Anti-rollover control device and control method for semi-hoisting dragging operation of tractor

Abstract

The invention discloses an anti-rollover control device and control method for semi-hoisting dragging operation of a tractor, and the control device comprises a plurality of displacement sensors which are respectively installed at a suspension arm variable-amplitude oil cylinder and a suspension arm telescopic oil cylinder, and are respectively used for monitoring the displacement of the suspension arm variable-amplitude oil cylinder and the suspension arm telescopic oil cylinder; the pressure sensor is arranged in a rodless cavity of the jib luffing oil cylinder and is used for monitoring the hoisting and dragging pressure of the jib luffing oil cylinder; the vehicle body posture acquisition mechanism is mounted on the tractor body and detects the longitudinal inclination angle of the tractor body; the pressure control valve is arranged in an oil path communicated with the rodless cavity of the suspension arm variable-amplitude oil cylinder and is used for controlling the pressure in the rodless cavity of the suspension arm variable-amplitude oil cylinder; the controller is electrically connected with the displacement sensor, the pressure sensor, the vehicle body posture acquisition mechanism and the pressure control valve; the pressure control valve is controlled through the controller, the variable-amplitude lifting force corresponding to the stroke range of the piston rod of the telescopic oil cylinder of the suspension arm is adjusted, and the longitudinal traveling stability of the tractor in the on-load dragging traveling process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine underground transport vehicles, in particular to a half-lifting towing operation anti-tipping control device and control method for a tractor. BACKGROUND

[0002] The coal mine underground support withdrawal trailer bears the work of dragging, steering, withdrawing and the like of heavy equipment such as hydraulic supports. Due to the limited height of the coal mine underground roadway, the hydraulic support is usually moved in a half-lifting towing manner. The support withdrawal trailer adopts a tracked chassis and is usually designed as a narrow and long structure to facilitate passing through the coal mine underground roadway.

[0003] The front part of the vehicle body is provided with a lifting arm mechanism, and the longer vehicle body serves as a lifting counterweight. The lifting arm mechanism is matched with a lifting arm amplitude cylinder, a lifting arm telescopic cylinder and a lifting arm swing cylinder. One end of the lifting arm amplitude cylinder is hinged to the lifting arm mechanism, and the other end is hinged to the vehicle body of the tractor, for driving the lifting arm mechanism to swing in the vertical direction. The lifting arm telescopic cylinder is built in the lifting arm mechanism, for driving the lifting arm mechanism to telescope. The lifting arm swing cylinder is arranged at the connection between the lifting arm mechanism and the vehicle body of the tractor, for driving the lifting arm mechanism to swing in the horizontal direction.

[0004] The lifting system of the existing vehicle body is independent of the running system, and the lifting force cannot be automatically adjusted during running. Due to the inertia force caused by the instability of the support during towing, the vehicle body counterweight may be insufficient, causing the tail of the vehicle body to be raised off the ground, especially during continuous half-lifting rapid towing running, the phenomenon is more prominent. Due to the limited height of the coal mine underground roadway, the tail of the vehicle body is prone to collide with the roof after being raised off the ground, forming a safety hazard. SUMMARY

[0005] The purpose of the present application is to provide a half-lifting towing operation anti-tipping control device and control method for a tractor, to solve the problems existing in the prior art and improve the longitudinal driving stability of the tractor during towing running.

[0006] To achieve the above-mentioned purpose, the present application provides the following scheme: the present application provides a half-lifting towing operation anti-tipping control device for a tractor, comprising: a plurality of displacement sensors, which are respectively installed at the lifting arm amplitude cylinder and the lifting arm telescopic cylinder, for monitoring the displacement of the lifting arm amplitude cylinder and the lifting arm telescopic cylinder, respectively; a pressure sensor, which is installed in the rodless cavity of the lifting arm amplitude cylinder, for monitoring the lifting and towing pressure of the lifting arm amplitude cylinder; a vehicle body posture acquisition mechanism, which is installed on the vehicle body of the tractor and is used for detecting the longitudinal inclination angle of the vehicle body of the tractor; A pressure control valve is installed in an oil path in communication with a rodless cavity of the jib luffing cylinder, for controlling the pressure in the rodless cavity of the jib luffing cylinder. A controller is electrically connected with the displacement sensor, the pressure sensor, the vehicle body posture acquisition mechanism and the pressure control valve.

[0007] Optionally, the vehicle body posture acquisition mechanism adopts but is not limited to an inclination sensor.

[0008] Optionally, further comprising: A power part is installed on the tractor vehicle body, for driving the walking mechanism of the tractor vehicle body, and the controller can dynamically acquire and control the traction force of the power part.

[0009] Optionally, further comprising: An interaction system is installed on the tractor vehicle body, for inputting the weight E of the towed equipment and the friction coefficient f of the towed equipment and the road surface, and the interaction system is electrically connected with the controller.

[0010] Optionally, the pressure control valve adopts but is not limited to an electro-hydraulic proportional pressure control valve.

[0011] A control method is further provided, comprising the following steps: S1, after the controller acquires the weight E of the towed equipment and the friction coefficient f of the towed equipment and the road surface, the controller calculates the optimal lifting force of the towed equipment, and displays the instructions of the optimal head counterweight and / or tail counterweight through the interaction system; S2, the controller analyzes the data of the displacement sensor, the pressure sensor and the vehicle body posture acquisition mechanism, the actual counterweight condition of the current tractor, compares the traction force F3 of the power part, judges whether the longitudinal tipping threshold value occurs, and controls the pressure control valve to automatically limit the safe range oil pressure, so as to automatically constrain the luffing lifting force of the tractor, and adjust the luffing lifting force corresponding to the stroke range of the jib telescopic cylinder piston rod; S3, the data of the vehicle body posture acquisition mechanism is acquired, the long-time stable angle is detected as the current longitudinal slope angle reference value, if the vehicle body inclination angle is greater than the long-time stable angle to the required threshold value, it is directly judged whether the tractor is currently experiencing longitudinal instability, if it is judged that instability is occurring, the pressure control valve reduces the pressure in the rodless cavity of the luffing cylinder, until the vehicle inclination angle change is less than the threshold value.

[0012] The present application has the following technical effects compared with the prior art: The displacement sensor monitors the displacement of the boom luffing cylinder and the boom telescoping cylinder, the pressure sensor monitors the lifting and dragging pressure of the boom luffing cylinder, and the vehicle body posture acquisition mechanism detects the longitudinal inclination angle of the tractor body; after the controller obtains the weight E of the dragged equipment and the friction coefficient f of the dragged equipment and the road, the controller calculates the optimal lifting force of the dragged equipment and displays the instructions of the optimal head counterweight and / or tail counterweight through the interaction system; the displacement sensor, the pressure sensor and the vehicle body posture acquisition mechanism transmit the obtained information to the controller, and the controller analyzes the data of the displacement sensor, the pressure sensor and the vehicle body posture acquisition mechanism, the actual counterweight condition of the current tractor, compares the size of the traction force F3 of the power part, judges the longitudinal overturning threshold value, and controls the pressure control valve to automatically limit the safety range oil pressure, so as to automatically constrain the luffing lifting force of the tractor, adjust the luffing lifting force corresponding to the stroke range of the boom telescoping cylinder piston rod, and further improve the longitudinal driving stability of the tractor in the process of dragging and walking under load. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0014] Figure 1 The schematic diagram of the half-lifting dragging operation of the tractor disclosed by the present application Figure One ; Figure 2 The schematic diagram of the half-lifting dragging operation of the tractor disclosed by the present application Figure Two ; Figure 3 The counterweight parameter schematic diagram of the tractor disclosed by the present application Figure One ; Figure 4 The counterweight parameter schematic diagram of the tractor disclosed by the present application Figure Two ; Figure 5 The schematic diagram of each torque parameter of the tractor during work disclosed by the present application Among them, 1-hydraulic support, 2-boom mechanism, 3-boom luffing cylinder, 4-rotary tower, 5-head counterweight block group, 6-tractor body, 7-battery mechanism, 8-tail counterweight block. DETAILED DESCRIPTION

[0015] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0016] The present application aims to provide a tractor semi-lifting dragging operation anti-tipping control device and control method to solve the problems in the prior art and improve the longitudinal driving stability during the tractor dragging process.

[0017] To make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] As shown in Figures 1 to 4 The present application provides a tractor semi-lifting dragging operation anti-tipping control device, especially applied to the lifting and dragging work of the hydraulic support 1 in the tunnel, which comprises a pressure sensor, a vehicle body posture acquisition mechanism, a pressure control valve, a controller and a plurality of displacement sensors. Each displacement sensor is respectively installed at the hoist arm luffing oil cylinder 3 and the hoist arm telescopic oil cylinder, for monitoring the displacement of the hoist arm luffing oil cylinder 3 and the hoist arm telescopic oil cylinder respectively. The pressure sensor is installed in the rodless cavity of the hoist arm luffing oil cylinder 3, for monitoring the lifting and dragging pressure of the hoist arm luffing oil cylinder 3. The vehicle body posture acquisition mechanism is installed on the tractor body 6 and is used for detecting the longitudinal inclination angle of the tractor body 6. The pressure control valve is installed in the oil path connected with the rodless cavity of the hoist arm luffing oil cylinder 3, for controlling the pressure in the rodless cavity of the hoist arm luffing oil cylinder 3. The controller is electrically connected with the displacement sensor, the pressure sensor, the vehicle body posture acquisition mechanism and the pressure control valve.

[0019] First of all, it needs to be pointed out that the tractor hoists and drags the towed equipment and quickly walks, and the towed equipment is in a half hoisting and dragging state, and due to the speed and posture change of the towed equipment, the inertia force may cause the towed equipment to fall, and the tail of the tractor may be raised to form a safety hazard; the disclosed tractor half hoisting and dragging operation anti-tipping control device, which monitors the displacement of the boom luffing cylinder 3 and the boom telescoping cylinder through a displacement sensor, monitors the hoisting and dragging pressure of the boom luffing cylinder 3 through a pressure sensor, and detects the longitudinal inclination angle of the tractor body 6 through a body posture acquisition mechanism; after the controller obtains the weight E of the towed equipment and the friction coefficient f between the towed equipment and the road, it calculates the optimal hoisting force of the towed equipment and displays the instructions for the optimal head counterweight and / or tail counterweight through the interactive system; the displacement sensor, the pressure sensor and the body posture acquisition mechanism transmit the obtained information to the controller, which analyzes the data of the displacement sensor, the pressure sensor and the body posture acquisition mechanism, the actual counterweight condition of the current tractor, compares the size of the traction force F3 of the power part, judges the longitudinal tipping threshold value, and controls the pressure control valve to automatically limit the safety range oil pressure, so as to automatically constrain the luffing hoisting force of the tractor, adjust the luffing hoisting force corresponding to the stroke range of the boom telescoping cylinder piston rod, and further improve the longitudinal driving stability of the tractor during the towing process.

[0020] In the present embodiment, the tractor body 6 is connected with a battery mechanism 7, which is arranged at the tail of the tractor body 6 and serves as a tail counterweight of the tractor body 6; at least one tail counterweight block 8 is detachably arranged on the battery mechanism 7, so as to further adjust the tail counterweight of the tractor body 6; at least two head counterweight block groups 5 are detachably arranged at the head of the body, and each head counterweight block group 5 is arranged close to the dragging mechanism and symmetrically distributed on both sides of the longitudinal center line of the body in the direction perpendicular to the body advancing direction.

[0021] In the present embodiment, the body posture acquisition mechanism adopts an inclination sensor, but is not limited thereto, so as to obtain the longitudinal inclination angle change during the body advancing process, and further assist the controller to obtain the towed equipment characteristic parameters and road type data. As another embodiment, a laser measuring instrument can also be used to realize non-contact measurement through laser beam projection, and an inertial measurement unit can also be used to integrate an accelerometer and a gyroscope.

[0022] In the present embodiment, a power part is further included, which is installed on the tractor body 6 and used to drive the walking mechanism of the tractor body 6, and the controller can dynamically collect and control the traction force of the power part. Preferably, the walking mechanism installed on the tractor body 6 adopts a double-track mechanism, and the power part is used to drive the double-track structure to walk.

[0023] In this embodiment, an interactive system is also included. The interactive system is installed on the body 6 of the tractor and is used to input the weight E of the towed equipment and the coefficient of friction f between the towed equipment and the road surface. The interactive system is electrically connected to the controller.

[0024] In this embodiment, the pressure control valve is, but is not limited to, an electro-hydraulic proportional pressure control valve, which has high precision, fast response, and can adjust the flow rate as needed, reducing overflow loss and improving energy utilization efficiency. Preferably, the electro-hydraulic proportional pressure control valve is, but is not limited to, an electro-proportional control relief valve and an electro-proportional pressure reducing valve.

[0025] In this embodiment, the boom mechanism 2 is equipped with a slewing tower 4, which is rotatably mounted on the tractor body 6 via a rotating shaft. The end of the boom mechanism 2 that is away from the towed equipment is hinged to the top of the slewing tower 4. One end of the boom luffing cylinder 3 is hinged to the middle part of the boom mechanism 2, and the other end is hinged to the bottom of the slewing tower 4.

[0026] In this embodiment, such as Figures 3 to 5 The center of gravity of hydraulic support 1 is E, the traction force of the power unit is F3, the ground support force on the tractor body 6 is F1, the total length of the boom is A, the total length of boom luffing cylinder 3 is B, the rodless chamber pressure of boom luffing cylinder 3 is λ, the long-term stability angle is Y, the thrust of boom luffing cylinder 3 is F5, the area of ​​the rodless chamber of boom luffing cylinder 3 is D, the distance from the center of gravity of the towed equipment to the grounding point is h, the distance from the line of action of the traction force of the towed equipment to the grounding point is H, the distance from the traction hook of boom mechanism 2 to the front grounding point of the traveling mechanism is L2, the distance from the center of gravity of the tractor to the front grounding point of the traveling mechanism is L1, the weight of the tractor is G, the horizontal force on the traction hook is F3, and the vertical force on the traction hook is F2.

[0027] Wherein, G*L1=F2*L2+F3*L3, the product of the center of gravity G and its lever arm L1 within the anti-tipping requirement range is the torque that resists vehicle overturning, the torque that will cause the vehicle to overturn is the horizontal force F3 and the vertical force F2, F2≥M*h / H the lifting force is greater than this value, only when the hook side of the towed equipment is lifted off the ground, F3≥E*f only when F3 is greater than E*f (gravity E*friction coefficient f), the traction force is greater than the friction resistance, so that the towed equipment can be towed. F4 is the resultant force F4*F4=F3*F2+F2*F2, the thrust F5=λ*D of the boom luffing cylinder 3, the values ​​of F5, A, and B together determine the magnitude of F4, therefore, the anti-tipping requirement can be achieved by dynamically adjusting the rodless chamber pressure λ of the boom luffing cylinder 3.

[0028] In one specific embodiment, a road surface detection mechanism is also included, which is installed on the tractor body 6 and used to identify the road surface type. The road surface detection mechanism is electrically connected to the controller so as to assist in identifying the road surface type, thereby ensuring the effectiveness of vehicle stability adjustment.

[0029] A control method is also provided, comprising the following steps: S1. After the controller obtains the weight E of the towed equipment and the coefficient of friction f between the towed equipment and the road surface, it calculates the optimal lifting force of the towed equipment and displays the instructions for the optimal head counterweight and / or tail counterweight through the interactive system. S2. By analyzing the data from the displacement sensor, pressure sensor, and vehicle posture acquisition mechanism, as well as the actual counterweight of the tractor, and comparing it with the traction force F3 of the power unit, the controller determines the longitudinal overturning threshold and controls the pressure control valve to automatically limit the safe range of oil pressure, thereby automatically constraining the luffing lifting force of the tractor and adjusting the luffing lifting force corresponding to the stroke range of the boom telescopic cylinder piston rod. S3. By collecting data from the vehicle body posture acquisition mechanism, the long-term stability angle is detected as the current longitudinal slope angle reference value. If the vehicle body tilt angle is greater than the long-term stability angle to the required threshold, it is directly determined whether the tractor is experiencing longitudinal instability. If it is determined that instability is occurring, the pressure control valve reduces the pressure in the rodless chamber of the luffing cylinder until the vehicle tilt angle change is less than the threshold.

[0030] Any adaptive changes made according to actual needs are within the scope of protection of this invention.

[0031] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0032] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A tractor-trailer anti-tipping control device for semi-lifting and towing operations, characterized in that, include: Multiple displacement sensors are installed at the boom luffing cylinder and the boom telescopic cylinder, respectively, to monitor the displacement of the boom luffing cylinder and the boom telescopic cylinder. A pressure sensor is installed in the rodless chamber of the boom luffing cylinder to monitor the lifting and dragging pressure of the boom luffing cylinder. A vehicle body attitude acquisition mechanism is installed on the tractor body and is used to detect the longitudinal tilt angle of the tractor body. A pressure control valve is installed in an oil circuit connected to the rodless chamber of the boom luffing cylinder to control the pressure in the rodless chamber of the boom luffing cylinder. The controller is electrically connected to the displacement sensor, the pressure sensor, the vehicle body posture acquisition mechanism, and the pressure control valve.

2. The anti-tipping control device for semi-lifting and towing operations of a tractor as described in claim 1, characterized in that, The vehicle body posture acquisition mechanism uses, but is not limited to, tilt sensors.

3. The anti-tipping control device for semi-lifting and towing operations of a tractor as described in claim 1, characterized in that, Also includes: The power unit, which is installed on the tractor body, is used to drive the running gear of the tractor body. The controller can dynamically collect and control the traction force of the power unit.

4. The anti-tipping control device for semi-lifting and towing operations of a tractor as described in claim 1, characterized in that, Also includes: An interactive system, installed on the tractor body, is used to input the weight E of the towed equipment and the coefficient of friction f between the towed equipment and the road surface. The interactive system is electrically connected to the controller.

5. The anti-tipping control device for semi-lifting and towing operations of a tractor as described in claim 1, characterized in that, The pressure control valve is, but is not limited to, an electro-hydraulic proportional pressure control valve.

6. A control method for using the anti-tipping control device for semi-lifting and towing operations of a tractor as described in any one of claims 1 to 5, characterized in that, Includes the following steps: S1. After the controller obtains the weight E of the towed device and the friction coefficient f between the towed device and the road surface, it calculates the optimal lifting force of the towed device and displays the instruction for the optimal head counterweight and / or tail counterweight through the interactive system. S2. By analyzing the data from the displacement sensor, pressure sensor, and vehicle posture acquisition mechanism, as well as the actual counterweight of the tractor, and comparing it with the traction force F3 of the power unit, the controller determines the longitudinal overturning threshold and controls the pressure control valve to automatically limit the safe range of oil pressure, thereby automatically constraining the luffing lifting force of the tractor and adjusting the luffing lifting force corresponding to the stroke range of the boom telescopic cylinder piston rod. S3. By collecting data from the vehicle body posture acquisition mechanism, the long-term stability angle is detected as the current longitudinal slope angle reference value. If the vehicle body tilt angle is greater than the long-term stability angle to the required threshold, it is directly determined whether the tractor is experiencing longitudinal instability. If it is determined that instability is occurring, the pressure control valve reduces the pressure in the rodless chamber of the luffing cylinder until the vehicle tilt angle change is less than the threshold.

Images