A control device and method for preventing tipping during semi-lifting towing operations of a tractor unit.

Abstract

This invention discloses a control device and method for preventing rollover during semi-lifting and towing operations of a tractor unit. The control device includes: multiple displacement sensors installed at the boom luffing cylinder and the boom telescopic cylinder, respectively, to monitor the displacement of both; a pressure sensor installed in the rodless chamber of the boom luffing cylinder to monitor the lifting and towing pressure of the boom luffing cylinder; a vehicle body posture acquisition mechanism installed on the tractor body to detect the longitudinal tilt angle of the tractor body; a pressure control valve 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; and a controller electrically connected to the displacement sensors, pressure sensor, vehicle body posture acquisition mechanism, and pressure control valve. The controller controls the pressure control valve to adjust the luffing lifting force corresponding to the stroke range of the boom telescopic cylinder piston rod, thereby improving the longitudinal driving stability of the tractor unit during towing operations.

Description

Technical Field

[0001] This invention relates to the field of underground coal mine transport vehicle technology, and in particular to a tractor-trailer anti-tipping control device and control method for semi-lifting and towing operations. Background Technology

[0002] Coal mine support retraction trailers are used for towing, repositioning, and retraction of heavy equipment such as hydraulic supports. Due to the limited height of underground roadways in coal mines, hydraulic supports are usually moved by semi-lifting and towing. Support retraction trailers use tracked chassis and are typically designed with a narrow and long structure for easy movement within underground coal mine roadways.

[0003] A boom mechanism is located at the front of the vehicle body, with the relatively long body serving as a lifting counterweight. The boom mechanism is equipped with a boom luffing cylinder, a boom telescopic cylinder, and a boom swing cylinder. One end of the boom luffing cylinder is hinged to the boom mechanism, and the other end is hinged to the tractor body, used to drive the boom mechanism to swing vertically. The boom telescopic cylinder is built into the boom mechanism and used to drive the boom mechanism to extend and retract. The boom swing cylinder is located at the connection between the boom mechanism and the tractor body, used to drive the boom mechanism to swing horizontally.

[0004] In existing vehicles of this type, the lifting and traveling systems are independent, and the lifting force does not automatically adjust during travel. Due to the inertial force caused by the instability of the support frame during towing, the vehicle's counterweight may be insufficient, causing the rear of the vehicle to lift off the ground. This phenomenon is particularly pronounced during continuous semi-lifting and rapid towing. Because of the limited height of underground mine tunnels, the rear of the vehicle lifting off the ground is highly likely to collide with the roof, creating a safety hazard. Summary of the Invention

[0005] The purpose of this invention is to provide a control device and method for preventing overturning during semi-lifting and towing operations of a tractor, so as to solve the problems existing in the prior art and improve the longitudinal driving stability of the tractor during the towing process.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a tractor-trailer semi-lifting towing operation anti-tipping control device, comprising:

[0007] 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.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] The controller is electrically connected to the displacement sensor, the pressure sensor, the vehicle body posture acquisition mechanism, and the pressure control valve.

[0012] Optionally, the vehicle body attitude acquisition mechanism may employ, but is not limited to, a tilt sensor.

[0013] Optional, also includes:

[0014] 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.

[0015] Optional, also includes:

[0016] 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.

[0017] Optionally, the pressure control valve may be, but is not limited to, an electro-hydraulic proportional pressure control valve.

[0018] A control method is also provided, comprising the following steps:

[0019] 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.

[0020] 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.

[0021] 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.

[0022] The present invention achieves the following technical effects compared to the prior art:

[0023] In the anti-tipping control device for semi-lifting and towing operations disclosed in this invention, the displacement sensor monitors the displacement of the boom luffing cylinder and the boom telescopic cylinder, the pressure sensor monitors the lifting and towing pressure of the boom luffing cylinder, and the vehicle body posture acquisition mechanism detects the longitudinal tilt angle of the tractor body. After acquiring the weight E of the towed equipment and the friction coefficient f between the towed equipment and the road surface, the controller calculates the optimal lifting force of the towed equipment and displays the optimal head and / or tail counterweight instructions through the interactive system. The displacement sensor, pressure sensor, and vehicle body posture acquisition mechanism transmit the acquired information to the controller. The controller analyzes the data from the displacement sensor, pressure sensor, and vehicle body posture acquisition mechanism, the current actual counterweight of the tractor, and compares it with the traction force F3 of the power unit. The controller determines the longitudinal tilt threshold and controls the pressure control valve to automatically limit the oil pressure within a safe range, 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, thereby improving the longitudinal driving stability of the tractor during towing. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of a tractor-tow operation disclosed in this invention. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of a tractor-tow operation disclosed in this invention. Figure 2 ;

[0027] Figure 3 This is a schematic diagram of the tractor counterweight parameters disclosed in this invention. Figure 1 ;

[0028] Figure 4 This is a schematic diagram of the tractor counterweight parameters disclosed in this invention. Figure 2 ;

[0029] Figure 5 This is a schematic diagram of the torque parameters of the tractor vehicle during operation as disclosed in this invention.

[0030] Among them, 1-hydraulic support, 2-boom mechanism, 3-boom luffing cylinder, 4-turret, 5-head counterweight block group, 6-tractor body, 7-battery mechanism, and 8-tail counterweight block. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] The purpose of this invention is to provide a control device and method for preventing overturning during semi-lifting and towing operations of a tractor, so as to solve the problems existing in the prior art and improve the longitudinal driving stability of the tractor during the towing process.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1 to 4 As shown, this invention provides an anti-tipping control device for semi-lifting and towing operations of a tractor, particularly applicable to the lifting and towing of a hydraulic support 1 in a tunnel. It includes a pressure sensor, a vehicle body posture acquisition mechanism, a pressure control valve, a controller, and multiple displacement sensors. Each displacement sensor is installed at the boom luffing cylinder 3 and the boom telescopic cylinder to monitor their respective displacements. A pressure sensor is installed in the rodless chamber of the boom luffing cylinder 3 to monitor the lifting and towing pressure. The vehicle body posture acquisition mechanism is installed on the tractor body 6 and is used to detect the longitudinal tilt angle of the tractor body 6. A pressure control valve is installed in an oil circuit connected to the rodless chamber of the boom luffing cylinder 3 to control the pressure in the rodless chamber. The controller is electrically connected to the displacement sensor, pressure sensor, vehicle body posture acquisition mechanism, and pressure control valve.

[0035] First, it should be noted that during the process of a tractor lifting and towing equipment at high speed, the towed equipment is in a semi-lifted towing state. Due to changes in the speed and posture of the towed equipment, its inertial force may cause the towed equipment to tip over, or the rear of the tractor to lift up, creating a safety hazard. In the tractor semi-lifting towing operation anti-tipping control device disclosed in this invention, the displacement sensor monitors the displacement of the boom luffing cylinder 3 and the boom telescopic cylinder, the pressure sensor monitors the lifting and towing pressure of the boom luffing cylinder 3, and the vehicle body posture acquisition mechanism detects the longitudinal tilt angle of the tractor body 6. The controller obtains the weight E of the towed equipment and the friction coefficient f between the towed equipment and the road surface. After collecting the data, the optimal lifting force of the towed equipment is calculated, and the optimal head and / or tail counterweight instructions are displayed through the interactive system. The displacement sensor, pressure sensor, and vehicle posture acquisition mechanism transmit the acquired information to the controller. The controller analyzes the data from the displacement sensor, pressure sensor, and vehicle posture acquisition mechanism, as well as the actual counterweight of the current tractor, and compares it with the traction force F3 of the power unit. The controller determines the longitudinal tilting threshold and controls the pressure control valve to automatically limit the hydraulic pressure within a safe range, thereby automatically constraining the luffing lifting force of the tractor and adjusting the luffing lifting force corresponding to the stroke range of the boom extension cylinder piston rod, thereby improving the longitudinal driving stability of the tractor during the towing process.

[0036] In this embodiment, the tractor body 6 is connected to a battery mechanism 7, which is located at the rear of the tractor body 6 and serves as a rear counterweight for the tractor body 6. At least one rear counterweight block 8 is detachably provided on the battery mechanism 7 to further adjust the rear counterweight of the tractor body 6. At least two head counterweight block groups 5 are detachably provided at the front of the vehicle body. Each head counterweight block group 5 is located close to the towing mechanism and is symmetrically distributed on both sides of its longitudinal centerline along the direction perpendicular to the vehicle body's travel.

[0037] In this embodiment, the vehicle posture acquisition mechanism employs, but is not limited to, a tilt sensor to acquire the longitudinal tilt angle change of the vehicle during travel, thereby assisting the controller in acquiring characteristic parameters of the towed equipment and road surface type data. Alternatively, a laser measuring instrument can be used to achieve non-contact measurement through laser beam projection; or an inertial measurement unit integrating an accelerometer and a gyroscope can be employed.

[0038] In this embodiment, a power unit is also included. The power unit is mounted on the tractor body 6 and is used to drive the running gear of the tractor body 6. The controller can dynamically collect and control the traction force of the power unit. Preferably, the running gear mounted on the tractor body 6 is a dual-track mechanism, and the power unit is used to drive the dual-track structure to move.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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 along the horizontal direction 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 along the horizontal direction is L2, the distance from the center of gravity of the tractor to the front grounding point of the traveling mechanism along the horizontal direction is L1, the self-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.

[0043] Among them, G L1 = F2 L2+F3 L3, that is, when the critical value for anti-rollover requirements is reached, the product of the center of gravity G and its lever arm L1 is the moment that resists vehicle rollover. The moment that will cause the vehicle to rollover is the horizontal force F3 and the vertical force F2, where F2 ≥ E. Only when the lifting force h / H is greater than this value can the hook side of the towed equipment be lifted off the ground, F3≥E f is only greater than E if F3 is greater than E f(gravity E) For the friction coefficient (f) to be greater than the frictional resistance, the towed equipment must be moved. F4 is the resultant force. F4=F3 F3+F2 F2, the thrust of boom luffing cylinder 3, F5 = λ The values ​​of D, F5, A, and B together determine the size of F4. Therefore, by dynamically adjusting the rodless chamber pressure λ of the boom luffing cylinder 3, the anti-tipping requirement can be achieved.

[0044] 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.

[0045] A control method is also provided, comprising the following steps:

[0046] 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.

[0047] 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.

[0048] 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.

[0049] Any adaptive changes made according to actual needs are within the scope of protection of this invention.

[0050] 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.

[0051] 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, The utility model relates to a kind of crane truck, including: Multiple displacement sensors, which are respectively installed at the jib luffing cylinder and the jib telescoping cylinder, are used to monitor the displacement of the jib luffing cylinder and the jib telescoping cylinder, respectively; A pressure sensor is installed in the rodless chamber of the jib luffing cylinder to monitor the lifting and dragging pressure of the jib luffing cylinder; A vehicle body posture acquisition mechanism is installed on the tractor vehicle body and is used to detect the longitudinal inclination angle of the tractor vehicle body; A pressure control valve is installed in the oil path connected to the rodless chamber of the jib luffing cylinder to control the pressure in the rodless chamber of the jib luffing cylinder; A controller is electrically connected to the displacement sensors, the pressure sensor, the vehicle body posture acquisition mechanism, and the pressure control valve; A power unit is installed on the tractor vehicle body to drive the walking mechanism of the tractor vehicle body, and the controller can dynamically collect and control the traction force of the power unit; During the lifting and dragging of the towed equipment by the tractor, the displacement sensors, the pressure sensor, and the vehicle body posture acquisition mechanism transmit the obtained information to the controller. The controller analyzes the data of the displacement sensors, the pressure sensor, and the vehicle body posture acquisition mechanism, the actual counterweight condition of the current tractor, compares the traction force of the power unit, judges the occurrence of the longitudinal rollover threshold, and controls the pressure control valve to automatically limit the safe range of oil pressure to automatically constrain the luffing lifting force of the tractor and adjust the luffing lifting force corresponding to the stroke range of the jib telescoping cylinder piston rod, thereby improving the longitudinal driving stability of the tractor during the towing process.

2. The anti-rollover control device for a tractor-semitrailer combination according to claim 1, characterized in that, The vehicle body posture acquisition mechanism uses, but is not limited to, an inclination angle sensor.

3. The trailer anti-rollover control device for a tractor-semitrailer combination according to claim 1, characterized in that, Further including: An interactive system is installed on the tractor vehicle body and is used to input the weight E of the towed equipment and the friction coefficient f between the towed equipment and the road surface. The interactive system is electrically connected to the controller.

4. The trailer anti-rollover control device for a tractor-semitrailer combination according to claim 1, characterized in that, The pressure control valve uses, but is not limited to, an electro-hydraulic proportional pressure control valve.

5. A control method for the anti-rollover control device for a tractor-semitrailer combination according to any one of claims 1 to 4, characterized in that, The method includes the following steps: S1. After the controller obtains the weight E of the towed equipment and the friction coefficient 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. The controller analyzes the data of the displacement sensors, 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 unit, judges the occurrence of the longitudinal rollover threshold, and controls the pressure control valve to automatically limit the safe range of oil pressure to automatically constrain the luffing lifting force of the tractor and adjust the luffing lifting force corresponding to the stroke range of the jib telescoping cylinder piston rod; S3. By collecting the data of the vehicle body posture acquisition mechanism, 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, it is directly judged whether the tractor is experiencing longitudinal instability. If it is judged that instability is occurring, the pressure control valve reduces the pressure in the rodless chamber of the luffing cylinder until the vehicle inclination angle changes less than the threshold.

Images