Integrated steering cylinder of mining dump truck and use method of integrated steering cylinder

Abstract

The integrated steering cylinder comprises a cylinder barrel, a cartridge valve, a connecting pipe, a piston rod, a piston, an angle sensor and a pin shaft, the cylinder barrel comprises a base and a barrel body, the top of the barrel body is connected to the bottom of the base, and a second oil port is formed in the outer wall of the lower portion of the barrel body; a pin hole is formed in the lower end of the piston rod, the pin shaft is installed in the pin hole, and the angle sensor is connected to an opening of the pin shaft hole and connected with the pin shaft. The base is provided with a cartridge valve mounting hole, the side wall of the base is provided with an oil inlet, an oil return port and a communicating hole, the bottom of the base is provided with a first oil port, the cartridge valve is mounted in the cartridge valve mounting hole, and the two ends of the connecting pipe are connected to the communicating hole and a second oil port respectively. The invention further discloses a using method of the integrated steering cylinder of the mining dump truck. The integration level of a hydraulic part in a mining truck steering system can be improved, and the phenomenon that steering of the steering mechanism is not in place or a cylinder is pulled out is avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of steering mechanism of mining dump truck, and particularly relates to an integrated steering cylinder of mining dump truck and a use method thereof. BACKGROUND

[0002] The off-highway mining dump truck is an important transport equipment in open-pit mine and is often used for medium-distance transportation of ore and earthwork in the mine. With the promotion of electricization and intelligentization of the automobile industry, vehicle control technology has undergone great innovation, and the mining dump truck has also started the development of electricization and unmannedization. By using new vehicle control technology, the mining dump truck can sense the surrounding environment of the vehicle and the operation of the internal mechanism of the vehicle in real time through the use of various sensors, and on this basis, a decision system can also be used to complete the unmanned control of a single vehicle. With the development of the electric control system of the mining dump truck, the hydraulic system of the mining dump truck gradually develops towards miniaturization and integration, and the original complex hydraulic pipeline can now be replaced by a more concise electrical harness. The hydraulic valve that cannot be replaced at present is also integrated as much as possible.

[0003] The displacement sensor is also called a linear sensor, which is a linear device belonging to metal induction. The function of the sensor is to convert various measured physical quantities into electrical quantities. In the production process, the measurement of displacement is generally divided into two types: measuring the size of the real object and measuring mechanical displacement. According to the form of the measured variable transformation, the displacement sensor can be divided into analog and digital types. The analog type can be further divided into physical and structural types. The commonly used displacement sensor is mostly of the analog structural type, including potentiometer type displacement sensor, inductance type displacement sensor, self-encoder, capacitive displacement sensor, eddy current displacement sensor, and Hall type displacement sensor.

[0004] The steering cylinder of the mining dump truck is a key component of the steering system of the mining dump truck, and there is currently no integrated solution. The displacement sensor is usually used to sense the steering angle by being externally or internally arranged on the hydraulic cylinder. The displacement sensor is a linear sensor, which has the advantages of strong anti-interference ability and high precision, but also has the problems of high cost and high power consumption.

[0005] How to improve the integration of the steering cylinder and overcome the technical defects of the displacement sensor is a technical problem that needs to be solved at present. SUMMARY

[0006] The purpose of the present application is to provide an integrated steering cylinder of a mining dump truck and a use method thereof, which can improve the integration of the hydraulic part of the steering system of the mining truck and avoid the steering mechanism from not being in place or from being pulled out of the cylinder.

[0007] To achieve the above purpose, the technical solution used by the present application is as follows:

[0008] The integrated steering cylinder of mine dump truck comprises a cylinder barrel, a cartridge valve, a connecting pipe, an end cover, a piston rod, a piston, an angle sensor and a pin shaft, wherein the cylinder barrel comprises a base and a cylinder body, the top of the cylinder body is connected to the bottom of the base, the bottom of the cylinder body is connected to the end cover, and the outer wall of the lower part of the cylinder body is provided with a second oil port; the lower end of the piston rod is provided with a pin hole, the pin shaft is installed in the pin hole, the angle sensor is connected to the opening of the pin hole, and the angle sensor is connected to the pin shaft; the base is provided with a cartridge valve mounting hole, the opening of the cartridge valve mounting hole is located on the side wall of the base, the side wall of the base is respectively provided with an oil inlet, an oil return port and a communication hole, the bottom of the base is provided with a first oil port, and the first oil port is communicated with the inner cavity of the cylinder body; the cartridge valve mounting hole is communicated with the oil inlet, the oil return port, the first communication hole and the first oil port through internal hydraulic through holes; the cartridge valve is installed in the cartridge valve mounting hole, and the connecting pipe is connected to the communication hole and the second oil port at two ends respectively.

[0009] Further, the end cover is provided with an end cover through hole, the piston is located in the inner cavity of the cylinder body, the piston rod is sleeved in the end cover through hole, and the upper end of the piston rod extends into the inner cavity of the cylinder body and is connected to the piston.

[0010] Further, the base and the cylinder body are welded and connected, the bottom of the cylinder body and the end cover are connected through flanges and bolts, and the two ends of the connecting pipe are welded on the communication hole and the second oil port respectively.

[0011] Further, the second oil port is communicated with the inner cavity of the cylinder body, the first oil port is located on the upper part of the piston, the second oil port is located on the lower part of the piston, and the second oil port is communicated with the cartridge valve mounting hole.

[0012] Further, the side wall of the end cover and the end cover through hole are respectively provided with an outer sealing groove and an inner sealing groove, and the outer sealing groove and the inner sealing groove are respectively installed with an outer sealing ring and an inner sealing ring; the side wall of the piston is provided with a piston sealing groove, and the piston sealing groove is provided with a piston sealing ring.

[0013] Further, the upper part of the base is provided with a hinged hole, the pin hole is provided with a first damping pad and a second damping pad, the ball head of the pin shaft is installed in the inner hole of the first damping pad, the second damping pad is in an annular structure, and the ball head and the angle sensor are between the first damping pad and the second damping pad.

[0014] Further, the angle sensor is a magnetic sensitive angle sensor, and the pin shaft is a ball head pin, the top plane of the ball head is processed with a sensor mounting hole, and the sensor rod of the angle sensor is inserted into the sensor mounting hole.

[0015] Further, the cartridge valve is a three-position four-way valve, which comprises a valve body and a coil, the coil is used for receiving an electric signal to control the movement of a valve core in the valve body, the first oil port and the second oil port are respectively communicated with a working oil outlet and a working oil outlet of the cartridge valve, the oil inlet and the oil return port are respectively connected to a valve oil inlet and a valve oil return port of the cartridge valve, and the switching of the cartridge valve controlled by the electric signal changes the on-off of the working oil outlet, the working oil outlet, the first oil port and the second oil port of the hydraulic cylinder.

[0016] The method of using the integrated steering cylinder for mining dump trucks includes:

[0017] When the mining vehicle turns, the mining vehicle control system receives the steering wheel steering signal and generates an electrical signal to send to the cartridge valve to control the cartridge valve to change position; the pressure oil reaches the cartridge valve through the oil inlet, and the cartridge valve determines the valve core position according to the received steering wheel steering signal, so that the pressure oil enters and exits the cylinder through the first oil port or the second oil port, and the pressure oil on the other side of the piston returns to the oil tank through the oil return port. The pressure oil pushes the piston to move, and the piston drives the piston rod to extend or retract;

[0018] The angle sensor detects the angle change between the pin shaft and the pin hole and generates an electrical signal, which is then sent to the mining vehicle control system.

[0019] Preferably, when the piston rod extends or retracts relative to the cylinder, an angle change occurs between the pin hole and the pin shaft. The angle sensor detects the angle change, generates a corresponding electrical signal, and sends it to the mining vehicle control system in real time. After receiving the angle change, the mining vehicle control system calculates the current steering angle of the wheel based on the geometric relationship of the steering mechanism. When the wheel has reached the specified steering angle, the mining vehicle control system sends an electrical signal to the cartridge valve to control the cartridge valve to return to the middle position, closing the first oil port and the second oil port. The pressure oil directly enters the oil return port from the oil inlet, the pressure oil in the cylinder is closed, the piston stops moving, and the steering is completed.

[0020] The technical effects of the present invention include:

[0021] The integrated steering cylinder for a mining dump truck of the present invention has a compact structure, which improves the integration of the hydraulic part in the traditional mining vehicle steering system. At the same time, it can avoid the steering mechanism from not steering in place or causing the cylinder to be pulled out, and meets the requirements of automatic or unmanned operation of off-road mining dump trucks.

[0022] The present invention integrates a three-position four-way electromagnetic cartridge valve on the steering cylinder, which can receive electrical signals, change the on-off of different oil circuits of the hydraulic cylinder, and further control the action of the steering cylinder.

[0023] The present invention provides an angle sensor on the pin hole of the steering cylinder piston rod. This sensor is capable of measuring the relative angle change between the steering rod pin hole and the pin shaft, and transmits the angle change value to the control system. The control system then calculates the current steering angle of the wheel based on the geometric relationship of the steering structure, thereby achieving real-time monitoring and automatic control of the steering system. This angle sensor uses a magnetic angle sensor, which has the advantages of high resolution, strong anti-interference ability, high reset accuracy, and lower cost. It also uses non-contact sensing of rotating magnetic field changes, which performs better in harsh working environments. The present invention uses a magnetic angle sensor, which is a nonlinear sensor with lower power consumption and cost, and is more economical than a displacement sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is the structure diagram of the integrated steering cylinder of the mine dump truck in the present application;

[0025] Figure 2 is the left view of Figure 1 ;

[0026] Figure 3 is the sectional view of the base in the present application;

[0027] Figure 4 is the sectional view of Figure 2 in A-A direction;

[0028] Figure 5 is the principle diagram of the cartridge valve in the present application. DETAILED DESCRIPTION

[0029] The following description fully illustrates specific embodiments of the present application to enable one of ordinary skill in the art to practice and reproduce the same.

[0030] As shown in Figure 1 , it is the structure diagram of the integrated steering cylinder of the mine dump truck in the present application; as shown in Figure 2 , it is the left view of Figure 1 ; as shown in Figure 3 , it is the sectional view of the base 11 in the present application.

[0031] The integrated steering cylinder of the mine dump truck comprises: a cylinder barrel 1, a cartridge valve 2, a connecting pipe 3, an end cover 4, a piston rod 5, a piston 6, an angle sensor 7, and a pin shaft 8.

[0032] The cylinder barrel 1 comprises a base 11 and a barrel body 12, the top of the barrel body 12 is connected to the bottom of the base 11, the bottom of the barrel body 12 is connected to the end cover 4, and the outer wall of the lower part of the barrel body 12 is provided with a second oil port 16; the end cover 4 is provided with an end cover through hole, the piston 6 is located in the inner cavity (hydraulic chamber) of the barrel body 12, the piston rod 5 is sleeved in the end cover through hole, the upper end of the piston rod 5 extends into the inner cavity of the barrel body 12 and is connected to the piston 6, the lower end of the piston rod 5 is provided with a pin hole 51, the pin shaft 8 is installed in the pin hole 51, and the angle sensor 7 is connected to the opening of the pin hole 51, and the angle sensor 7 is connected to the pin shaft 8.

[0033] The base 11 is provided with a cartridge valve mounting hole 13, the opening of the cartridge valve mounting hole 13 is located on the side wall of the base 11, the side wall of the base 11 is respectively provided with an oil inlet P1, an oil return port T1, and a communication hole 14, the bottom of the base 11 is provided with a first oil port 15, and the first oil port 15 communicates with the inner cavity (hydraulic chamber) of the barrel body 12; the cartridge valve mounting hole 13 is communicated with the oil inlet P1, the oil return port T1, the first communication hole 14, and the first oil port 15 through the internal hydraulic through hole.

[0034] The cartridge valve 2 is installed in the cartridge valve mounting hole 13.

[0035] The two ends of the connecting pipe 3 are connected to the communicating hole 14 and the second oil port 16 respectively;

[0036] The pin shaft 8 is installed in the pin hole 51 at the bottom of the piston rod 5 , and the angle sensor 7 is installed on the pin hole 51 .

[0037] The bottom of the barrel 12 and the end cover 4 are connected by flanges and bolts. The cylinder 1 is welded by the base 11 and the barrel 12, and the two ends of the connecting pipe 3 are welded to the connecting hole 14 and the second oil port 16 respectively.

[0038] Second oil port 16 communicates with the inner cavity (hydraulic chamber) of cylinder 12. First oil port 15 is located above piston 6, and second oil port 16 is located below piston 6. Second oil port 16 is located on the boss of cylinder 12. A hinge hole 17 is provided on the upper portion of base 11 for articulation to the vehicle frame.

[0039] The second oil port 16 of the cylinder 12 is connected to the inner cavity (hydraulic cavity) of the cylinder 12 . The second oil port 16 is connected to the communication hole 14 through the connecting pipe 3 , thereby being connected to the cartridge valve mounting hole 13 on the base 11 .

[0040] The sidewall and through-hole of end cap 4 are respectively provided with an outer sealing groove and an inner sealing groove, each of which is fitted with an outer sealing ring and an inner sealing ring. The sidewall of piston 6 is also provided with a piston sealing groove, each of which is fitted with a piston sealing ring, sealing the interior of cylinder barrel 1. The space between cylinder barrel 1 and piston rod 5 forms an annular cavity.

[0041] The piston 6 is provided with a piston through hole, the top of the piston rod 5 passes through the piston through hole and is fixed by a locking nut, and the top end of the piston rod 5 is connected to the piston 6.

[0042] like Figure 4 As shown, Figure 2 Cross-sectional view along the AA axis.

[0043] The pin 8 is a ball pin with a ball head at one end. The top plane of the ball head is processed with a sensor mounting hole for matching with the sensor rod of the angle sensor. The sensor rod is inserted into the sensor mounting hole.

[0044] The pin 8 is mounted in a pin hole 51 at the bottom of the piston rod 5. A first shock-absorbing pad 52 and a second shock-absorbing pad 53 are disposed in the pin hole 51. The ball head of the pin 8 is mounted in the inner hole of the first shock-absorbing pad 52. The second shock-absorbing pad 53 is an annular structure and is located between the ball head of the pin 8 and the angle sensor 7. The first and second shock-absorbing pads 52, 53 can eliminate vibration and improve the detection accuracy of the angle sensor 7.

[0045] In the preferred embodiment, the angle sensor 7 is a magnetic angle sensor. The piston rod 5 outside the pin hole 51 is provided with a threaded hole, and the angle sensor 7 and the piston rod 5 are connected by bolts.

[0046] As shown in FIG. 1, it is a structural principle diagram of the plug-in valve 2. Figure 5

[0047] The plug-in valve 2 is a three-position four-way valve, which includes a valve body 21 and a coil 22. The coil 22 is used to receive an electrical signal to control the movement of a valve core in the valve body 21, thereby controlling the on-off of different oil ports of the plug-in valve 2, and completing the action corresponding to different electrical signals.

[0048] The first oil port 15 and the second oil port 16 are respectively connected to the working oil outlet A and the working oil outlet B of the plug-in valve 2, and the inlet port P1 and the return port T1 are respectively connected to the valve inlet port P and the valve return port T of the plug-in valve 2.

[0049] The switching of the plug-in valve 2 controlled by the electrical signal can change the on-off of the working oil outlet A, the working oil outlet B, the first oil port 15 and the hydraulic cylinder second oil port 16.

[0050] The use method of the integrated steering cylinder of the mine dump truck is as follows:

[0051] Step 1: When the mine truck turns, the mine truck control system receives the steering wheel turning signal and forms an electrical signal sent to the plug-in valve 2 to control the switching of the plug-in valve 2.

[0052] The pressure oil reaches the plug-in valve 2 through the inlet port P1, and the plug-in valve 2 determines the valve core position according to the received steering wheel turning signal, so that the pressure oil enters and exits the cylinder barrel 1 through the first oil port 15 or the second oil port 16, and the pressure oil on the other side of the piston 6 returns to the oil tank through the return port T1, thereby the pressure oil pushes the piston 6 to move, and the piston 6 drives the piston rod 5 to extend or retract.

[0053] When the pressure oil enters the hydraulic chamber through the first oil port 15, the piston rod 5 extends; when the pressure oil enters the hydraulic chamber through the second oil port 16, the piston rod 5 retracts.

[0054] The cylinder barrel 1 is a single-pole double-acting hydraulic cylinder, and the working medium is hydraulic oil. When the cylinder barrel 1 works, the pressure oil flows in / out through the first oil port 15 on one side of the base 11 or the second oil port 16 on one side of the piston rod 5.

[0055] Receiving electrical signal mode 1: the plug-in valve 2 controls the valve inlet port P to be communicated with the first oil port 15, and the valve return port T to be communicated with the second oil port 16.

[0056] Receiving electrical signal mode 2: the plug-in valve 2 controls the valve inlet port P to be communicated with the return port T, and the first oil port 15 and the second oil port 16 to be closed.

[0057] ​Receive the electric signal mode 3: the plug-in valve 2 controls the valve oil inlet P and the second oil port communication, the oil return port T and the first oil port communication.

[0058] Step 2: the angle sensor 7 detects the angle change between the pin shaft 8 and the pin hole 51 of the piston rod 5 and forms an electric signal, and sends the electric signal to the mine vehicle control system.

[0059] When the piston rod 5 extends or retracts relative to the cylinder 1, the angle change between the pin hole 51 and the pin shaft 8 is detected by the angle sensor 7, and the corresponding electric signal is sent to the mine vehicle control system in real time. After receiving the angle change, the mine vehicle control system calculates the current steering angle of the wheel according to the steering mechanism geometry. When the wheel has reached the specified steering angle, the mine vehicle control system sends an electric signal to the plug-in valve 2 to control the plug-in valve 2 to return to the neutral position, close the first oil port 15 and the second oil port 16, and the pressure oil directly enters the oil return port T1 from the oil inlet P1. The pressure oil in the cylinder 1 is closed, and the hydraulic cylinder stops moving, and the steering is completed.

[0060] The terms used in the present application are illustrative and exemplary, but not limiting terms. Since the present application can be embodied in various forms without departing from the spirit or essence of the technical solution, it should be understood that the above examples are not limited to any of the above details, but should be widely interpreted within the spirit and scope defined by the appended claims, and therefore all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. An integrated steering cylinder for a mining dump truck, characterized in that: include: Cylinder, cartridge valve, connecting pipe, end cover, piston rod, piston, angle sensor, pin shaft, the cylinder barrel includes: a base and a cylinder body, the top of the cylinder body is connected to the bottom of the base, the bottom of the cylinder body is connected to the end cover, and the lower outer wall of the cylinder body is provided with a second oil port; a pin hole is provided at the lower end of the piston rod, the pin shaft is installed in the pin hole, the angle sensor is connected at the opening of the pin shaft hole, and the angle sensor is connected to the pin shaft; the base is provided with a cartridge valve mounting hole, the opening of the cartridge valve mounting hole is located on the side wall of the base, the side walls of the base are respectively provided with an oil inlet, an oil return port, and a connecting hole, the bottom of the base has a first oil port, and the first oil port is connected to the inner cavity of the cylinder body; the cartridge valve mounting hole is respectively connected to the oil inlet, the oil return port, the first connecting hole, and the first oil port through the internal hydraulic through hole; the cartridge valve is installed in the cartridge valve mounting hole, and both ends of the connecting pipe are respectively connected to the connecting hole and the second oil port.

2. The integrated steering cylinder for a mining dump truck according to claim 1, characterized in that: The end cover is provided with an end cover through hole, the piston is located in the inner cavity of the cylinder, the piston rod is sleeved in the end cover through hole, and the upper end of the piston rod extends into the inner cavity of the cylinder and is connected with the piston.

3. The integrated steering cylinder for a mining dump truck according to claim 1, characterized in that: The base is welded to the cylinder, the bottom and end cover of the cylinder are connected by flanges and bolts, and both ends of the connecting pipe are welded to the communicating hole and the second oil port respectively.

4. The integrated steering cylinder for a mining dump truck according to claim 1, characterized in that: The second oil port is connected to the inner cavity of the cylinder, the first oil port is located at the upper part of the piston, the second oil port is located at the lower part of the piston, and the second oil port is connected to the installation hole of the cartridge valve.

5. The integrated steering cylinder for a mining dump truck according to claim 1, characterized in that: The side wall of the end cover and the end cover through hole are respectively provided with an outer sealing groove and an inner sealing groove, and the outer sealing groove and the inner sealing groove are respectively installed with an outer sealing ring and an inner sealing ring; the side wall of the piston is provided with a piston sealing groove, and the piston sealing groove is provided with a piston sealing ring.

6. The integrated steering cylinder for a mining dump truck according to claim 1, characterized in that: A hinge hole is provided on the upper part of the base, a first shock-absorbing pad and a second shock-absorbing pad are provided in the pin hole, the ball head of the pin shaft is installed in the inner hole of the first shock-absorbing pad, and the second shock-absorbing pad is a ring structure, between the ball head and the angle sensor.

7. The integrated steering cylinder for a mining dump truck according to claim 1, characterized in that: The angle sensor uses a magnetic angle sensor, the pin shaft is a ball pin, the top plane of the ball head is processed with a sensor mounting hole, and the sensor rod of the angle sensor is inserted into the sensor mounting hole.

8. The integrated steering cylinder for a mining dump truck according to claim 1, characterized in that: The cartridge valve uses a three-position four-way valve, including: a valve body and a coil. The coil is used to receive electrical signals to control the movement of the valve core in the valve body. The first oil port and the second oil port are respectively connected to the working oil outlet and the working oil outlet of the cartridge valve, and the oil inlet and the oil return port are respectively connected to the valve oil inlet and the valve oil return port of the cartridge valve; the position change of the cartridge valve controlled by the electrical signal changes the connection and disconnection of the working oil outlet, the working oil outlet and the first oil port, and the second oil port of the hydraulic cylinder.

9. The method for using the integrated steering cylinder for a mining dump truck according to claim 1, characterized in that: include: When the mining vehicle turns, the mining vehicle control system receives the steering wheel steering signal and generates an electrical signal to send to the cartridge valve to control the cartridge valve to change position; the pressure oil reaches the cartridge valve through the oil inlet, and the cartridge valve determines the valve core position according to the received steering wheel steering signal, so that the pressure oil enters and exits the cylinder through the first oil port or the second oil port, and the pressure oil on the other side of the piston returns to the oil tank through the oil return port. The pressure oil pushes the piston to move, and the piston drives the piston rod to extend or retract; The angle sensor detects the angle change between the pin shaft and the pin hole and generates an electrical signal, which is then sent to the mining vehicle control system.

10. The method for using the integrated steering cylinder for a mining dump truck according to claim 9, characterized in that: When the piston rod extends or retracts relative to the cylinder, the angle between the pin hole and the pin shaft changes. The angle sensor detects the angle change, generates a corresponding electrical signal, and sends it to the mining vehicle control system in real time. After receiving the angle change, the mining vehicle control system calculates the current steering angle of the wheel based on the geometric relationship of the steering mechanism. When the wheel has reached the specified steering angle, the mining vehicle control system sends an electrical signal to the cartridge valve to control the cartridge valve to return to the middle position, and the steering is completed.

Images