021]

[0022]

[0023] in, is the total pump displacement, is the actual displacement of the first lift pump, is the theoretical displacement of the first lift pump, is the efficiency of the first lift pump, is the actual displacement of the second lift pump, is the theoretical displacement of the second lift pump, is the efficiency of the second lift pump, is the actual displacement of the steering brake pump, is the theoretical displacement of the steering brake pump, is the efficiency of the steering brake pump. When the steering brake pump is not involved in the lifting control is zero; In step S4, the engine speed is specifically calculated as:

[0024] in, is the engine speed and T is the target required lift time.

[0025] In a third aspect, a terminal is provided, including: processor, memory, wherein: The memory is used to store computer programs. The processor is used to call and run the computer program from the memory, so that the terminal executes the above-mentioned terminal method.

[0026] In a fourth aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, the computer executes the methods described in the above aspects.

[0027] The beneficial effects of the present invention are that the lifting control method, system, terminal and storage medium for mining dump trucks provided by the present invention can accurately calculate the extension length of the lifting cylinder, the oil demand and the required engine speed by obtaining user needs and related parameters, and control the pump confluence and engine speed according to the target required lifting time, so as to realize the car body lifting operation when the vehicle meets the safe starting conditions, thereby effectively improving the accuracy and safety of the lifting control of mining dump trucks. Users can change the target required lifting time according to their needs to obtain different engine speeds, thereby meeting the needs of different working conditions and providing guarantees for efficient and stable operations.

[0028] In addition, the invention has a reliable design principle, a simple structure and a very broad application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0030] Figure 1 It is a schematic flow chart of a lifting control method for a mining dump truck according to an embodiment of the present invention.

[0031] Figure 2 It is a simplified diagram for calculating the total length of the lifting cylinder in the unloading state of an embodiment of the present invention.

[0032] Figure 3 It is a structural diagram of a lifting control system for a mining dump truck according to an embodiment of the present invention.

[0033] Figure 4 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0036] The mining dump truck lifting control method provided by the embodiment of the present invention is executed by a computer device, and accordingly, the mining dump truck lifting control system runs in the computer device.

[0037] Figure 1 FIG. 1 is a schematic flow chart of a method for controlling the lifting of a mining dump truck according to an embodiment of the present invention. Figure 1 The execution subject can be a lifting control system for a mining dump truck. According to different requirements, the order of the steps in the flow chart can be changed, and some can be omitted.

[0038] like Figure 1 As shown, the lifting cylinder is a three-stage cylinder, and the method includes the following steps: S1, based on user requirements, obtaining a target car limit angle and a target required lifting time, obtaining initial parameters of the lifting cylinder and pump parameters of the first lifting pump, the second lifting pump, and the steering brake pump; By obtaining the target car limit angle, required lifting time and related parameters of various pumps and lifting cylinders based on user needs, basic data support is provided for subsequent precise calculations and precise system control, ensuring that the entire lifting process can be adjusted according to actual needs, thereby improving the system's adaptability to different working conditions and the accuracy of control.

[0039] S2, calculating the extension length of the lifting cylinder based on the target compartment limit angle and the initial parameters of the lifting cylinder, judging the cylinder participation status in the lifting cylinder based on the target compartment limit angle and the extension length of the lifting cylinder, and calculating the oil demand based on the cylinder participation status in the lifting cylinder and the initial parameters of the lifting cylinder; The extension length is calculated using the target car limit angle and the initial parameters of the lifting cylinder, and the cylinder participation status and oil demand are determined accordingly. This enables accurate grasp of the lifting cylinder's working status and precise calculation of oil demand, helps optimize system resource allocation, avoids energy waste, and ensures the stability and reliability of the lifting process.

[0040] S3, when the target required lifting time is less than the preset lifting threshold, the merging valve group is opened, and the total pump displacement is calculated based on the pump parameters of the first lifting pump, the second lifting pump, and the steering brake pump; when the target required lifting time is greater than the preset lifting threshold, the merging valve group is closed, and the total pump displacement is calculated based on the pump parameters of the first lifting pump and the second lifting pump; Based on the comparison results between the target lifting time and the preset threshold, the opening and closing of the confluence valve group is reasonably controlled and the corresponding total pump displacement is calculated. The flow supply of the lifting system can be flexibly adjusted so that the lifting speed can be effectively controlled under different demands, meeting diverse operational requirements and improving the working efficiency of mining dump trucks under different working conditions.

[0041] S4, calculating the required engine speed based on the target required lifting time, the total pump displacement and the oil demand, and when the vehicle is in a safe starting condition, controlling the vehicle cabin lifting based on the required engine speed, the target vehicle cabin limit angle and the target required lifting time.

[0042] The required engine speed is determined based on the accurately calculated target lifting time, total pump displacement and oil demand, and the vehicle body lifting control is performed when the vehicle is under safe starting conditions, thereby achieving safe and efficient operation of the lifting process, ensuring the safety of operation, and ensuring the precise control of the lifting time, thereby improving the performance and practicality of the entire mining dump truck lifting hydraulic system.

[0043] Optionally, as an embodiment of the present invention, refer to Figure 2 , point A is the hinge point between the lifting cylinder and the front end of the carriage, point B is the hinge point between the carriage and the rear tail beam of the frame, point C is the hinge point between the lifting cylinder and the frame, and point D is the hinge point between the lifting cylinder and the front end of the carriage after the lifting is completed. When the carriage is lifted, the lifting cylinder extends and rotates around the hinge point C, and the front of the carriage rises and rotates around the hinge point B to complete the unloading. In step S2, the lifting cylinder extension length is calculated based on the target carriage limit angle and the initial parameters of the lifting cylinder. The specific calculation is:

[0044]

[0045] Among them, BC is the distance from the hinge point between the car body and the rear tail beam of the frame to the hinge point between the lifting cylinder and the frame, BD is the distance between the front and rear hinge points of the car body and BD=BA, ∠ABD is the limit angle of the car body, ∠CBA is the initial design angle of the car body, CD is the total length of the lifting cylinder, AC is the initial length of the lifting cylinder, It is the extension length of the lifting cylinder.

[0046] Optionally, as an embodiment of the present invention, in step S2, judging the cylinder participation status in the lifting cylinder based on the target carriage limit angle and the extension length of the lifting cylinder specifically includes: The lifting cylinder includes a first cylinder, a second cylinder and a third cylinder, and the maximum elongation of the first cylinder, the second cylinder and the third cylinder are respectively obtained, and a first-level angle threshold and a second-level angle threshold are preset; When the target carriage limit angle is not greater than the first-level angle threshold and the extension length of the lifting cylinder is not greater than the maximum extension length of the first cylinder, it is determined that the first cylinder participates in the lifting control; When the target carriage limit angle is greater than the first angle threshold but not greater than the second angle threshold and the extension length of the lifting cylinder is not greater than the sum of the maximum extension lengths of the first cylinder and the second cylinder, it is determined that the first cylinder and the second cylinder participate in the lifting control; When the target vehicle compartment limit angle is greater than the secondary angle threshold and the extension length of the lifting cylinder is greater than the sum of the maximum extension lengths of the first cylinder and the second cylinder, it is determined that the first cylinder, the second cylinder and the third cylinder are involved in the lifting control.

[0047] If the angle judgment and length judgment are inconsistent, the controller checks whether the pressure and flow of the hydraulic system are normal, whether there are leakages, etc., and fine-tunes the engine speed and pump displacement to ensure that the working state of the cylinder meets expectations. At the same time, based on these adjustment information, the subsequent judgment and control process is continuously optimized to ensure that the participation of the three-stage cylinder can be accurately grasped during the entire lifting process, ensuring the safe and efficient lifting operation of the vehicle.

[0048] Optionally, as an embodiment of the present invention, in step S2, calculating the oil demand based on the cylinder participation status in the lifting cylinder and the initial parameters of the lifting cylinder specifically includes: Calculate the amount of oil required to extend the piston rod of the first cylinder :

[0049] Calculate the amount of oil required to extend the piston rod of the second cylinder :

[0050] Calculate the amount of oil required to extend the piston rod of the third cylinder :

[0051] Oil demand Calculated as:

[0052] in, is the inner diameter of the first cylinder, is the piston rod extension length, is the inner diameter of the second stage cylinder, is the piston rod extension length, is the inner diameter of the third-stage oil cylinder, is the piston rod extension length, when it is determined to be and Not involved in lifting control time and is zero, when it is judged as Not involved in lifting control time is zero.

[0053] Optionally, as an embodiment of the present invention, step S3 is specifically calculated as follows:

[0054]

[0055]

[0056]

[0057] in, is the total pump displacement, is the actual displacement of the first lift pump, is the theoretical displacement of the first lift pump, is the efficiency of the first lift pump, is the actual displacement of the second lift pump, is the theoretical displacement of the second lift pump, is the efficiency of the second lift pump, is the actual displacement of the steering brake pump, is the theoretical displacement of the steering brake pump, is the efficiency of the steering brake pump. When the steering brake pump is not involved in the lifting control Zero; The theoretical displacement is determined by the design structure of the pump. The pump performance is tested on a special hydraulic test bench, and the pump efficiency is calculated by accurately measuring the input power and output power of the pump.

[0058] In step S4, the engine speed is specifically calculated as:

[0059] in, is the engine speed and T is the target required lift time.

[0060] Optionally, as an embodiment of the present invention, when the lifting time is set to be minimum, that is, T=T0, when the lifting angle is a constant value, it can be seen from the calculation formula of the engine speed that when the displacement of the first lifting pump, the second lifting pump and the steering brake pump is the largest, the speed n is the highest, and the more oil enters the lifting cylinder per unit time, so when the lifting time is minimum, the engine speed is , the displacement of the first lift pump, the second lift pump and the steering brake pump is maximum, and the merging valve is in the open state.

[0061] When the lifting time is set to the maximum, that is, T=TN, the calculation formula of the engine speed shows that in order to maximize the lifting time, the amount of oil flowing into the lifting cylinder per unit time must be the least. At this time, the confluence valve can be closed, and only the first lifting pump and the second lifting pump supply oil to the lifting cylinder. At the same time, the engine speed is controlled to the minimum, and the maximum lifting time can be achieved. Based on the above premise, when the lifting angle is a fixed value, the engine speed in this state can be calculated. .

[0062] When the engine speed is maximum and the confluence valve is closed, the , the displacement of the first lifting pump and the second lifting pump can calculate the lifting time Ta at this time as the lifting threshold; In summary, when the merging valve is open and the engine speed n varies between the minimum and maximum values, the lifting time is between T0 and Ta; when the merging valve is closed and the engine speed n varies between the minimum and maximum values, the lifting time is between Ta and TN. The user can adjust the target lifting time according to this rule to achieve the adjustment of the engine speed and the opening and closing of the merging valve group, and finally realize the control of the entire lifting process so that the car body can reach the specified lifting position.

[0063] Optionally, as an embodiment of the present invention, the safety start conditions include the lifting handle being in the lifting position, the vehicle speed being 0, and the device brake switch being in the braking state.

[0064] In some embodiments, the computer program of each program segment in the lifting control system of the mining dump truck can be stored in the memory of the computer device and executed by at least one processor to perform (see Figure 1 Description) Function of lifting control for mining dump truck.

[0065] In this embodiment, the lifting control system for the mining dump truck refers to Figure 3, specifically including: an engine, a triple pump, a first coarse filter, a second coarse filter, a steering brake valve group, a confluence valve group, a lift control valve, a lift cylinder, a control device, a limit sensor and an intelligent instrument, the control device includes a controller and a pilot control, and the triple pump includes a first lift pump, a second lift pump and a steering brake pump; The engine is connected to a triple pump, wherein the first lift pump, the second lift pump and the steering brake pump are connected in series to the rear side of the engine through a transmission shaft and rotate coaxially with the engine; The first coarse filter is connected to the hydraulic oil tank; One end of the first lifting pump is connected to the first coarse filter, and the other end is connected to the second coarse filter; one end of the second lifting pump is connected to the first coarse filter, and the other end is connected to the second coarse filter; one end of the steering brake pump is connected to the first coarse filter, and the other end is connected to the steering brake valve group; One end of the confluence valve group is connected to the steering brake valve group, and the other end is connected to the second coarse filter; The lifting control valve is connected to the second coarse filter, the hydraulic oil tank and the lifting cylinder respectively; There are two lifting cylinders, which are symmetrically arranged on the left and right sides of the car body. The lower side of the lifting cylinder is hinged to the lifting beam of the frame, and the upper side is hinged to the hinge point at the front of the car body. The rear of the car body is hinged to the rear tail beam of the frame through a pin shaft. When the lifting cylinder is extended, the car body rotates around the rear hinge point to realize unloading.

[0066] The control device is connected to the engine, the confluence valve group and the lifting control valve respectively, wherein the pilot control is used to control the lifting control valve. The pilot control system generates corresponding electrical signals or hydraulic signals, which are transmitted to the lifting control valve to switch the valve port according to the preset logic, and accurately control the high-pressure hydraulic oil to enter the rod chamber and the rodless chamber of the lifting cylinder, thereby realizing the extension and retraction of the lifting cylinder, and then controlling the overturning, unloading and falling process of the car body to ensure the smooth progress of the unloading operation; the controller is used to control the engine and the confluence valve group; The limit sensor is installed at the rear side of the carriage. The limit sensor sends the detected lifting angle and lifting height of the carriage to the smart meter, and then sends them to the controller through the smart meter; The controller also receives lifting handle data, loading brake data and vehicle speed data to provide data support for determining safety starting conditions.

[0067] When the three pumps are involved in lifting control, the first and second lifting pumps suck oil from the hydraulic oil tank through the coarse filter and enter the high-pressure filter for filtration and confluence. The filtered high-pressure hydraulic oil enters the lifting control valve and stands by. The lifting control valve switches the valve port according to the pilot control signals on the left and right sides, so that the high-pressure hydraulic oil enters the rod chamber and rodless chamber of the lifting cylinder, thereby realizing the extension and retraction of the lifting cylinder and controlling the overturning, unloading and falling of the car. The steering brake pump is mainly used to supply oil to the vehicle steering brake system to control the steering and braking of the vehicle. The hydraulic oil enters the steering brake valve group from the steering brake pump. When there is steering and braking operation, the priority selection valve integrated in the steering brake valve group will give priority to supplying hydraulic oil to the steering brake system, and the rest of the oil enters the confluence valve group and stands by. When the confluence valve group receives the switch signal of the controller, the confluence valve solenoid valve acts to realize the confluence of the three pumps for lifting. When the car body is lifted, the controller detects the position of the lifting handle, the vehicle speed, and the device brake switch. Only when the lifting handle is in the lifting position, the vehicle speed is 0, and the device brake switch is in the braking state, can the car body be lifted according to the program control operation.

[0068] Figure 4 A schematic diagram of the structure of a terminal provided in an embodiment of the present invention, wherein the terminal can be used to execute the method for lifting control of a mining dump truck provided in an embodiment of the present invention.

[0069] The terminal may include: a processor, a memory and a communication unit. These components communicate via one or more buses. Those skilled in the art will appreciate that the server structure shown in the figure does not limit the present invention. It may be a bus structure or a star structure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0070] The memory can be used to store the execution instructions of the processor, and the memory can be implemented by any type of volatile or non-volatile storage terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. When the execution instructions in the memory are executed by the processor, the terminal is enabled to execute some or all of the steps in the following method embodiments.

[0071] The processor is the control center of the storage terminal, which uses various interfaces and lines to connect various parts of the entire electronic terminal, and executes various functions and / or processes data of the electronic terminal by running or executing software programs and / or modules stored in the memory, and calling data stored in the memory. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor can only include a central processing unit (CPU). In the embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0072] The communication unit is used to establish a communication channel so that the storage terminal can communicate with other terminals, receive user data sent by other terminals or send user data to other terminals.

[0073] The present invention also provides a computer-readable storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0074] Therefore, the technical effects that can be achieved by this embodiment can be found in the description above and will not be repeated here.

[0075] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present invention, in essence or in other words, the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes, including several instructions for enabling a computer terminal (which can be a personal computer, a server, or a second terminal, a network terminal, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention.

[0076] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the terminal embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

[0077] In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or modules, which can be electrical, mechanical or other forms.

[0078] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0079] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0080] Although the present invention has been described in detail with reference to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person of ordinary skill in the art may easily think of changes or substitutions within the technical scope disclosed by the present invention, and these shall be within the scope of protection of the present invention.

Claims

1. A lifting control system for a mining dump truck, characterized in that: include: Engine, triple pump, first coarse filter, second coarse filter, steering brake valve group, confluence valve group, lift control valve, lift cylinder and control device; The engine is connected to the triple pump; The first coarse filter is connected to the hydraulic oil tank; The triple pump includes a first lifting pump, a second lifting pump and a steering brake pump. One end of the first lifting pump is connected to the first coarse filter, and the other end is connected to the second coarse filter; one end of the second lifting pump is connected to the first coarse filter, and the other end is connected to the second coarse filter; one end of the steering brake pump is connected to the first coarse filter, and the other end is connected to the steering brake valve group; One end of the merging valve group is connected to the steering brake valve group, and the other end is connected to the second coarse filter; The lifting control valve is connected to the second coarse filter, the hydraulic oil tank and the lifting cylinder respectively; The lower side of the lifting cylinder is hinged to the lifting beam of the frame, the upper side is hinged to the hinge point at the front of the carriage, and the rear of the carriage is hinged to the rear tail beam of the frame through a pin shaft; The control device is connected to the engine, the confluence valve group and the lift control valve respectively; When all three pumps are involved in lifting control, the hydraulic oil enters the first lifting pump, the second lifting pump and the steering brake pump from the hydraulic oil tank through the first coarse filter, the hydraulic oil enters the lift control valve from the first lift pump and the second lift pump through the second coarse filter, the hydraulic oil enters the lift control valve from the steering brake pump through the steering brake valve group, the merging valve group and the second coarse filter, the oil enters the lift control valve from the lift control valve, and returns to the hydraulic oil tank from the lift cylinder through the lift control valve.

2. The lifting control system for a mining dump truck according to claim 1, characterized in that: The system also includes a limit sensor installed on the rear side of the car body, which detects the lifting angle and lifting height of the car body and sends them to the control device.

3. The lifting control system for a mining dump truck according to claim 1, characterized in that: The steering brake valve group is integrated with a priority selection valve. After the hydraulic oil enters the steering brake valve group, it is first supplied to the vehicle's steering brake system through the priority selection valve, and then the remaining hydraulic oil enters the merging valve group.

4. A method for controlling the lifting of a mining dump truck, characterized in that: The method is implemented when the mining dump truck lifting control system described in any one of steps 1-3 is executed, the lifting cylinder is a three-stage cylinder, and the method includes the following steps: S1, based on user requirements, obtaining a target car limit angle and a target required lifting time, obtaining initial parameters of the lifting cylinder and pump parameters of the first lifting pump, the second lifting pump, and the steering brake pump; S2, calculating the extension length of the lifting cylinder based on the target compartment limit angle and the initial parameters of the lifting cylinder, judging the cylinder participation status in the lifting cylinder based on the target compartment limit angle and the extension length of the lifting cylinder, and calculating the oil demand based on the cylinder participation status in the lifting cylinder and the initial parameters of the lifting cylinder; S3, when the target required lifting time is less than the preset lifting threshold, the merging valve group is opened, and the total pump displacement is calculated based on the pump parameters of the first lifting pump, the second lifting pump, and the steering brake pump; when the target required lifting time is greater than the preset lifting threshold, the merging valve group is closed, and the total pump displacement is calculated based on the pump parameters of the first lifting pump and the second lifting pump; S4, calculating the required engine speed based on the target required lifting time, the total pump displacement and the oil demand, and when the vehicle is in a safe starting condition, controlling the vehicle cabin lifting based on the required engine speed, the target vehicle cabin limit angle and the target required lifting time.

5. The lifting control method for a mining dump truck according to claim 4, characterized in that: In step S2, the lifting cylinder extension length is calculated based on the target car limit angle and the initial parameters of the lifting cylinder: Among them, BC is the distance from the hinge point between the car body and the rear tail beam of the frame to the hinge point between the lifting cylinder and the frame, BD is the distance between the front and rear hinge points of the car body, ∠ABD is the limit angle of the car body, ∠CBA is the initial design angle of the car body, CD is the total length of the lifting cylinder, AC is the initial length of the lifting cylinder, It is the extension length of the lifting cylinder.

6. The lifting control method for a mining dump truck according to claim 5, characterized in that: In step S2, the cylinder participation status in the lifting cylinder is determined based on the target compartment limit angle and the extension length of the lifting cylinder, specifically including: The lifting cylinder includes a first cylinder, a second cylinder and a third cylinder, and the maximum elongation of the first cylinder, the second cylinder and the third cylinder are respectively obtained, and a first-level angle threshold and a second-level angle threshold are preset; When the target carriage limit angle is not greater than the first-level angle threshold and the extension length of the lifting cylinder is not greater than the maximum extension length of the first cylinder, it is determined that the first cylinder participates in the lifting control; When the target carriage limit angle is greater than the first angle threshold but not greater than the second angle threshold and the extension length of the lifting cylinder is not greater than the sum of the maximum extension lengths of the first cylinder and the second cylinder, it is determined that the first cylinder and the second cylinder participate in the lifting control; When the target vehicle compartment limit angle is greater than the secondary angle threshold and the extension length of the lifting cylinder is greater than the sum of the maximum extension lengths of the first cylinder and the second cylinder, it is determined that the first cylinder, the second cylinder and the third cylinder are involved in the lifting control.

7. The lifting control method for a mining dump truck according to claim 6, characterized in that: In step S2, the oil demand is calculated based on the oil cylinder participation status in the lifting oil cylinder and the initial parameters of the lifting oil cylinder, specifically including: Calculate the amount of oil required to extend the piston rod of the first cylinder : Calculate the amount of oil required to extend the piston rod of the second cylinder : Calculate the amount of oil required to extend the piston rod of the third cylinder : Oil demand Calculated as: in, is the inner diameter of the first cylinder, is the piston rod extension length, is the inner diameter of the second stage cylinder, is the piston rod extension length, is the inner diameter of the third-stage oil cylinder, is the piston rod extension length, when it is determined to be and Not involved in lifting control time and is zero, when it is judged as Not involved in lifting control time is zero.

8. The lifting control method for a mining dump truck according to claim 7, characterized in that: Step S3 is specifically calculated as: in, is the total pump displacement, is the actual displacement of the first lift pump, is the theoretical displacement of the first lift pump, is the efficiency of the first lift pump, is the actual displacement of the second lift pump, is the theoretical displacement of the second lift pump, is the efficiency of the second lift pump, is the actual displacement of the steering brake pump, is the theoretical displacement of the steering brake pump, is the efficiency of the steering brake pump. When the steering brake pump is not involved in the lifting control is zero; In step S4, the engine speed is specifically calculated as: in, is the engine speed and T is the target required lift time.

9. A terminal, characterized in that: include: A memory, used for storing a lifting control program for a mining dump truck; A processor is used to implement the steps of the mining dump truck lifting control method as described in any one of claims 4 to 8 when executing the mining dump truck lifting control program.

10. A computer-readable storage medium, characterized in that: The readable storage medium stores a mining dump truck lifting control program, and when the mining dump truck lifting control program is executed by the processor, the steps of the mining dump truck lifting control method as described in any one of claims 4 to 8 are implemented.

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