Highway-railway dual-purpose ten-drive tractor and control system thereof

Abstract

The invention relates to the technical field of tractors, in particular to a highway-railway dual-purpose ten-wheel-drive tractor and a control system thereof.The highway-railway dual-purpose ten-wheel-drive tractor comprises a frame, and guide wheels, driving wheels and a cab are arranged on the frame; the ten driving wheels are uniformly distributed on the two sides of the frame; the four guide wheels are uniformly distributed on the two sides of the frame; a PLC all-in-one machine is arranged in the cab and used for integrated control and monitoring. And the guide wheel is provided with a constant-pressure self-locking device. The PLC all-in-one machine comprises a power control module, a transmission control module, a brake control module, a safety detection and early warning module, a man-machine interaction interface, a storage module and a data transmission module. The PLC all-in-one machine is arranged in the cab, the running state of the tractor can be monitored in real time and intelligently controlled, a driver can conveniently find faults in time and handle the faults in time, and the performance and safety of the new energy tractor are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tractors, and particularly to a ten-wheel drive tractor for both road and rail use and its control system. Background Art

[0002] With the development of new energy technologies, new energy tractors have been widely used in the fields of logistics, transportation, etc. However, there are still some drawbacks regarding the safety issues of ten-wheel drive tractors for both road and rail use. During the operation of the vehicle, there is a lack of real-time monitoring and intelligent control of the vehicle operation status. The driver cannot detect and handle faults in a timely manner, presenting potential safety hazards. Therefore, it is necessary to provide a ten-wheel drive tractor for both road and rail use and its control system to improve the performance and safety of new energy tractors. Summary of the Invention

[0003] The purpose of the present invention is to overcome the drawbacks of the prior art and propose to design a ten-wheel drive tractor for both road and rail use and its control system to achieve real-time monitoring and intelligent control of the tractor operation status, and improve the operation efficiency and safety of the tractor.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows: A ten-wheel drive tractor for both road and rail use includes a frame, on which a steering wheel, drive wheels and a cab are provided; ten drive wheels are provided, evenly distributed on both sides of the frame; four steering wheels are provided, evenly distributed on both sides of the frame; a PLC all-in-one machine is arranged in the cab for integrated control and monitoring; a constant pressure self-locking device is arranged on the steering wheel; the PLC all-in-one machine includes: A power control module, which controls the motor parameters of the tractor according to the operation status of the tractor to achieve smooth power output; the motor parameters include motor output power, motor speed, torque, etc., and the operation status of the tractor includes working conditions such as starting, accelerating, braking, and stopping; A transmission control module, which controls the lifting of the steering wheel and drive wheels and the opening and closing of the constant pressure self-locking device to quickly switch between the road mode and the rail mode and ensure stable driving; A braking control module, which controls the braking force of the brake to decelerate or stop the vehicle; A safety detection and warning module, which real-time monitors the operation status of each system of the tractor. If the status is abnormal, it will promptly issue a warning signal to ensure driving safety; A human-machine interface, which is used to display relevant data of the tractor and conduct human-machine interaction, facilitating the operator to directly observe the relevant data of the tractor in the cab and perform timely control; the relevant data of the tractor includes driving mileage, speed, acceleration, driving mode, motor parameters, brake status, abnormal data, video monitoring data, etc.; A storage module, which is used to store the collected original data and the processed data; The data transmission module uses wireless communication technology to connect the PLC all-in-one machine with the remote monitoring center, realizing data transmission and remote monitoring.

[0005] Furthermore, the PLC all-in-one machine is connected to the GPS positioning module, various sensors, and cameras installed on the tractor through wired or wireless means; the GPS positioning module real-time obtains the position information of the tractor; the sensors include speed sensors, temperature sensors, power sensors, pressure sensors, etc., which are used to real-time collect the operation status information of the tractor; the camera is used to obtain the real-time video images of the tractor and its surroundings.

[0006] Furthermore, the PLC all-in-one machine adjusts the motor output power P of the tractor according to the collected speed and acceleration of the tractor, and corrects it: P = f(v(t)) * σ(a); where v(t) is the speed of the tractor, f(v(t)) is the relationship model between the tractor speed and the motor output power, t is time, a is the acceleration of the tractor, σ(a) is the correction factor, and its formula is: ; where k1 and k2 are proportionality coefficients; the PLC all-in-one machine converts the power P into a control signal for the motor, and the control signal can be a voltage, current, rotational speed, or torque command, etc., to control the stable output of the tractor power.

[0007] Furthermore, the safety detection and warning module presets the normal range and threshold values for each operating component of the vehicle, compares the real-time collected or monitored data with the preset threshold values to determine whether it exceeds the threshold. When the collected or monitored data exceeds the threshold, it outputs a warning value F i = 1, otherwise, it outputs a warning value F i = 0, where F i is the warning value of the i-th type of component.

[0008] Furthermore, the safety detection and warning module integrates multiple types of components to comprehensively evaluate the fault conditions of multiple components. Let the weight coefficients be w1, w2,..., w i ,..., w n , and the comprehensive fault index Q is: ; When Q falls within the preset comprehensive evaluation value [Q1, Q2], a first-level warning is issued. When Q falls within the preset comprehensive evaluation value (Q2, Q3], a second-level warning is issued. When Q falls within the preset comprehensive evaluation value (Q3, Q4], a third-level warning is issued. When it is greater than the preset comprehensive evaluation value Q4, a warning above the fourth level is issued.

[0009] Furthermore, the constant-pressure self-locking device includes an oil cylinder, a balance valve, and a multi-way valve; more than two oil cylinders are provided and installed on the guiding assembly; a balance valve is installed on each oil cylinder, and each balance valve is connected to the oil port of its corresponding oil cylinder; the balance valve is connected to the multi-way valve. Through the arrangement of the balance valve and the multi-way valve, the two oil cylinders can act synchronously, ensuring the balanced distribution of the traction torque and constant pressure, which is beneficial to the stability of the tractor. In addition, the balance valve can be used to lock the oil cylinder, thereby realizing the self-locking of the guiding assembly.

[0010] Furthermore, the guiding assembly includes: A connecting shaft, with a guiding wheel installed at each end of the connecting shaft; a through hole is provided in the vertical direction on the connecting shaft, and the through hole includes an upper through hole and a lower through hole, and the inner diameter of the upper through hole is larger than that of the lower through hole; A plug rod, passing through the through hole, extending to the outside of the connecting shaft at the bottom, and fixedly connected to the mounting seat at the top. The lower end of the plug rod is provided with an external thread; A spring, sleeved on the outer periphery of the plug rod and placed in the upper through hole, between the mounting seat and the lower through hole. The top height of the spring is higher than the top height of the through hole; A nut, threadedly connected to the plug rod and located below the connecting shaft, used to pre-tighten the spring. When the guiding wheel is suspended, the spring can apply a downward thrust to the connecting shaft, thereby preventing the guiding wheel from being suspended.

[0011] Furthermore, a threaded hole is provided at the top of the mounting seat, and the piston rod of the oil cylinder is threadedly connected to the threaded hole.

[0012] Furthermore, two through holes are provided, respectively located at positions close to both ends of the connecting shaft.

[0013] Furthermore, the outer diameter of the spring is smaller than the inner diameter of the upper through hole of the through hole and larger than the inner diameter of the lower through hole of the through hole. The lower through hole of the through hole supports the spring.

[0014] The technical effects of the present invention: Compared with the prior art, the dual-purpose railway and highway ten-wheel drive tractor of the present invention has the following advantages: 1. The present invention sets a PLC integrated machine in the cab, which can monitor the vehicle running state in real time and perform intelligent control, facilitating the driver to discover faults in time and handle them in time, improving the performance and safety of the new energy tractor; 2. The power control module of the present invention can control the motor parameters of the tractor according to the running state of the tractor to achieve stable power output; the safety detection and early warning module can monitor the running state of each system of the tractor in real time, and can integrate multiple types of components to comprehensively evaluate the fault conditions of multiple components. If the state is abnormal, an early warning signal will be sent in time to ensure driving safety; 3. The configuration of the constant-pressure self-locking device's balance valve and multi-way valve in the present invention can ensure the simultaneous operation of two oil cylinders, ensure the average distribution of the traction torque, keep the pressure constant, and contribute to improving the stability of the tractor; the balance valve is used to lock the oil cylinder, and then the guiding component realizes the self-locking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structural principle of the rail-road dual-purpose ten-wheel drive tractor of the present invention; Figure 2 It is a schematic diagram of the structure of the constant-pressure self-locking device of the present invention; Figure 3 It is a schematic diagram of the structure of the plug rod and the mounting seat of the present invention; Figure 4 It is a longitudinal sectional view of the connecting shaft of the present invention at the through hole.

[0016] In the figure, 1. Frame; 2. Guide wheel; 3. Driving wheel; 4. Cab; 5. Multi-way valve; 6. Oil cylinder; 7. Balance valve; 8. Connecting shaft; 9. Upper through hole; 10. Lower through hole; 11. Plug rod; 12. Spring; 13. Mounting seat; 14. Nut; 15. Rotating shaft; 16. Threaded hole; 17. Mounting hole; 501. Oil port A; 502. Oil port B; 503. Oil port C; 504. Oil port D; 701. Oil port E; 702. Oil port F. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] To make the objectives, 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 with reference to the accompanying drawings of the specification.

[0018] Embodiment 1 As Figure 1 shown, a rail-road dual-purpose ten-wheel drive tractor involved in this embodiment includes a frame 1, on which a guide wheel 2, a driving wheel 3, and a cab 4 are arranged; ten driving wheels 3 are arranged, evenly distributed on both sides of the frame 1; four guide wheels 2 are arranged, evenly distributed on both sides of the frame 1; a PLC all-in-one machine is arranged in the cab 4 for integrated control and monitoring; the guide wheel 2 is provided with a constant-pressure self-locking device.

[0019] The integrated PLC machine includes a power control module, a transmission control module, a braking control module, a safety detection and warning module, a human-machine interface, a storage module, and a data transmission module. The power control module controls the motor parameters of the tractor according to the operating state of the tractor to achieve smooth power output; the motor parameters include motor output power, motor speed, torque, etc., and the operating state of the tractor includes working conditions such as starting, accelerating, braking, and stopping. The transmission control module controls the lifting of the guide wheels 2 and the drive wheels and the opening and closing of the constant-pressure self-locking device to quickly switch between the road mode and the track mode and ensure stable driving. The braking control module controls the braking force of the brake to decelerate or stop the vehicle. The safety detection and warning module monitors the operating state of each system of the tractor in real time. If the state is abnormal, it will send out a warning signal in time and formulate a solution strategy to ensure driving safety. The human-machine interface is used to display the relevant data of the tractor and conduct human-machine interaction, facilitating the operator to intuitively observe the relevant data of the tractor in the cab and conduct timely control; the relevant data of the tractor includes driving mileage, speed, acceleration, driving mode, motor parameters, brake state, abnormal data, video monitoring data, etc. The storage module is used to store the collected original data and the processed data. The data transmission module uses wireless communication technology to connect the integrated PLC machine with the remote monitoring center to achieve data transmission and remote monitoring.

[0020] The integrated PLC machine is connected to the GPS positioning module, various sensors, and cameras installed on the tractor in a wired or wireless manner; the GPS positioning module obtains the position information of the tractor in real time; the sensors include a speed sensor, a temperature sensor, a power sensor, a pressure sensor, etc., and are used to collect the operating state information of the tractor in real time; the camera is used to obtain the real-time video images of the tractor and the surroundings of the tractor.

[0021] The integrated PLC machine adjusts and corrects the motor output power P of the tractor according to the collected speed and acceleration of the tractor: P = f(v(t)) * σ(a); where v(t) is the speed of the tractor, f(v(t)) is the relationship model between the tractor speed and the motor output power, t is the time, a is the acceleration of the tractor, σ(a) is the correction factor, and its formula is: ; Among them, k1 and k2 are proportionality coefficients; the integrated PLC converts the power P into a control signal for the motor, and the control signal can be voltage, current, rotational speed, torque command, etc., to control the stable output of the power of the tractor. For example, when driving at a constant speed, the output power of the motor is kept stable; when braking, the intelligent control makes the motor enter the power generation state to realize energy recovery, and can reasonably allocate energy according to the state of the battery and the operation requirements of the tractor to optimize the energy utilization efficiency.

[0022] The safety detection and warning module presets a normal range and threshold for each operating component of the vehicle, compares the real-time collected or monitored data with the preset threshold to judge whether it exceeds the threshold. When the collected or monitored data exceeds the threshold, it outputs a warning value F i = 1, otherwise, it outputs a warning value F i = 0, where F i is the warning value of the i-th type of component. The safety detection and warning module integrates multiple types of components to comprehensively evaluate the fault conditions of multiple components. Let the weight coefficients be w1, w2,..., w i 、...、w n , and the comprehensive fault index Q is: ; When Q falls within the preset comprehensive evaluation value [Q1, Q2], a first-level warning is issued. When Q falls within the preset comprehensive evaluation value (Q2, Q3], a second-level warning is issued. When Q falls within the preset comprehensive evaluation value (Q3, Q4], a third-level warning is issued. When it is greater than the preset comprehensive evaluation value Q4, a warning above the fourth level is issued. When the warning condition is reached, the safety detection and warning module sends a warning message to the driver through a human-machine interface, a sound alarm, etc. The warning message includes the fault type, fault location, recommended measures, etc. For example, it displays "Brake controller failure, please check immediately!" on the display screen and is accompanied by a sound alarm prompt.

[0023] The integrated PLC of the present invention can display the speed of the tractor in real time, accurate the speed of the tractor to millimeters with small error. The integrated PLC also has an anti-misoperation function, improving the safety performance during the vehicle driving process.

[0024] As Figure 2 shown, the constant pressure self-locking device of this embodiment includes a multi-way valve 5, two oil cylinders 6, and two balance valves 7.

[0025] The two oil cylinders 6 are both installed on the guiding assembly. The two balance valves 7 are respectively installed on the two oil cylinders 6 and are both connected to the multi-way valve 5. Specifically, the multi-way valve 5 includes an oil port A501, an oil port B502, an oil port C503 and an oil port D504, and the balance valve 7 includes an oil port E701 and an oil port F702; the oil ports E701 on the two balance valves 7 are respectively connected to the oil port A501 and the oil port B502 on the multi-way valve 5, and the oil ports F702 on the two balance valves 7 are respectively connected to the oil port C503 and the oil port D504 on the multi-way valve 5. Through the balance valve 7 and the multi-way valve 5, the synchronism of the two oil cylinders 6 is ensured, and the balance valve 7 can also lock the oil cylinder 6.

[0026] The guiding assembly includes a connecting shaft 8, a plug rod 11, a spring 12, a mounting seat 13 and a nut 14.

[0027] As Figure 2-4 shown, one guiding wheel 2 is installed at each end of the connecting shaft 8 through a rotating shaft 15. Through holes are formed in the connecting shaft 8 in the vertical direction, and two through holes are provided, respectively located at positions near both ends of the connecting shaft 8. Specifically, as Figure 4 shown, the through holes include an upper through hole 9 and a lower through hole 10, and the inner diameter of the upper through hole 9 is larger than that of the lower through hole 10.

[0028] The plug rod 11 passes through the through hole, and an external thread is provided at the lower end; the top of the plug rod 11 is fixedly connected to the mounting seat 13, and the bottom extends to the outside of the connecting shaft 8 and is provided with a nut 14 for pre-tightening the spring 12. Preferably, the plug rod 11 fits against the inner wall of the lower through hole 10 to improve the stability of the plug rod 11.

[0029] The spring 12 is sleeved on the outer periphery of the plug rod 11 and is placed in the upper through hole 9. The outer diameter of the spring 12 is smaller than the inner diameter of the upper through hole 9 and larger than the inner diameter of the lower through hole 10. The mounting seat 13 is in a cylindrical shape, and its outer diameter is larger than the outer diameter of the spring 12, so that the spring 12 is installed between the lower through hole 10 and the mounting seat 13; the top height of the spring 12 is higher than the top height of the through hole.

[0030] A threaded hole 16 is formed at the top of the mounting seat 13, and the piston rod of the oil cylinder 6 is threadedly connected to the threaded hole 16, so as to install the oil cylinder 6 on the guiding assembly. An installation hole 17 is formed on the side surface of the mounting seat 13, and a handle is installed in the installation hole 17 for easy operation.

[0031] When the constant-pressure self-locking device of the present invention is in use, the cylinder body of the oil cylinder 6 is connected to the tractor through the ear plate, and the piston rod of the oil cylinder 6 is threadedly connected to the connecting shaft 8 of the guiding assembly. Under the action of the balance valve 7 and the multi-way valve 5, the two oil cylinders 6 can act synchronously, ensuring the balanced force of the two guiding wheels 2, enabling the balanced distribution of the traction torque, and being able to maintain a constant pressure, improving the stability of the tractor. The balance valve 7 can also be used to lock the oil cylinder 6, realizing the self-locking function of the guiding assembly without the need to additionally configure self-locking equipment. On the other hand, by tightening the nut 14 on the guiding assembly, a pre-tightening force is given to the spring 12, and the spring 12 contracts. When the guiding wheel 2 is suspended, the spring 12 will give a downward thrust to the connecting shaft 8, enabling the guiding wheel 2 to always be on the track plate, avoiding the phenomenon of the guiding wheel 2 being suspended, thereby effectively avoiding derailment of the locomotive and enabling the locomotive to run stably.

[0032] The above specific embodiments are only specific cases of the present invention. The patent protection scope of the present invention includes but is not limited to the above specific embodiments. Any appropriate changes or modifications made by any person skilled in the art who meets the claims of the present invention shall fall within the patent protection scope of the present invention.

Claims

1. A ten-wheel drive tractor for both railway and road use, characterized in that It includes a vehicle frame, on which a guide wheel, a drive wheel and a cab are provided; ten drive wheels are provided and evenly distributed on both sides of the vehicle frame; four guide wheels are provided and evenly distributed on both sides of the vehicle frame; a PLC all-in-one machine is arranged in the cab for integrated control and monitoring; a constant pressure self-locking device is arranged on the guide wheel; the PLC all-in-one machine includes: A power control module that controls the motor parameters of the tractor according to the operating state of the tractor; the motor parameters include motor output power, motor speed, and torque, and the operating state of the tractor includes starting, accelerating, braking, and stopping conditions; A transmission control module that controls the lifting of the guide wheel and the drive wheel and the opening and closing of the constant pressure self-locking device to quickly switch between the road mode and the track mode; A braking control module that controls the braking force of the brake to decelerate or stop the vehicle; A safety detection and warning module that continuously monitors the operating state of each system of the tractor and issues a warning signal in a timely manner if the state is abnormal; A human-machine interface for displaying relevant data of the tractor and performing human-machine interaction; the relevant data of the tractor includes driving mileage, speed, acceleration, driving mode, motor parameters, brake state, abnormal data, and video monitoring data; A storage module for storing the collected original data and the processed data; A data transmission module that connects the PLC all-in-one machine with a remote monitoring center using wireless communication technology to achieve data transmission and remote monitoring.

2. The ten-wheel drive tractor for both railway and road use according to claim 1, wherein The PLC all-in-one machine is connected to a GPS positioning module, various sensors, and cameras installed on the tractor by wired or wireless means; the GPS positioning module obtains the position information of the tractor in real time; the sensors include a speed sensor, a temperature sensor, a power sensor, and a pressure sensor for collecting the operating state information of the tractor in real time; the camera is used to obtain real-time video images of the tractor and its surroundings.

3. The dual-mode railway and road ten-wheel drive tractor according to claim 2, wherein The PLC all-in-one machine adjusts and corrects the motor output power P of the tractor according to the collected speed and acceleration of the tractor: P = f(v(t)) * σ(a); Wherein, v(t) is the speed of the tractor, f(v(t)) is the relationship model between the speed of the tractor and the output power of the motor, t is time, a is the acceleration of the tractor, σ(a) is the correction factor; the PLC all-in-one machine converts the power P into a control signal for the motor.

4. The dual-mode (railway and road) ten-wheel drive tractor according to claim 1, characterized in that, The safety detection and warning module preset normal ranges and thresholds for each running component of the vehicle, compares the real-time collected or monitored data with the preset thresholds to determine whether the thresholds are exceeded. When the collected or monitored data exceeds the thresholds, it outputs a warning value F i = 1; otherwise, it outputs a warning value F i = 0, where F i is the warning value of the i-th type of component.

5. The dual-purpose road-rail ten-wheel drive tractor according to claim 4, wherein, The safety detection and warning module integrates multiple types of components and comprehensively evaluates the fault conditions of multiple components. Let the weight coefficients be w1, w2,..., w i 、...、w n , and the comprehensive fault index Q is: ； When Q falls into the preset comprehensive evaluation value [Q1, Q2], a first-level warning is issued; when Q falls into the preset comprehensive evaluation value (Q2, Q3], a second-level warning is issued; when Q falls into the preset comprehensive evaluation value (Q3, Q4], a third-level warning is issued; when it is greater than the preset comprehensive evaluation value Q4, a warning of level four or above is issued.

6. The ten-wheel drive tractor for railway and highway use according to any one of claims 1-5, characterized in that The constant pressure self-locking device includes an oil cylinder, a balance valve, and a multi-way valve; two or more oil cylinders are provided and installed on the guide component; a balance valve is installed on each oil cylinder, and each balance valve is connected to the oil port of its corresponding oil cylinder; the balance valve is connected to the multi-way valve.

7. The ten-wheel drive tractor for both railway and road use according to claim 6, characterized in that, The guide component includes: A connecting shaft, with a guide wheel installed at each end of the connecting shaft; a through hole is opened in the vertical direction on the connecting shaft, and the through hole includes an upper through hole and a lower through hole, and the inner diameter of the upper through hole is larger than that of the lower through hole; An insertion rod that penetrates the through hole, extends to the outside of the connecting shaft at the bottom, and is fixedly connected to the mounting seat at the top. The lower end of the insertion rod is provided with an external thread; A spring is sleeved on the outer periphery of the plug rod and placed in the upper through hole, between the mounting seat and the lower through hole. The top height of the spring is higher than the top height of the through hole. A nut is threadedly connected to the plug rod and is located below the connecting shaft for pre-tightening the spring.

8. The road-rail dual-purpose ten-wheel drive tractor according to claim 7, characterized in that, A threaded hole is provided at the top of the mounting seat, and the piston rod of the oil cylinder is threadedly connected to the threaded hole.

9. The dual-purpose railway and highway ten-wheel drive tractor according to claim 7, characterized in that, Two of the through holes are respectively located at positions near both ends of the connecting shaft.

10. The dual-mode (railway and road) ten-wheel drive tractor according to claim 7, characterized in that, The outer diameter of the spring is smaller than the inner diameter of the upper through hole of the through hole and larger than the inner diameter of the lower through hole of the through hole.

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