Pure electric wide-body dumper

Abstract

The utility model provides a pure electric wide-body dumper which comprises a dumper body, a pantograph, a controller and at least one camera device, the pantograph and the camera device are respectively arranged on the top of the dumper body, the camera device is arranged opposite to the pantograph, and the controller is connected with the controller. The camera device is used for detecting the relative position of the pantograph and a high-voltage wire net, the controller is electrically connected with the pantograph and the camera device, and the controller can analyze signals fed back by the camera device and send corresponding instructions to the pantograph. The pure electric wide-body dumper can solve the problem that in the prior art, the automation degree is low, and complex working conditions of a mining area cannot be met, the fault-tolerant redundancy of a system is increased, and the reliability and the intelligent level of a pantograph are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of engineering machinery, in particular to a pure electric wide-body dump truck. Background Art

[0002] Greening and electrification are the key priorities for the future mining industry. With the proposal and steady advancement of the national dual-carbon strategy and the continuous development of new energy technologies, the pace of new energy and electrification of mining dump trucks used to transport earth and stone materials has gradually accelerated; mining trucks powered by contact DC power grids and with pantograph structures provide a practical solution for heavy-load uphill conditions.

[0003] At present, mining trucks that use contact DC power supply and pantograph structure generally have four degrees of freedom in pantograph control, namely the left and right degrees of freedom brought by the lateral displacement mechanism of the pantograph and the up and down degrees of freedom brought by the lifting mechanism. The pantograph is generally arranged outside the cab, and the driver cannot monitor the status of the pantograph head in real time. In addition, the displacement monitoring on the left and right sides mainly relies on the sensors on the pantograph head. The detection method is single. When the sensor fails, the pantograph head is prone to detachment from the wire network. The contact pressure between the pantograph head and the wire network cannot be adjusted according to the undulations of the road surface. The pantograph control method is simple and the degree of automation is low, which cannot meet the complex working conditions in the mining area. Utility Model Content

[0004] In view of this, the purpose of the present invention is to provide a pure electric wide-body dump truck, which can solve the problem of low degree of automation in the existing technology and cannot meet the complex working conditions of the mining area, increase the system fault tolerance and redundancy, and improve the reliability and intelligence level of the pantograph.

[0005] The utility model provides a pure electric wide-body dump truck, comprising a vehicle body, a pantograph, a controller and at least one camera device, wherein the pantograph and the camera device are respectively arranged on the top of the vehicle body, the camera device and the pantograph are arranged opposite to each other, and the camera device is used to detect the relative position of the pantograph and the high-voltage line network, the controller is electrically connected to the pantograph and the camera device, and the controller can analyze the signal fed back by the camera device and issue corresponding instructions to the pantograph.

[0006] In one embodiment, the pantograph includes a base, a lateral displacement mechanism, a lifting mechanism and a bow head. The base is installed on the top of the vehicle body, the lateral displacement mechanism is connected to the base, and the lifting mechanism is connected between the lateral displacement mechanism and the bow head. When the vehicle body is off the grid, the controller controls the lifting mechanism to drive the bow head downward and move the pantograph to an initial position; when the vehicle body touches the grid, the camera device is activated and detects the relative position between the high-voltage line network and the bow head. If the relative position meets the lifting conditions, the controller issues a lifting command to control the lifting mechanism to drive the bow head upward so that the bow head contacts the high-voltage line network. If the relative position does not meet the lifting conditions, the camera device continuously monitors the relative position until the relative position meets the lifting conditions, and the controller issues a lifting command.

[0007] In one embodiment, the pantograph further includes a displacement sensor and an ultrasonic sensor, and the displacement sensor and the ultrasonic sensor are respectively arranged on the bow head, and the displacement sensor and the ultrasonic sensor are arranged at intervals. In the touch-net state, when the vehicle body is traveling to the left or right on the road surface, when the displacement sensor and the ultrasonic sensor detect the signal of the high-voltage line network, the controller controls the lateral displacement mechanism to move in the opposite direction of the deviated travel to ensure the touch-net state; or when the camera device detects the bow head, the controller controls the lateral displacement mechanism to move in the opposite direction of the deviated travel to ensure the touch-net state.

[0008] In one embodiment, when the vehicle body is running and the pantograph touches the grid, the camera device monitors the first contact position between the pantograph and the high-voltage line network and feeds back the information to the controller. The controller performs timing detection on the first contact position. When the time of the first contact position reaches a set value, the controller controls the lateral displacement mechanism to move to the second contact position, and simultaneously re-times and monitors the second contact position.

[0009] In one embodiment, the pantograph further includes an air pressure sensor, which is provided on the lifting mechanism. The air pressure sensor is used to detect the air pressure value of the lifting mechanism and feed it back to the controller. The controller controls the inflation or deflation of the lifting mechanism according to the feedback information.

[0010] In one embodiment, the lifting mechanism includes a cylinder, an inflation valve and a deflation valve, and the inflation valve and the deflation valve are respectively connected to the cylinder. When the controller issues an inflation command, an external air source inflates the cylinder to a set value through the inflation valve. When the controller issues a deflation command, the deflation valve opens and deflates to a set value.

[0011] In an embodiment, the lateral displacement mechanism comprises a connecting seat and a driver, a driving end of the driver is connected with the connecting seat, the connecting seat is connected with the base through a slide rail, and the driver can drive the connecting seat to move along the guide rail of the base.

[0012] In an embodiment, the lifting mechanism is provided with two, the two lifting mechanisms are arranged at intervals, and the two lifting mechanisms are connected between the bow head and the lateral displacement mechanism, respectively.

[0013] In an embodiment, the bow head is provided with two groups, the two groups of bow heads are connected in linkage, and each group of bow heads is connected with each lifting mechanism.

[0014] The pure electric wide-body self-unloading vehicle of the utility model is provided with a camera device, the relative position state between the pantograph and the high-voltage line net is monitored in real time through the camera device, and information is fed back to the controller, the controller analyzes according to the feedback information and sends corresponding instructions to the pantograph, the fault tolerance redundancy of the system is increased, the reliability of the pantograph is improved, the contact pressure between the bow head of the pantograph and the high-voltage line net can also be automatically adjusted according to the undulating state of the road surface, the abrasion of the bow head is reduced, and the service life is prolonged, therefore, the automatic degree of the pure electric wide-body self-unloading vehicle is high, the pantograph self-control system suitable for off-highway wide-body self-unloading vehicles is suitable for off-highway wide-body self-unloading vehicles, and the intelligent level of the pantograph is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the drawings needed to be used in the embodiments will be briefly introduced below, and it should be understood that the following drawings only show some embodiments of the utility model, and therefore should not be regarded as a limitation on the scope, and for ordinary skilled persons in the art, other related drawings can also be obtained according to these drawings without creative labor.

[0016] Figure 1 It is a part of the pure electric wide-body self-unloading vehicle of the utility model and shows a schematic view of a top view structure.

[0017] Figure 2 It is a part of the pure electric wide-body self-unloading vehicle of the utility model and shows a schematic view of a structure.

[0018] Figure 3 It is a flow chart of the pure electric wide-body self-unloading vehicle of the utility model.

[0019] Explanation of reference numerals: pantograph-11, base-111, lateral displacement mechanism-112, connecting seat-1121, driver-1122, lifting mechanism-113, bow head-114, displacement sensor-115, ultrasonic sensor-116, controller-12, camera device-13, switch-14.

[0020] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the description of the present invention, all other embodiments derived by persons of ordinary skill in the art without inventive effort are also within the scope of protection of the present invention.

[0022] In the description of this utility model, unless otherwise specified or limited, the terms "disposed," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms based on the specific circumstances.

[0023] The directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the utility model.

[0024] The terms "first," "second," "third," etc. are merely used to distinguish elements of similar nature and do not indicate or imply relative importance or a particular order.

[0025] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0026] like Figures 1 to 3As shown, the pure electric wide-body dump truck in this embodiment is an off-road pure electric wide-body dump truck. Off-road refers to vehicles that do not travel on roads and can only travel on dedicated roads or roadless areas such as mines or construction sites. The pure electric wide-body dump truck includes a vehicle body, a pantograph 11, a controller 12, and at least one camera device 13. The pantograph 11 and the camera device 13 are respectively arranged on the top of the vehicle body. The camera device 13 is arranged opposite to the pantograph 11. The camera device 13 is used to detect the relative position of the pantograph 11 and the high-voltage power line network. The controller 12 is electrically connected to the pantograph 11 and the camera device 13. The controller 12 can analyze the signal fed back by the camera device 13 and issue corresponding instructions to the pantograph 11. In this embodiment, the pantograph 11 is an actuator that responds to the instructions issued by the controller 12. The controller 12 is the core control unit of the pure electric wide-body dump truck system, responsible for receiving and analyzing the information fed back by the relevant sensors and issuing corresponding execution instructions. The camera device 13 serves as the detection unit of the system and is preferably a camera.

[0027] The pure electric wide-body dump truck of the present invention is provided with a camera device 13, which monitors the relative position status between the pantograph 11 and the high-voltage line network in real time through the camera device 13, and feeds back the information to the controller 12. The controller 12 analyzes the feedback information and issues corresponding instructions to the pantograph 11, thereby increasing the fault tolerance redundancy of the system and improving the reliability of the pantograph 11. It can also automatically adjust the contact pressure between the bow head 114 of the pantograph 11 and the high-voltage line network according to the undulation of the road surface, reduce the wear of the bow head 114, and extend the service life. Therefore, the pure electric wide-body dump truck has a high degree of automation and is suitable for the pantograph 11 self-control system of off-road wide-body dump trucks, thereby improving the intelligence level of the pantograph 11.

[0028] Preferably, the pantograph 11 includes a base 111, a lateral displacement mechanism 112, a lifting mechanism 113 and a bow head 114. The base 111 is installed on the top of the vehicle body, the lateral displacement mechanism 112 is connected to the base 111, and the lifting mechanism 113 is connected between the lateral displacement mechanism 112 and the bow head 114. When the vehicle body is disconnected from the grid, the controller 12 controls the lifting mechanism 113 to drive the bow head 114 to move downward and move the pantograph 11 to its initial position; specifically, when the pure electric wide-body dump truck is disconnected from the grid, the controller 12 receives a bow head 114 descending signal and sends a pressure relief instruction to the lifting mechanism 113. The cylinder pressure relief valve of the lifting mechanism 113 opens to release air, and the bow head 114 moves downward, thereby disconnecting from the grid; after receiving the disconnection signal, the controller 12 sends a reset instruction. At this time, the driver 1122 of the lateral displacement mechanism 112 works to move the pantograph 11 to the initial position of the base 111.

[0029] When the vehicle body touches the wire net, the switch 14 is pressed, and the controller 12 receives the lifting signal of the bow head 114. At the same time, the camera device 13 is activated and detects the relative position state between the high-voltage wire net and the bow head 114. If the relative position of the high-voltage wire net and the bow head 114 meets the lifting condition, the controller 12 issues a lifting command to control the lifting mechanism 113 to drive the bow head 114 to move up, that is, to control the cylinder of the lifting mechanism 113 to inflate and move the bow head 114 up, so that the bow head 114 contacts the high-voltage wire net. If the high-voltage wire net is in contact with the bow head 114, the controller 12 will send a lifting command to control the lifting mechanism 113 to drive the bow head 114 to move up, that is, to control the cylinder of the lifting mechanism 113 to inflate and move the bow head 114 up, so that the bow head 114 contacts the high-voltage wire net. The relative position of the bow head 114 does not meet the lifting conditions, and the controller 12 does not issue a lifting command. The camera device 13 continues to monitor the relative position of the high-voltage power line network and the bow head 114 until the vehicle moves to a suitable position, that is, the relative position of the high-voltage power line network and the bow head 114 meets the lifting conditions. Then, the controller 12 issues a lifting command again to control the lifting mechanism 113 to drive the bow head 114 to move upward, that is, to control the cylinder of the lifting mechanism 113 to inflate and move the bow head 114 upward, so that the bow head 114 contacts the high-voltage power line network.

[0030] Preferably, the pantograph 11 has four degrees of freedom (up, down, left, and right). The lateral displacement mechanism 112 includes a connecting seat 1121 and a driver 1122. The driving end of the driver 1122 is connected to the connecting seat 1121. The connecting seat 1121 is connected to the base 111 via a slide rail. The driver 1122 can drive the connecting seat 1121 to move along the guide rail of the base 111. There are two lifting mechanisms 113, which are spaced apart and respectively connected between the bow head 114 and the lateral displacement mechanism 112. There are two groups of bow heads 114, which are linked together and connected to each other. Each group of bow heads 114 is respectively connected to each lifting mechanism 113, wherein one group has two, that is, in this embodiment, there are four bow heads 114 in the two groups. The driver 1122 is preferably a servo motor.

[0031] Preferably, the pantograph 11 further includes a displacement sensor 115 and an ultrasonic sensor 116, which are respectively arranged on the bow head 114, and the displacement sensor 115 and the ultrasonic sensor 116 are arranged at intervals; specifically, each bow head 114 is respectively provided with a displacement sensor 115 and an ultrasonic sensor 116, the displacement sensor 115 performs detection by contact, and the ultrasonic sensor 116 performs distance sensing by emitting and receiving ultrasonic waves, so that the displacement sensor 115, the ultrasonic sensor 116 and the camera device 13 form triple monitoring to detect the relative position status of the pantograph 11 and the high-voltage line network.

[0032] When the vehicle body is traveling to the left or right on the road in the contact-with-the-grid state, when the displacement sensor 115 and the ultrasonic sensor 116 detect a signal from the high-voltage power line, the controller 12 controls the lateral displacement mechanism 112 to move in the opposite direction of the deviated travel (for example, if the vehicle body is traveling to the left, the opposite direction of the deviated travel is rightward movement) to ensure the contact-with-the-grid state; or the camera device 13 detects the relative position between the pantograph 11 and the high-voltage power line in real time. When the camera device 13 detects the bow head 114, the controller 12 controls the lateral displacement mechanism 112 to move in the opposite direction of the deviated travel to ensure the contact-with-the-grid state. In addition, if the displacement sensor 115 and the ultrasonic sensor 116 do not feedback a signal, but the camera device 13 detects that the bow head 114 is disconnected from the high-voltage power line, the controller 12 will also issue a command to control the lateral displacement mechanism 112 to move in the opposite direction of the deviated travel to ensure the contact-with-the-grid state.

[0033] Preferably, when the vehicle body is running and the pantograph 11 touches the grid, the camera device 13 monitors the first contact position between the pantograph 11 and the high-voltage line network and feeds back to the controller 12. The controller 12 synchronously performs timing detection on the first contact position. When the time of the first contact position reaches the set value, the controller 12 controls the lateral displacement mechanism 112 to move to the second contact position, so that the bow head 114 is displaced laterally for a certain distance, so as to avoid long-term wear of the bow head 114 and the high-voltage line network at the same contact position, thereby affecting the service life of the bow head 114, and synchronously re-times the second contact position, that is, when it touches the grid again, the new contact position is set as the initial position for the touch-grid timing.

[0034] Preferably, the pantograph 11 also includes an air pressure sensor, which is located in the lifting mechanism 113. The air pressure sensor is used to detect the air pressure value of the lifting mechanism 113 and feedback it to the controller 12. The controller 12 controls the inflation or deflation of the lifting mechanism 113 based on the feedback information. The lifting mechanism 113 includes a cylinder, an inflation valve, and a deflation valve. The inflation valve and the deflation valve are respectively connected to the cylinder. When the controller 12 issues an inflation command, an external air source inflates the cylinder to a set value through the inflation valve. When the controller 12 issues a deflation command, the deflation valve opens and deflates the cylinder to a set value. Specifically, when the vehicle body is traveling on a flat road, the internal pressure value of the cylinder of the lifting mechanism is constant, that is, the pressure value between the pantograph 11's bow head 114 and the contact network is constant. The air pressure sensor feeds the air pressure value back to the controller 12 in real time as a signal for cylinder inflation and deflation. When the vehicle body travels over a pothole, the entire vehicle moves downward in the Z direction. At this moment, the bow head 114 simultaneously moves downward and disconnects from the grid. Under the action of the cylinder pressure, the bow head 114 quickly moves upward and touches the grid, reducing the pressure inside the cylinder. At this point, the controller 12 receives the reduced air pressure and issues an inflation command. The external air source inflates the cylinder to the set value, and the inflation valve closes. When the vehicle body travels over a raised surface, the entire vehicle moves upward in the Z direction. The pressure between the high-voltage wire net and the bow head 114 increases and is transmitted to the cylinder of the lifting mechanism. The cylinder compresses, increasing the air pressure inside the cylinder. At this point, the controller 12 issues a deflation command, opening the deflation valve to deflate the air. The deflation valve closes when the air pressure reaches the set value. By detecting the pressure inside the lifting mechanism's cylinder, the pressure between the bow head 114 and the high-voltage wire net is adjusted in real time to prevent the bow head 114 from being disconnected from the grid for an extended period or increasing the pressure on the high-voltage wire net due to road undulations.

[0035] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this utility model should be included in the scope of protection of the present utility model. Therefore, the scope of protection of the present utility model shall be based on the appended claims.

Claims

1. A pure electric wide-body dump truck, characterized in that: The invention comprises a vehicle body, a pantograph (11), a controller (12) and at least one camera device (13), wherein the pantograph (11) and the camera device (13) are respectively arranged on the top of the vehicle body, the camera device (13) is arranged relative to the pantograph (11), and the camera device (13) is used to detect the relative position of the pantograph (11) and the high-voltage line network. The controller (12) is electrically connected to the pantograph (11) and the camera device (13), and the controller (12) can analyze the signal fed back by the camera device (13) and issue corresponding instructions to the pantograph (11).

2. The pure electric wide-body dump truck according to claim 1, characterized in that: The pantograph (11) comprises a base (111), a lateral displacement mechanism (112), a lifting mechanism (113) and a pantograph head (114); the base (111) is mounted on the top of the vehicle body; the lateral displacement mechanism (112) is connected to the base (111); and the lifting mechanism (113) is connected between the lateral displacement mechanism (112) and the pantograph head (114). When the vehicle body is disconnected from the grid, the controller (12) controls the lifting mechanism (113) to drive the pantograph (114) downward, and moves the pantograph (11) to an initial position; When the vehicle body touches the grid, the camera device (13) is activated and detects the relative position between the high-voltage wire net and the bow head (114); if the relative position meets the lifting condition, the controller (12) issues a lifting instruction, controls the lifting mechanism (113) to drive the bow head (114) upward, and makes the bow head (114) contact the high-voltage wire net; if the relative position does not meet the lifting condition, the camera device (13) continuously monitors the relative position until the relative position meets the lifting condition, and the controller (12) issues a lifting instruction.

3. The pure electric wide-body dump truck according to claim 2, characterized in that: The pantograph (11) further comprises a displacement sensor (115) and an ultrasonic sensor (116), wherein the displacement sensor (115) and the ultrasonic sensor (116) are respectively arranged on the pantograph head (114), and the displacement sensor (115) and the ultrasonic sensor (116) are arranged at intervals. When the vehicle body deviates to the left or right on the road surface in the contact network state, When the displacement sensor (115) and the ultrasonic sensor (116) detect a signal from the high-voltage wire network, the controller (12) controls the lateral displacement mechanism (112) to move in the opposite direction of the deflected travel to ensure a wire-contact state; Or when the camera device (13) detects the bow head (114), the controller (12) controls the lateral displacement mechanism (112) to move in the opposite direction of the deflected travel to ensure a net-touching state.

4. The pure electric wide-body dump truck according to claim 2, characterized in that: When the vehicle body is running and the pantograph (11) touches the grid, the camera device (13) monitors the first contact position between the pantograph (11) and the high-voltage grid and feeds back the information to the controller (12). The controller (12) performs timing detection on the first contact position. When the time of the first contact position reaches a set value, the controller (12) controls the lateral displacement mechanism (112) to move to a second contact position and simultaneously re-times and monitors the second contact position.

5. The pure electric wide-body dump truck according to claim 2, characterized in that: The pantograph (11) further includes an air pressure sensor, which is provided on the lifting mechanism (113). The air pressure sensor is used to detect the air pressure value of the lifting mechanism (113) and feed it back to the controller (12). The controller (12) controls the inflation or deflation of the lifting mechanism (113) according to the feedback information.

6. The pure electric wide-body dump truck according to claim 5, characterized in that: The lifting mechanism (113) includes a cylinder, an inflation valve, and a deflation valve. The inflation valve and the deflation valve are respectively connected to the cylinder. When the controller (12) issues an inflation command, an external air source inflates the cylinder to a set value through the inflation valve. When the controller (12) issues a deflation command, the deflation valve opens and deflates the cylinder to a set value.

7. The pure electric wide-body dump truck according to claim 2, characterized in that: The lateral displacement mechanism (112) comprises a connecting seat (1121) and a driver (1122), wherein a driving end of the driver (1122) is connected to the connecting seat (1121), the connecting seat (1121) and the base (111) are connected via a slide rail, and the driver (1122) can drive the connecting seat (1121) to move along the guide rail of the base (111).

8. The pure electric wide-body dump truck according to any one of claims 2 to 7, characterized in that: Two lifting mechanisms (113) are provided, and the two lifting mechanisms (113) are spaced apart from each other. The two lifting mechanisms (113) are respectively connected between the bow head (114) and the lateral displacement mechanism (112).

9. The pure electric wide-body dump truck according to claim 8, characterized in that: The bow heads (114) are provided in two groups, the two groups of bow heads (114) are linked to each other, and each group of bow heads (114) is respectively connected to each lifting mechanism (113).

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