CN108859773B - Pure electric mine car transportation system - Google Patents
Pure electric mine car transportation system Download PDFInfo
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- CN108859773B CN108859773B CN201810878546.5A CN201810878546A CN108859773B CN 108859773 B CN108859773 B CN 108859773B CN 201810878546 A CN201810878546 A CN 201810878546A CN 108859773 B CN108859773 B CN 108859773B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
- B60L5/28—Devices for lifting and resetting the collector
- B60L5/32—Devices for lifting and resetting the collector using fluid pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/20—Details of contact bow
- B60L5/205—Details of contact bow with carbon contact members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The utility model provides a pure electric mine car conveying system, have buried the pole in the special lane and erect medium voltage direct current contact net on the pole, the whole car controller of electric mine car and control center wireless connection, control center driver send control command control in the dual supply mode power part carbon brush slider on the pantograph and medium voltage direct current contact net contact or after separating, realize that medium voltage direct current contact net is the direct power supply of electric mine car or by on-vehicle battery for the power supply of electric mine car. The invention adopts a medium-voltage direct-current contact net and storage battery dual-mode power supply mode to supply power for the electric mine car, not only maintains the flexibility of the traditional mine car, but also can realize long-distance cruising and charging in advancing, and can feed back the electric energy generated by regenerative braking of the electric mine car during downhill braking to a power grid for other vehicles to use, and each pair of contact lines can accommodate more electric mine cars and erect longer lines by adopting higher contact net voltage.
Description
Technical Field
The invention belongs to the technical field of electric transmission mining vehicles, and particularly relates to a pure electric mine car transportation system.
Background
The existing mine car mainly comprises a self-unloading mine car taking a diesel engine and a speed changer as power and an electric wheel mine car taking a diesel engine, a generator, a frequency changer and an electric wheel as power. The heavy mine car is mainly used for stripping earthwork and ore transportation of large open-pit mines, and the running road is large in curve, large in gradient and poor in road surface, so that the oil consumption of the heavy mine car is very large, and the oil cost of one mine car with the length of about 100t for one year is up to more than million yuan; in addition, as pit depth and diameter increase, engine exhaust can cause serious air pollution in the pit of the strip mine, thereby affecting environmental quality.
The electric transmission mining dump truck is mainly used for transporting large-scale surface mine ores and mineral aggregates, along with the increase of pit depth and diameter, heavy load ascending speed is low, because no mechanical transmission is arranged, the engine almost works in a non-efficient area and seriously reduces production efficiency, in order to solve the problems, mining truck manufacturers develop a research on a double-power scheme called ' overhead wire auxiliary power supply ', for example, patent number is CN201410570309.4 and the patent name is an electric transmission mining dump truck pantograph control device ', but in the technical schemes, the contact net power supply mode of the mine car lacks a pantograph contact wire tracking function, the contact net position cannot be tracked and monitored, a driver is required to have higher driving technology, and the driver is easy to fatigue. In addition, the recovery of braking energy is solved in the 'overhead line auxiliary power supply', and electric energy generated by regenerative braking is actually converted into heat energy through a resistor and blown away by a fan, so that energy conservation is not facilitated.
In recent years, pure electric driving devices powered by lithium batteries are tried to replace diesel engines or diesel generator sets, but because continuous production and heavy-duty operation are adopted throughout mining areas, the capacity and the discharge power of batteries are very large and heavy to meet the requirements of mine cars, the one-time investment cost and the later replacement cost of the lithium batteries are very large, and according to the technical level and the manufacturing cost of the existing lithium batteries, if the electric mine car is powered by the lithium batteries completely, the saved energy cost is offset by the cost of purchasing and replacing the batteries, and the electric mine car is still immature at the present stage by completely relying on the lithium batteries to make the electric mine car in consideration of the fact that the production of the lithium batteries needs to consume precious metals and the emission of manufacturing processes.
The overhead contact system is used for supplying power to vehicles and is widely applied to rail cars and trolley buses, but the comprehensive performance of the existing mine car is really achieved, the distance is large, the pure overhead contact system is used for supplying power, the mine car is required to run along a specific route, and if the mine car is separated from the overhead contact system, the power of the mine car is lost. Although the vehicle-mounted cable winch can be adopted to introduce electric power from an external power plug, the method is feasible under the condition that the operation position is relatively fixed, but is unsuitable for a strip mine with high maneuverability, the frequent plugging of the power plug is not only troublesome, but also has potential safety hazards, and the improvement is needed for the problems.
Disclosure of Invention
The invention solves the technical problems that: the utility model provides a pure electric mine car conveying system adopts the dual mode power supply mode of middling pressure direct current contact net and battery to supply power for electric mine car, both can keep the flexibility of electric mine car normal operating after the battery power supply, can supply power for electric mine car and charge for the battery through middling pressure direct current contact net again, solved the short board that current battery technology used on electric mine car, realize electric mine car long-time continuous operation, the electric energy that sends when carrying out regenerative braking can feed back the electric wire netting again and supply other vehicles to use, adopt higher contact net voltage to make every pair of contact wire can hold more electric mine cars and erect longer circuit.
The invention adopts the technical scheme that: the utility model provides a pure electric mine car conveying system, includes electric mine car, special lane, converter station and real-time monitoring center, bury many poles in the special lane and be equipped with the medium voltage direct current contact net that voltage range is 4.2kV ~ 50kV on locating the horizontal cross arm of pole upper end, be equipped with dual supply mode power supply part, walking part, auxiliary function part, whole car controller and wireless communication system on the electric mine car 1, and whole car controller passes through CAN bus and dual supply mode power supply part, walking part, auxiliary function part and wireless communication system are connected, whole car controller and real-time monitoring center wireless connection, after the carbon brush slider and the medium voltage direct current contact net contact or separation of carbon brush slider and the medium voltage direct current contact net on the control dual supply mode power supply part that whole car controller sent according to control center or driver, realize that medium voltage direct current contact net is electric mine car direct power supply or the battery in the dual supply mode power supply part is electric mine car power supply, real-time monitoring center and electric mine car, converter station and the transmission of realization electric mine car and the traffic state and road conditions information of the monitoring camera of locating on the special lane after passing through wireless connection.
The double-power-supply-mode power supply part comprises a pantograph mechanism, a storage battery, a DC-DC power supply converter, a charger, a DC-DC direct current control power supply and a universal power frequency power supply, wherein a carbon brush slider in the pantograph mechanism is connected with the DC-DC power supply converter, all power input ends in the walking part, the pantograph mechanism, the charger, an auxiliary function part, the universal power frequency power supply and the DC-DC direct current control power supply are connected in parallel according to the same polarity and then connected to a low-voltage power bus connected with the DC-DC power supply converter, a positive electrode of the storage battery is connected with a positive electrode of the low-voltage power bus connected with the DC-DC power supply converter through a diode, the whole car controller is connected with the DC-DC power supply converter, the charger and the storage battery, and after the carbon brush slider in the pantograph mechanism is contacted with a medium-voltage direct current contact wire when an electric mine car runs on a special lane, the medium-voltage direct current on the medium-voltage contact wire is converted into low-voltage direct current power required by the DC-DC power converter.
Further, the pantograph mechanism comprises a carbon brush sliding block, a pantograph controller, a pantograph traversing device, a pantograph lifting device and a contact line position detection device, the pantograph traversing device comprises a fixed part and a movable part, the fixed part is arranged at the top of a cab, the movable part matched with the fixed part is provided with two pantograph lifting devices corresponding to the transverse distance between contact lines in a medium-voltage direct-current contact net, the pantograph lifting device is connected with the movable part of the pantograph traversing device through a traversing connecting seat, the lifting part of the pantograph lifting device is connected with the pantograph, the pantograph controller is connected with the pantograph traversing device, the pantograph lifting device and the contact line position detection device, the top of the cab is at least provided with one contact line position detection device, the pantograph controller is connected with the contact net of the whole car controller through a CAN bus, and after the pantograph controller receives traversing and lifting instructions sent by the whole car controller, the pantograph lifting device and the pantograph lifting device are controlled according to detection signals fed back by the position detection device to drive the contact lines in the carbon brush traversing device to lift or separate from the contact lines in the medium-voltage direct-current contact lines fixed at the top of the pantograph.
Further, the lifting part of the pantograph lifting device is fixedly connected with the pantograph, the pantograph is of a structure made of a power receiving rod when the lifting part of the pantograph lifting device is hinged with the pantograph, the pantograph lifting device comprises a telescopic cylinder, a spring and an angle sensor, the lower end of the telescopic cylinder is fixed on a transverse moving connecting seat, the top end of the telescopic rod of the telescopic cylinder is hinged with one end of the power receiving rod, a carbon brush sliding block is fixed at the other end of the power receiving rod, the lower end of the spring is fixedly connected with a fixing plate arranged on the telescopic rod of the telescopic cylinder, and the upper end of the spring is fixedly connected with a diagonal rod fixed at one end of the power receiving rod.
Preferably, the pantograph is the structure that the power receiving pole was made when pantograph elevating gear's lifting part was articulated with the pantograph, pantograph elevating gear includes telescopic cylinder, two-way cylinder and angle sensor, the telescopic rod top and the fixed plate fixed connection of telescopic cylinder on the sideslip connecting seat are fixed in to the telescopic cylinder lower extreme, fixed plate one end articulates with the power receiving pole lower extreme and the fixed plate other end articulates with two-way cylinder lower extreme, the carbon brush slider is fixed in the telescopic rod tip and the power receiving pole of power receiving pole upper end and two-way cylinder upper end.
Preferably, the contact line position detection device comprises a high-frequency choke coil, a shielding wire and a high-frequency signal source, the carbon brush sliding block adopts a double-carbon brush sliding block structure, one end of each carbon brush sliding block I and one end of each carbon brush sliding block II of the carbon brush sliding block are respectively connected with the input end of the DC-DC power supply converter through the high-frequency choke coil, the other ends of the two carbon brush sliding blocks I and the other ends of the two carbon brush sliding blocks II are respectively connected with two output ends of the high-frequency signal source through the shielding wire after being respectively connected with the fixed wire I and the fixed wire II, the two carbon brush sliding blocks I and the two carbon brush sliding blocks II are contacted with a contact line in a medium-voltage direct-current contact net to form a high-frequency signal loop, and position information of the contact line in the medium-voltage direct-current contact net relative to an electric mine car is obtained after the inductance is calculated through measuring current values of the high-frequency signal loop and feeding back to the pantograph controller.
Preferably, the contact line position detection device comprises a light emitter, two light receivers, a motor and a rotating shaft, wherein the rotating shaft is arranged beside one pantograph at the top of the cab, the rotating shaft is arranged below a contact line corresponding to one pantograph in the medium-voltage direct-current contact net in operation, the rotating shaft is rotatably arranged at the top of the cab, one end of the rotating shaft is fixedly connected with an output shaft of the motor, light receivers with different receiving orientations are fixedly arranged on the rotating shaft at the two sides of the light emitter and are fixedly arranged in the middle of the rotating shaft, scattered light formed after the contact line is reflected by the contact line when light beams emitted by the light emitter penetrate the contact line in the medium-voltage direct-current contact net is respectively received by the two light receivers, the rotating shaft angle measured by an encoder on the motor is equal to the offset angle of the contact line in the medium-voltage direct-current contact net relative to the vertical line when the two light receivers receive the scattered light, the light receivers and the light emitters are connected with a pantograph controller and feed back received scattered light signals to the pantograph controller, and the position information of the electric mine car relative to the contact line in the medium-voltage direct-current contact net is obtained according to corresponding rotating shaft angle information when the scattered light is received.
Preferably, the contact line position detection device is a linear scanning radar, the carbon brush sliding block adopts a single carbon brush sliding block structure and is arranged on the top surface of a cab below the pantograph, the linear scanning radar output signal wire is connected with the pantograph controller, or the contact line position detection device is a phased array ultrasonic radar, the phased array ultrasonic radar is arranged on the top surface of the cab below the pantograph, the phased array ultrasonic radar is connected with the pantograph controller, and after the phased array ultrasonic radar performs linear scanning on a medium-voltage direct-current contact net on the same plane with the carbon brush sliding block, the obtained relative position information of the contact line and the phased array ultrasonic radar is transmitted to the pantograph controller, and then the position information of the contact line in the medium-voltage direct-current contact net relative to the electric mine car is obtained.
Preferably, the contact line position detection device is an ultrasonic emitter and two ultrasonic receivers, the ultrasonic emitter is of a flat conical horn structure and adopts a frequency hopping working mode, the ultrasonic emitter is arranged on the top surface of the cab, the two ultrasonic receivers are positioned on two lateral sides of the ultrasonic emitter and fixed on the top surface of the cab, reflected waves formed after ultrasonic beams emitted by the ultrasonic emitter are reflected by contact lines in the medium-voltage direct-current contact net are received by the two ultrasonic receivers, signal lines of the ultrasonic emitter and the two ultrasonic receivers are connected with the pantograph controller, and the pantograph controller obtains the height and deflection angle information of the contact lines in the medium-voltage direct-current contact net relative to the ultrasonic emitter according to the emission time of ultrasonic beams emitted by the ultrasonic emitter, the time of the two ultrasonic receivers respectively receiving the reflected beams and the relative distance between the two ultrasonic receivers.
Further, the walking part comprises a driving motor controller, a driving motor, a speed changer and an automatic gear shifting controller, wherein the driving motor controller is connected with a low-voltage power bus connected with a DC-DC power supply converter, the driving motor controller is connected with the driving motor, the driving motor is connected with the speed changer through a clutch and the speed changer is controlled by the automatic gear shifting controller, the input ends of the driving motor controller and the automatic gear shifting controller are connected with the output end of the whole vehicle controller, the converter station comprises a high-voltage power transformer, a medium-voltage rectifier, a filter, an overvoltage protector and a lightning protection device, the primary side of the high-voltage power transformer is connected with an external high-voltage network high-voltage line, the secondary side of the high-voltage power transformer is connected with the medium-voltage rectifier, when the high-voltage power transformer is connected with the power network high-voltage line, the positive and negative poles of the medium-voltage direct-current buses are respectively connected with the medium-voltage direct-current buses above a special lane through choking coil, the medium-voltage direct-current buses output by the medium-voltage rectifier are connected with the filter and the lightning protection device, the medium-voltage rectifier is connected with the medium-voltage power transformer and the medium-voltage power transformer, and the medium-voltage power transformer is connected with the medium-voltage power transformer, and the lightning protection device is connected with the medium-voltage power transformer and the medium-voltage power transformer.
Further, the auxiliary function part comprises a hydraulic steering power-assisted system, a pneumatic brake system, a hydraulic lifting system and an air conditioning system, the hydraulic steering power-assisted system comprises a steering oil pump motor controller, a steering oil pump motor and a steering oil pump, the output end of the steering oil pump motor controller is connected with the input end of the steering oil pump motor to drive the steering oil pump motor to rotate, the steering oil pump motor is connected with the steering oil pump, the pneumatic brake system comprises an air compressor controller, an air compressor motor, an air compressor, an air storage bottle and an air valve, the output end of the air compressor controller is connected with the input end of the air compressor motor and controls the air compressor motor to rotate, the air compressor motor is connected with the air compressor, the air compressor stores generated compressed air in the air storage bottle after being connected with the air storage bottle, the compressed air in the air storage bottle generates braking force through a brake pipe after being controlled by the air valve, the hydraulic lifting system comprises a hydraulic station oil pump motor controller, an oil pump motor, a hydraulic station oil pump and a hydraulic valve, an output end of the hydraulic station oil pump motor controller is connected with the input end of the oil pump motor, the air compressor motor is connected with the air storage bottle, the hydraulic lifting system is connected with the hydraulic pump motor, the hydraulic lifting system is connected with the hydraulic pump controller through the hydraulic lifting pump, and the air conditioner is connected with the air storage bottle through the hydraulic lifting pump, and the air conditioner is connected with the air conditioner through the air storage bottle, and the air storage pump The input ends of the hydraulic station oil pump motor controller and the hydraulic valve are connected with the output end of the whole vehicle controller, the steering oil pump motor controller, the hydraulic station oil pump motor controller and the air conditioner motor controller are all powered by a low-voltage power bus connected with a DC-DC power supply converter, the wireless communication system comprises a receiving and transmitting antenna, a wireless transmission module, a data acquisition module, a GPS module, anti-collision radars and cameras, wherein the data acquisition module is connected with a whole vehicle controller, and the anti-collision radars are arranged on the front, rear, left and right sides of the electric mining vehicle and the cameras are fixed on the front and rear sides of the electric mining vehicle.
Preferably, the DC-DC power supply converter is a DC-DC unidirectional medium-low voltage drop isolation converter, and the DC-DC medium-low voltage drop isolation converter converts medium-voltage direct current of the medium-voltage direct current catenary into low-voltage direct current and provides power supply for the electric mine car.
Preferably, the DC-DC power source converter is a DC-DC bidirectional medium-low voltage isolation converter, or the DC-DC power supply converter is a combination of a DC-DC unidirectional medium-low voltage drop isolation converter and a DC-DC unidirectional medium-low voltage boost isolation converter.
Compared with the prior art, the invention has the advantages that:
1. the technical scheme has strong systematicness, brings the special lane, the electric mine car, the medium-voltage direct-current contact net and the real-time monitoring center for management into the structure, improves the ordered management and the centralized management of the transportation of the electric mine car, completely realizes the pure electric of the electric mine car, and is beneficial to energy conservation and emission reduction;
2. in the technical scheme, the double-power-supply-mode power supply part has low requirements on an external power grid, three-phase load is balanced, the laying length of a single output loop is longer, more mine cars can be accommodated, and the electric mine cars can be recycled after braking energy is recovered, so that the electric mine cars have a braking energy recovery function;
3. The vehicle-mounted storage battery of the electric mine car in the technical scheme has the characteristics of small capacity, low battery cost, low cost, high charge and discharge power, good high-low temperature performance and long service life, and the vehicle-mounted storage battery of the electric mine car adopts a lithium titanate battery or a super capacitor;
4. the vehicle-mounted DC-DC power supply converter of the electric mine car adopts the high-frequency switching power supply technology, has the advantages of small size, light weight and high efficiency compared with a power frequency transformer, can acquire electric energy from high-voltage direct current of a medium-voltage direct current contact net to drive the electric mine car, and can feed back regenerative energy of electric braking of the electric mine car to a power grid;
5. according to the technical scheme, the special lane for fixing the medium-voltage direct-current contact net is arranged, and the mine car can be easily unmanned through an automatic tracking technology, so that the number of drivers of the electric mine car is greatly reduced;
6. the high-voltage power transformer in the technical scheme can be connected with a high-voltage line of a wind power plant or a high-voltage line of a photovoltaic power plant, and unstable clean energy provided by the wind power plant and the photovoltaic power plant is used, so that the stability of the voltage of a medium-voltage direct-current bus is maintained;
drawings
FIG. 1 is a schematic diagram showing the overall structure distribution of the present invention;
FIG. 2 is a schematic view of the structure of the converter station and electric mining vehicle of the present invention;
FIG. 3 is a schematic view of the connection structure of the main electrical components inside the electric mining vehicle of the present invention;
FIG. 4 is a schematic view of the main components of the electric mining car of the present invention;
fig. 5 is a schematic diagram of the internal circuit structure of the converter station with the energy storage device;
FIG. 6 is a schematic diagram of the structure of the electric mining vehicle, the dedicated lane, and the medium voltage DC overhead contact system of the present invention;
fig. 7 is a schematic structural view of a pantograph lifting device according to a first embodiment of the present invention;
fig. 8 is a schematic structural view of a contact line position detecting device according to a first embodiment of the present invention;
fig. 9 is a schematic view of a longitudinal structure of a contact line position detecting device according to a second embodiment of the present invention;
fig. 10 is a schematic view of a transverse structure of a contact line position detecting device according to a second embodiment of the present invention;
fig. 11 is a schematic structural view of a contact line position detecting device according to a third embodiment of the present invention;
fig. 12 is a schematic structural view of a pantograph lifting device according to a second and third embodiment of the present invention
Detailed Description
The present invention will be described with reference to FIGS. 1 to 8 first embodiment of the invention.
The utility model provides an pure electric mine car transportation system, includes electric mine car 1, special lane 2, converter station 3 and real-time monitoring center 4, bury many poles 10 on the special lane 2 and locate and be equipped with the medium voltage direct current contact net 12 that voltage range is 4.2kV ~ 50kV on the horizontal cross arm 11 of pole 10 upper end, be equipped with dual supply mode power supply part 5, walking part 6, auxiliary function part 7, whole car controller 8 and wireless communication system 9 on the electric mine car 1, and whole car controller 8 passes through CAN bus and is connected with dual supply mode power supply part 5, walking part 6, auxiliary function part 7 and wireless communication system 9, whole car controller 8 and real-time monitoring center 4 wireless connection, after the carbon brush slider 501 and direct current contact net 12 contact or separation in the control command control dual supply mode power supply part 5 that whole car controller 8 sent according to control center 4 or the driver, realize that medium voltage direct current contact net 12 is electric mine car 1 directly supplied or battery 502 in dual supply mode power supply part 5 is electric mine car 1, real-time monitoring center 4 passes through the control command that the controller 4 passes through and is located the wireless communication system of the power supply system of electric mine car 1, the control signal transmission system 3 and the road condition of the vehicle is realized.
The dual power supply mode power supply part 5 comprises a pantograph mechanism, a storage battery 502, a DC-DC power supply converter 503, a charger 504, a DC-DC direct current control power supply 506 and a universal power frequency power supply 507, wherein a carbon brush slide 501 in the pantograph mechanism is connected with the DC-DC power supply converter 503, all power input ends in the walking part 6, the pantograph mechanism, the charger 504, the auxiliary function part 7, the universal power frequency power supply 507 and the DC-DC direct current control power supply 506 are connected in parallel according to the same polarity and then connected to a low-voltage power bus connected with the DC-DC power supply converter 503, the positive electrode of the storage battery 502 is connected with the positive electrode of the low-voltage power bus connected with the DC-DC power supply converter 503 through a diode 505, the whole car controller 8 is connected with the contact net of the DC-DC power supply converter 503, the charger 504 and the storage battery 502, and after the carbon brush slide 501 in the electric mine car 1 runs on the special lane 2, the carbon brush slide 501 in the electric mine car mechanism is contacted with a contact wire 23 in the medium-voltage direct current 12, and the positive electrode of the electric mine car 1 converts medium-voltage from the medium-voltage direct current 12 into required low-voltage direct current power.
The pantograph mechanism comprises a carbon brush slider 501, a pantograph 511, a pantograph controller 508, a pantograph traversing device 509, a pantograph lifting device 510 and a contact line 23 position detection device, the pantograph traversing device 509 comprises a fixed part and a movable part, the fixed part is arranged at the top of the cab 13, the movable part matched with the fixed part is provided with two pantograph lifting devices 510 corresponding to the transverse distance between the contact lines 23 in the medium-voltage direct-current contact net 12, the pantograph lifting device 510 is connected with the movable part of the pantograph traversing device 509 through a traversing connecting seat, the lifting part of the pantograph lifting device 510 is connected with the pantograph 511, the pantograph controller 508 is connected with the pantograph traversing device 509, the pantograph lifting device 510 and the contact line position detection device, at least one contact line position detection device is arranged at the top of the cab 13, the pantograph controller 508 is connected with the whole-vehicle controller 8 through a CAN bus, and after the contact line and the lifting command sent by the whole-vehicle controller 8 are received, the pantograph lifting device 509 and the contact line position detection device 510 are controlled according to a position detection signal fed back by the position detection device, and the pantograph lifting device 510 is driven to be separated from the top of the contact line in the contact line of the medium-voltage contact net 12 or the contact line 11.
The lifting part of the pantograph lifting device 510 is fixedly connected with the pantograph 511, wherein the pantograph 511 is a structure made of a power receiving rod when the lifting part of the pantograph lifting device 510 is hinged with the pantograph 511, the pantograph lifting device 510 comprises a telescopic cylinder 512, a spring 513 and an angle sensor, the lower end of the telescopic cylinder 512 is fixed on a traversing connecting seat, the top end of the telescopic rod of the telescopic cylinder 512 is hinged with one end of the power receiving rod, a carbon brush slide block 501 is fixed on the other end of the power receiving rod, the lower end of the spring 513 is fixedly connected with a fixing plate 514 arranged on the telescopic rod of the telescopic cylinder 512, and the upper end of the spring 513 is fixedly connected with a diagonal rod 515 fixed on one end of the power receiving rod.
The contact line position detection device comprises a high-frequency choke 516, a shielding wire 517 and a high-frequency signal source 518, the carbon brush slide 501 adopts a double carbon brush slide structure, one end of each carbon brush slide I519 and 520 of the carbon brush slide 501 is connected to the input end of the DC-DC power supply converter 503 through the high-frequency choke 516, the other ends of the two carbon brush slide I519 and 520 are connected to two output ends of the high-frequency signal source 518 through the shielding wire 517 after being respectively connected with a fixed wire I and a fixed wire II, the two carbon brush slide I519 and the carbon brush slide II 520 are contacted with a contact line 23 in the medium-voltage direct current contact network 12 to form a high-frequency signal loop 521, and position information of the contact line 23 in the medium-voltage direct current contact network 12 relative to the electric mine car 1 is obtained by measuring current values of the high-frequency signal loop 521 and feeding back to the pantograph controller 508 to calculate inductance.
The walking part 6 comprises a driving motor controller 601, a driving motor 602, a speed changer 603 and an automatic gear shifting controller 604, wherein the driving motor controller 601 is connected with a low-voltage power bus connected with a DC-DC power supply converter 503, the driving motor controller 601 is connected with the driving motor 602, the driving motor 602 is connected with the speed changer 603 through a clutch 605, the speed changer 603 is controlled by the automatic gear shifting controller 604, the input ends of the driving motor controller 601 and the automatic gear shifting controller 604 are connected with the output end of the whole vehicle controller 8, the converter station 3 comprises a high-voltage power transformer 301, a medium-voltage rectifier 302, a filter 303, an overvoltage protector 304 and a lightning protector 305, the primary side of the high-voltage power transformer 301 is connected with an external power grid high-voltage line, the secondary side of the high-voltage power transformer 301 is connected with the medium-voltage rectifier 302, when the high-voltage power transformer 301 is connected with a high-voltage line of a power grid, the positive and negative poles of the medium-voltage direct current bus output by the medium-voltage rectifier 302 are respectively connected with the medium-voltage direct current contact net 12 above the special lane 2 through chokes 306, the medium-voltage direct current bus output by the medium-voltage rectifier 302 is connected with a filter 303, an overvoltage protector 304 and a lightning protector 305, one end of the lightning protector 305 is grounded, when the high-voltage power transformer 301 is connected with the high-voltage line of a wind power plant or a photovoltaic power plant, the positive and negative poles of the medium-voltage direct current bus output by the medium-voltage rectifier 302 are respectively connected with the positive and negative poles of an energy storage device 307 in parallel through chokes 306, the filter 303 and the overvoltage protector 304 are connected onto the medium-voltage direct current bus output by the medium-voltage rectifier 302, and the medium-voltage direct current bus output by the medium-voltage rectifier 302 is connected with the medium-voltage direct current contact net 12, the medium voltage direct current bus output by the medium voltage rectifier 302 is connected with a lightning protection device 305, and one end of the lightning protection device 305 is grounded.
The auxiliary function part 7 comprises a hydraulic steering power-assisted system, a pneumatic brake system, a hydraulic lifting system and an air conditioning system, wherein the hydraulic steering power-assisted system comprises a steering oil pump motor controller 711, a steering oil pump motor 712 and a steering oil pump 713, the output end of the steering oil pump motor controller 711 is connected with the input end of the steering oil pump motor 712 to drive the steering oil pump motor 712 to rotate, the steering oil pump motor 712 is connected with the steering oil pump 713, the pneumatic brake system comprises an air compressor controller 721, an air compressor motor 722, an air compressor 723, an air storage bottle 724 and an air valve 725, the output end of the air compressor controller 721 is connected with the input end of the air compressor motor 722 and controls the air compressor motor 722 to rotate, the air compressor motor 722 is connected with the air compressor 723, the air compressor 723 is connected with the air storage bottle 724 to store generated compressed air in the air storage bottle 724, the compressed air in the air cylinder 724 is controlled by an air valve 725 and then passes through a brake pipe to enable a mechanical brake to generate braking force, the hydraulic lifting system comprises a hydraulic station oil pump motor controller 731, an oil pump motor 732, a hydraulic station oil pump 734 and a hydraulic valve 733, the output end of the hydraulic station oil pump motor controller 731 is connected with the input end of the oil pump motor 732, the oil pump motor 732 is connected with the hydraulic station oil pump 734, the hydraulic station oil pump 734 is connected with a hydraulic accumulator 736, high-pressure hydraulic oil generated by the hydraulic station oil pump 734 is stored in the hydraulic accumulator 736, the high-pressure hydraulic oil in the hydraulic accumulator 736 is connected with a lifting hydraulic cylinder 735 for lifting a box hopper of the electric mine car 1 through a hydraulic valve 733 and a pipeline, the air conditioning system comprises an air conditioner motor controller 741 and an air conditioner motor 742, the output end of the air conditioner motor controller 741 is connected with the input end of the air conditioner motor 742, the input ends of the steering oil pump motor controller 711, the air compressor controller 721, the air valve 725, the hydraulic station oil pump motor controller 731 and the hydraulic valve 733 are all connected with the output end of the whole car controller 8, the steering oil pump motor controller 711, the hydraulic station oil pump motor controller 731 and the air conditioner motor controller 741 are all powered by a low-voltage power bus connected by the DC-DC power supply converter 503, the wireless communication system 9 comprises a transceiver antenna 91, a wireless transmission module 92, a data acquisition module 93, a GPS module 94, an anti-collision radar and a camera, the data acquisition module 93 is connected with the whole car controller 8, and the anti-collision radar is arranged on the car body on the front side, the rear side, the left side and the right side of the electric mine car 1 and the car body on the front side and the rear side of the electric mine car 1 is fixed with the camera.
The DC-DC power converter 503 is a DC-DC unidirectional medium-low voltage drop isolation converter, and the DC-DC medium-low voltage drop isolation converter converts the medium-voltage direct current of the medium-voltage direct current catenary 12 into low-voltage direct current to provide power for the electric mine car 1.
The DC-DC power converter 503 is a DC-DC bidirectional medium-low voltage isolation converter, or the DC-DC power converter 503 is a combination of a DC-DC unidirectional medium-low voltage drop isolation converter and a DC-DC unidirectional medium-low voltage boost isolation converter.
In this embodiment, as shown in fig. 8, the carbon brush slider 501 at the upper end of the pantograph 511 adopts a double carbon brush slider structure of a carbon brush slider i 519 and a carbon brush slider ii 520, the carbon brush slider i 519 and the carbon brush slider ii 520 are insulated from other portions of the pantograph 511, one ends of the carbon brush slider i 519 and the carbon brush slider ii 520 are respectively connected to the medium voltage input end of the DC-DC power converter 503 through the high frequency choke coil 516, the other ends of the carbon brush slider i 519 and the carbon brush slider ii 520 are respectively connected to two output ends of the high frequency signal source 518 through the shielding wire 517 after being respectively connected to the fixed wire i and the fixed wire ii, the two carbon brush sliders i 519 and the carbon brush slider ii 520 are both contacted with the contact wire 23 in the medium voltage direct current contact net 12 to form a high frequency signal loop 521, the area surrounded by the high frequency signal loop 521 is changed due to the different contact positions on the contact wire 23 in the carbon brush slider i 519 and the carbon brush slider ii 520 and the high frequency signal loop 521, and the area protected by the high frequency signal loop is proportional to the inductance of the loop. The position information of the contact line 23 in the dc-dc contact net 12 at the center of the carbon brush slide 501 can be obtained by measuring the current of the high-frequency signal loop 521, and the detection system can not only measure the relative position of the contact line 23 in the dc-dc contact net 12 and the carbon brush slide 501, but also provide signals such as the traversing speed of the contact line 23 in the dc-dc contact net 12 on the carbon brush slide 501 and whether the carbon brush slide 501 contacts with the contact line 23, so that two sets of high-frequency detection loops can be respectively connected to the carbon brush slide i 519 and the carbon brush slide ii 520 to further improve the detection precision.
The pantograph lifting device 510 comprises a telescopic cylinder 512, a spring 513 and an angle sensor, wherein the lower end of the telescopic cylinder 512 is fixed on a rigid transverse moving connecting seat which moves transversely, the top of a telescopic rod of the telescopic cylinder 512 is hinged with one end of a power receiving rod, a carbon brush sliding block 501 is fixed at the other end of the power receiving rod, the lower end of the spring 513 is connected with a fixed plate 514 arranged on the telescopic rod of the telescopic cylinder 512, the upper end of the spring 513 is connected with a diagonal rod 515 fixed at one end of the power receiving rod, a certain moment is applied to the power receiving rod through the diagonal rod 515 under the action of the spring 513, in addition, an angle sensor is arranged on one side of a hinge shaft, a pressure value between the carbon brush sliding block 501 and a contact line 23 can be obtained through a signal obtained through the angle sensor, and the pantograph controller 508 controls the height of the telescopic cylinder 512 according to a signal fed back by the angle sensor, so that the pressure between the carbon brush sliding blocks 501 and 23 of the power receiving rod 511 is kept in a reasonable range.
A second embodiment of the invention will be described with reference to FIGS. 1-6, 9, 10, 12
The utility model provides an pure electric mine car transportation system, includes electric mine car 1, special lane 2, converter station 3 and real-time monitoring center 4, bury many poles 10 on the special lane 2 and locate and be equipped with the medium voltage direct current contact net 12 that voltage range is 4.2kV ~ 50kV on the horizontal cross arm 11 of pole 10 upper end, be equipped with dual supply mode power supply part 5, walking part 6, auxiliary function part 7, whole car controller 8 and wireless communication system 9 on the electric mine car 1, and whole car controller 8 passes through CAN bus and is connected with dual supply mode power supply part 5, walking part 6, auxiliary function part 7 and wireless communication system 9, whole car controller 8 and real-time monitoring center 4 wireless connection, after the carbon brush slider 501 and direct current contact net 12 contact or separation in the control command control dual supply mode power supply part 5 that whole car controller 8 sent according to control center 4 or the driver, realize that medium voltage direct current contact net 12 is electric mine car 1 directly supplied or battery 502 in dual supply mode power supply part 5 is electric mine car 1, real-time monitoring center 4 passes through the control command that the controller 4 passes through and is located the wireless communication system of the power supply system of electric mine car 1, the control signal transmission system 3 and the road condition of the vehicle is realized.
The dual power supply mode power supply part 5 comprises a pantograph mechanism, a storage battery 502, a DC-DC power supply converter 503, a charger 504, a DC-DC direct current control power supply 506 and a universal power frequency power supply 507, wherein a carbon brush slide 501 in the pantograph mechanism is connected with the DC-DC power supply converter 503, all power input ends in the walking part 6, the pantograph mechanism, the charger 504, the auxiliary function part 7, the universal power frequency power supply 507 and the DC-DC direct current control power supply 506 are connected in parallel according to the same polarity and then connected to a low-voltage power bus connected with the DC-DC power supply converter 503, the positive electrode of the storage battery 502 is connected with the positive electrode of the low-voltage power bus connected with the DC-DC power supply converter 503 through a diode 505, the whole car controller 8 is connected with the contact net of the DC-DC power supply converter 503, the charger 504 and the storage battery 502, and after the carbon brush slide 501 in the electric mine car 1 runs on the special lane 2, the carbon brush slide 501 in the electric mine car mechanism is contacted with a contact wire 23 in the medium-voltage direct current 12, and the positive electrode of the electric mine car 1 converts medium-voltage from the medium-voltage direct current 12 into required low-voltage direct current power.
The pantograph mechanism comprises a carbon brush slider 501, a pantograph 511, a pantograph controller 508, a pantograph traversing device 509, a pantograph lifting device 510 and a contact line 23 position detection device, the pantograph traversing device 509 comprises a fixed part and a movable part, the fixed part is arranged at the top of the cab 13, the movable part matched with the fixed part is provided with two pantograph lifting devices 510 corresponding to the transverse distance between the contact lines 23 in the medium-voltage direct-current contact net 12, the pantograph lifting device 510 is connected with the movable part of the pantograph traversing device 509 through a traversing connecting seat, the lifting part of the pantograph lifting device 510 is connected with the pantograph 511, the pantograph controller 508 is connected with the pantograph traversing device 509, the pantograph lifting device 510 and the contact line position detection device, at least one contact line position detection device is arranged at the top of the cab 13, the pantograph controller 508 is connected with the whole-vehicle controller 8 through a CAN bus, and after the contact line and the lifting command sent by the whole-vehicle controller 8 are received, the pantograph lifting device 509 and the contact line position detection device 510 are controlled according to a position detection signal fed back by the position detection device, and the pantograph lifting device 510 is driven to be separated from the top of the contact line in the contact line of the medium-voltage contact net 12 or the contact line 11.
The lifting part of the pantograph lifting device 510 is fixedly connected with the pantograph 511, wherein the pantograph 511 is a structure made of a power receiving rod when the lifting part of the pantograph lifting device 510 is hinged with the pantograph 511, the pantograph lifting device 510 comprises a telescopic cylinder 512, a bidirectional cylinder 528 and an angle sensor, the lower end of the telescopic cylinder 512 is fixed on a transverse moving connecting seat, the top end of a telescopic rod of the telescopic cylinder 512 is fixedly connected with a fixing plate 514, one end of the fixing plate 514 is hinged with the lower end of the power receiving rod, the other end of the fixing plate 514 is hinged with the lower end of the bidirectional cylinder 528, and the sliding block 501 is fixed on the upper end of the power receiving rod, and the end of the telescopic rod at the upper end of the bidirectional cylinder 528 is hinged with the power receiving rod.
The contact line position detection device comprises a light emitter 522, two light receivers 523, a motor 524 and a rotating shaft 525, wherein the rotating shaft 525 is arranged beside one of the pantographs 511 at the top of the cab 13, and is positioned below a contact line 23 corresponding to one of the pantographs 511 in the medium-voltage direct-current contact net 12 in operation, the rotating shaft 525 is rotatably arranged at the top of the cab 13, one end of the rotating shaft 525 is fixedly connected with an output shaft of the motor 524, the light emitter 522 is fixedly arranged in the middle of the shaft 525, the light receivers 523 with different receiving directions are fixedly arranged on the rotating shaft 525 at two sides of the light emitter 522, scattered light formed by the contact line 23 when light beams emitted by the light emitter 522 strike the contact line 23 in the medium-voltage direct-current contact net 12 is respectively received by the two light receivers 523, the angle of the rotating shaft 525 measured by an encoder on the motor 524 is equal to the deviation angle of the contact line 23 in the medium-voltage direct-current contact net 522 relative to a vertical line, and the light receiver 522 are both connected with the electric pantograph controller 508 and the light receiver 523 feeds back received scattered light signals to the electric control 508, and the light emitter 523 obtains position information of the corresponding contact line 23 in the electric contact net controller 508 relative to the corresponding contact line 23 when the electric contact line 523 receives the scattered light.
The walking part 6 comprises a driving motor controller 601, a driving motor 602, a speed changer 603 and an automatic gear shifting controller 604, wherein the driving motor controller 601 is connected with a low-voltage power bus connected with a DC-DC power supply converter 503, the driving motor controller 601 is connected with the driving motor 602, the driving motor 602 is connected with the speed changer 603 through a clutch 605, the speed changer 603 is controlled by the automatic gear shifting controller 604, the input ends of the driving motor controller 601 and the automatic gear shifting controller 604 are connected with the output end of the whole vehicle controller 8, the converter station 3 comprises a high-voltage power transformer 301, a medium-voltage rectifier 302, a filter 303, an overvoltage protector 304 and a lightning protector 305, the primary side of the high-voltage power transformer 301 is connected with an external power grid high-voltage line, the secondary side of the high-voltage power transformer 301 is connected with the medium-voltage rectifier 302, when the high-voltage power transformer 301 is connected with a high-voltage line of a power grid, the positive and negative poles of the medium-voltage direct current bus output by the medium-voltage rectifier 302 are respectively connected with the medium-voltage direct current contact net 12 above the special lane 2 through chokes 306, the medium-voltage direct current bus output by the medium-voltage rectifier 302 is connected with a filter 303, an overvoltage protector 304 and a lightning protector 305, one end of the lightning protector 305 is grounded, when the high-voltage power transformer 301 is connected with the high-voltage line of a wind power plant or a photovoltaic power plant, the positive and negative poles of the medium-voltage direct current bus output by the medium-voltage rectifier 302 are respectively connected with the positive and negative poles of an energy storage device 307 in parallel through chokes 306, the filter 303 and the overvoltage protector 304 are connected onto the medium-voltage direct current bus output by the medium-voltage rectifier 302, and the medium-voltage direct current bus output by the medium-voltage rectifier 302 is connected with the medium-voltage direct current contact net 12, the medium voltage direct current bus output by the medium voltage rectifier 302 is connected with a lightning protection device 305, and one end of the lightning protection device 305 is grounded.
The auxiliary function part 7 comprises a hydraulic steering power assisting system, a pneumatic braking system, a hydraulic lifting system and an air conditioning system, wherein the hydraulic steering power assisting system comprises a steering oil pump motor controller 711, a steering oil pump motor 712 and a steering oil pump 713, the output end of the steering oil pump motor controller 711 is connected with the input end of the steering oil pump motor 712 to drive the steering oil pump motor 712 to rotate, the steering oil pump motor 712 is connected with the steering oil pump 713, the pneumatic braking system comprises an air compressor controller 721, an air compressor motor 722, an air compressor 723, an air cylinder 724 and an air valve 725, wherein the output end of the air compressor controller 721 is connected with the input end of the air compressor motor 722 and controls the air compressor motor 722 to rotate, the air compressor motor 722 is connected with the air compressor 723, the air compressor 723 stores generated compressed air in the air cylinder 724 after the air compressor 723 is connected with the air cylinder 724, the compressed air in the air cylinder 724 is controlled by an air valve 725 and then passes through a brake pipe to enable a mechanical brake to generate braking force, the hydraulic lifting system comprises a hydraulic station oil pump motor controller 731, an oil pump motor 732, a hydraulic station oil pump 734 and a hydraulic valve 733, the output end of the hydraulic station oil pump motor controller 731 is connected with the input end of the oil pump motor 732, the oil pump motor 732 is connected with the hydraulic station oil pump 734, the hydraulic station oil pump 734 is connected with a hydraulic accumulator 736, high-pressure hydraulic oil generated by the hydraulic station oil pump 734 is stored in the hydraulic accumulator 736, the high-pressure hydraulic oil in the hydraulic accumulator 736 is connected with a lifting hydraulic cylinder 735 for lifting a box hopper of the electric mine car 1 through a hydraulic valve 733 and a pipeline, the air conditioning system comprises an air conditioner motor controller 741 and an air conditioner motor 742, the output end of the air conditioner motor controller 741 is connected with the input end of the air conditioner motor 742, the input ends of the steering oil pump motor controller 711, the air compressor controller 721, the air valve 725, the hydraulic station oil pump motor controller 731 and the hydraulic valve 733 are all connected with the output end of the whole car controller 8, the steering oil pump motor controller 711, the hydraulic station oil pump motor controller 731 and the air conditioner motor controller 741 are all powered by a low-voltage power bus connected by the DC-DC power supply converter 503, the wireless communication system 9 comprises a transceiver antenna 91, a wireless transmission module 92, a data acquisition module 93, a GPS module 94, an anti-collision radar and a camera, the data acquisition module 93 is connected with the whole car controller 8, and the anti-collision radar is arranged on the car body on the front side, the rear side, the left side and the right side of the electric mine car 1 and the car body on the front side and the rear side of the electric mine car 1 is fixed with the camera.
The DC-DC power converter 503 is a DC-DC unidirectional medium-low voltage drop isolation converter, and the DC-DC medium-low voltage drop isolation converter converts the medium-voltage direct current of the medium-voltage direct current catenary 12 into low-voltage direct current to provide power for the electric mine car 1.
The DC-DC power converter 503 is a DC-DC bidirectional medium-low voltage isolation converter, or the DC-DC power converter 503 is a combination of a DC-DC unidirectional medium-low voltage drop isolation converter and a DC-DC unidirectional medium-low voltage boost isolation converter.
In this embodiment, as shown in fig. 9 and 10, by installing a light emitter 522 and two light receivers 523 below a pantograph 511 on top of a cab 13 to scan, the relative position between a contact line 23 and the center of a carbon brush slider 501 at the upper end of the pantograph 511 is directly obtained, and the specific working principle is as follows: the light emitter 522 and the two light receivers 523 are mounted on the same rotating shaft 525 driven by the motor 524, and the rotating shaft 525 is longitudinally arranged beside one pantograph 511 along the electric mine car 1 and positioned at the top of the cab 13 below the contact line 23, and is normally parallel to the contact line 23; the light emitter 522 is arranged in the middle of the rotating shaft 525, the two light receivers 523 are arranged on the rotating shaft 525 and are positioned on two sides of the light emitter 522, the light emitter 522 emits a beam of extremely fine parallel light, the two light receivers 523 adopt sharp divergence angles, the divergence angles of the light emitter 522 only need to ensure that the two light receivers 523 can receive useful signals, when the laser beams emitted by the light emitter 522 irradiate on the contact line 23, reflection occurs, and the contact line 23 is a curved surface, so that the reflected light is scattered, wherein scattered light can be received by the two light receivers 523, the angle of the rotating shaft 525 corresponding to the moment of receiving the scattered light is recorded, the direction of the detected contact line 23 is obtained, and the position of the contact line 23 relative to the electric mine car 1 can be calculated by combining the known distance from the contact line 23 to the roof of the electric mine car 1.
In this embodiment, detection can be performed by using one light receiver 523 in principle, but considering that an optical axis of the light receiver 523 may be wrong when facing the sun, two light receivers are disposed, in order to reduce vibration of the optoelectronic device caused by reciprocating rotation of the rotating shaft 525, the swing scanning mechanism may be changed into a rotating mirror mechanism, and several reflectors on the same rotating shaft 525 are dragged by the motor 524 to rotate to realize scanning.
A third embodiment of the invention is described below with reference to fig. 1 to 6, 11 and 12.
The utility model provides an pure electric mine car transportation system, includes electric mine car 1, special lane 2, converter station 3 and real-time monitoring center 4, bury many poles 10 on the special lane 2 and locate and be equipped with the medium voltage direct current contact net 12 that voltage range is 4.2kV ~ 50kV on the horizontal cross arm 11 of pole 10 upper end, be equipped with dual supply mode power supply part 5, walking part 6, auxiliary function part 7, whole car controller 8 and wireless communication system 9 on the electric mine car 1, and whole car controller 8 passes through CAN bus and is connected with dual supply mode power supply part 5, walking part 6, auxiliary function part 7 and wireless communication system 9, whole car controller 8 and real-time monitoring center 4 wireless connection, after the carbon brush slider 501 and direct current contact net 12 contact or separation in the control command control dual supply mode power supply part 5 that whole car controller 8 sent according to control center 4 or the driver, realize that medium voltage direct current contact net 12 is electric mine car 1 directly supplied or battery 502 in dual supply mode power supply part 5 is electric mine car 1, real-time monitoring center 4 passes through the control command that the controller 4 passes through and is located the wireless communication system of the power supply system of electric mine car 1, the control signal transmission system 3 and the road condition of the vehicle is realized.
The dual power supply mode power supply part 5 comprises a pantograph mechanism, a storage battery 502, a DC-DC power supply converter 503, a charger 504, a DC-DC direct current control power supply 506 and a universal power frequency power supply 507, wherein a carbon brush slide 501 in the pantograph mechanism is connected with the DC-DC power supply converter 503, all power input ends in the walking part 6, the pantograph mechanism, the charger 504, the auxiliary function part 7, the universal power frequency power supply 507 and the DC-DC direct current control power supply 506 are connected in parallel according to the same polarity and then connected to a low-voltage power bus connected with the DC-DC power supply converter 503, the positive electrode of the storage battery 502 is connected with the positive electrode of the low-voltage power bus connected with the DC-DC power supply converter 503 through a diode 505, the whole car controller 8 is connected with the contact net of the DC-DC power supply converter 503, the charger 504 and the storage battery 502, and after the carbon brush slide 501 in the electric mine car 1 runs on the special lane 2, the carbon brush slide 501 in the electric mine car mechanism is contacted with a contact wire 23 in the medium-voltage direct current 12, and the positive electrode of the electric mine car 1 converts medium-voltage from the medium-voltage direct current 12 into required low-voltage direct current power.
The pantograph mechanism comprises a carbon brush slider 501, a pantograph 511, a pantograph controller 508, a pantograph traversing device 509, a pantograph lifting device 510 and a contact line 23 position detection device, the pantograph traversing device 509 comprises a fixed part and a movable part, the fixed part is arranged at the top of the cab 13, the movable part matched with the fixed part is provided with two pantograph lifting devices 510 corresponding to the transverse distance between the contact lines 23 in the medium-voltage direct-current contact net 12, the pantograph lifting device 510 is connected with the movable part of the pantograph traversing device 509 through a traversing connecting seat, the lifting part of the pantograph lifting device 510 is connected with the pantograph 511, the pantograph controller 508 is connected with the pantograph traversing device 509, the pantograph lifting device 510 and the contact line position detection device, at least one contact line position detection device is arranged at the top of the cab 13, the pantograph controller 508 is connected with the whole-vehicle controller 8 through a CAN bus, and after the contact line and the lifting command sent by the whole-vehicle controller 8 are received, the pantograph lifting device 509 and the contact line position detection device 510 are controlled according to a position detection signal fed back by the position detection device, and the pantograph lifting device 510 is driven to be separated from the top of the contact line in the contact line of the medium-voltage contact net 12 or the contact line 11.
The lifting part of the pantograph lifting device 510 is fixedly connected with the pantograph 511, wherein the pantograph 511 is a structure made of a power receiving rod when the lifting part of the pantograph lifting device 510 is hinged with the pantograph 511, the pantograph lifting device 510 comprises a telescopic cylinder 512, a bidirectional cylinder 528 and an angle sensor, the lower end of the telescopic cylinder 512 is fixed on a transverse moving connecting seat, the top end of a telescopic rod of the telescopic cylinder 512 is fixedly connected with a fixing plate 514, one end of the fixing plate 514 is hinged with the lower end of the power receiving rod, the other end of the fixing plate 514 is hinged with the lower end of the bidirectional cylinder 528, and the sliding block 501 is fixed on the upper end of the power receiving rod, and the end of the telescopic rod at the upper end of the bidirectional cylinder 528 is hinged with the power receiving rod.
The contact line position detection device is an ultrasonic emitter 526 and two ultrasonic receivers 527, the ultrasonic emitter 526 is of a flat conical horn structure, the ultrasonic emitter 526 adopts a frequency hopping working mode, the ultrasonic emitter 526 is arranged on the top surface of the cab 13, the two ultrasonic receivers 527 are positioned on two lateral sides of the ultrasonic emitter 526 and fixed on the top surface of the cab 13, reflected waves formed by the ultrasonic beams emitted by the ultrasonic emitter 526 after being reflected by the contact lines 23 in the medium-voltage direct-current contact network 12 are received by the two ultrasonic receivers 527, signal lines of the ultrasonic emitter 526 and the two ultrasonic receivers 527 are connected with the pantograph controller 508, and the pantograph controller 508 obtains the height and the angle information of the contact lines 23 in the medium-voltage direct-current contact network 12 relative to the ultrasonic emitter 526 according to the emission time of the ultrasonic beams emitted by the ultrasonic emitter 526, the time of the two ultrasonic receivers 527 respectively receiving the reflected beams and the relative distance between the two ultrasonic receivers 527.
The walking part 6 comprises a driving motor controller 601, a driving motor 602, a speed changer 603 and an automatic gear shifting controller 604, wherein the driving motor controller 601 is connected with a low-voltage power bus connected with a DC-DC power supply converter 503, the driving motor controller 601 is connected with the driving motor 602, the driving motor 602 is connected with the speed changer 603 through a clutch 605, the speed changer 603 is controlled by the automatic gear shifting controller 604, the input ends of the driving motor controller 601 and the automatic gear shifting controller 604 are connected with the output end of the whole vehicle controller 8, the converter station 3 comprises a high-voltage power transformer 301, a medium-voltage rectifier 302, a filter 303, an overvoltage protector 304 and a lightning protector 305, the primary side of the high-voltage power transformer 301 is connected with an external power grid high-voltage line, the secondary side of the high-voltage power transformer 301 is connected with the medium-voltage rectifier 302, when the high-voltage power transformer 301 is connected with a high-voltage line of a power grid, the positive and negative poles of the medium-voltage direct current bus output by the medium-voltage rectifier 302 are respectively connected with the medium-voltage direct current contact net 12 above the special lane 2 through chokes 306, the medium-voltage direct current bus output by the medium-voltage rectifier 302 is connected with a filter 303, an overvoltage protector 304 and a lightning protector 305, one end of the lightning protector 305 is grounded, when the high-voltage power transformer 301 is connected with the high-voltage line of a wind power plant or a photovoltaic power plant, the positive and negative poles of the medium-voltage direct current bus output by the medium-voltage rectifier 302 are respectively connected with the positive and negative poles of an energy storage device 307 in parallel through chokes 306, the filter 303 and the overvoltage protector 304 are connected onto the medium-voltage direct current bus output by the medium-voltage rectifier 302, and the medium-voltage direct current bus output by the medium-voltage rectifier 302 is connected with the medium-voltage direct current contact net 12, the medium voltage direct current bus output by the medium voltage rectifier 302 is connected with a lightning protection device 305, and one end of the lightning protection device 305 is grounded.
The auxiliary function part 7 comprises a hydraulic steering power-assisted system, a pneumatic brake system, a hydraulic lifting system and an air conditioning system, wherein the hydraulic steering power-assisted system comprises a steering oil pump motor controller 711, a steering oil pump motor 712 and a steering oil pump 713, the output end of the steering oil pump motor controller 711 is connected with the input end of the steering oil pump motor 712 to drive the steering oil pump motor 712 to rotate, the steering oil pump motor 712 is connected with the steering oil pump 713, the pneumatic brake system comprises an air compressor controller 721, an air compressor motor 722, an air compressor 723, an air storage bottle 724 and an air valve 725, the output end of the air compressor controller 721 is connected with the input end of the air compressor motor 722 and controls the air compressor motor 722 to rotate, the air compressor motor 722 is connected with the air compressor 723, the air compressor 723 is connected with the air storage bottle 724 to store generated compressed air in the air storage bottle 724, the compressed air in the air cylinder 724 is controlled by an air valve 725 and then passes through a brake pipe to enable a mechanical brake to generate braking force, the hydraulic lifting system comprises a hydraulic station oil pump motor controller 731, an oil pump motor 732, a hydraulic station oil pump 734 and a hydraulic valve 733, the output end of the hydraulic station oil pump motor controller 731 is connected with the input end of the oil pump motor 732, the oil pump motor 732 is connected with the hydraulic station oil pump 734, the hydraulic station oil pump 734 is connected with a hydraulic accumulator 736, high-pressure hydraulic oil generated by the hydraulic station oil pump 734 is stored in the hydraulic accumulator 736, the high-pressure hydraulic oil in the hydraulic accumulator 736 is connected with a lifting hydraulic cylinder 735 for lifting a box hopper of the electric mine car 1 through a hydraulic valve 733 and a pipeline, the air conditioning system comprises an air conditioner motor controller 741 and an air conditioner motor 742, the output end of the air conditioner motor controller 741 is connected with the input end of the air conditioner motor 742, the input ends of the steering oil pump motor controller 711, the air compressor controller 721, the air valve 725, the hydraulic station oil pump motor controller 731 and the hydraulic valve 733 are all connected with the output end of the whole car controller 8, the steering oil pump motor controller 711, the hydraulic station oil pump motor controller 731 and the air conditioner motor controller 741 are all powered by a low-voltage power bus connected by the DC-DC power supply converter 503, the wireless communication system 9 comprises a transceiver antenna 91, a wireless transmission module 92, a data acquisition module 93, a GPS module 94, an anti-collision radar and a camera, the data acquisition module 93 is connected with the whole car controller 8, and the anti-collision radar is arranged on the car body on the front side, the rear side, the left side and the right side of the electric mine car 1 and the car body on the front side and the rear side of the electric mine car 1 is fixed with the camera.
The DC-DC power converter 503 is a DC-DC unidirectional medium-low voltage drop isolation converter, and the DC-DC medium-low voltage drop isolation converter converts the medium-voltage direct current of the medium-voltage direct current catenary 12 into low-voltage direct current to provide power for the electric mine car 1.
The DC-DC power converter 503 is a DC-DC bidirectional medium-low voltage isolation converter, or the DC-DC power converter 503 is a combination of a DC-DC unidirectional medium-low voltage drop isolation converter and a DC-DC unidirectional medium-low voltage boost isolation converter.
In this embodiment, as shown in fig. 11, the ultrasonic transmitter 526 is in a horn-shaped structure with a flat cone shape, the emitted beam is a flat fan-shaped ultrasonic beam with a wide angle in the transverse direction and a sharp angle in the longitudinal direction, the two ultrasonic receivers 527 are symmetrically disposed at two sides of the ultrasonic transmitter 526 in the transverse direction and at a certain distance, and the ultrasonic transmitter 526 and the ultrasonic receiver 527 calculate the height and the deflection angle of the contact line 23 relative to the ultrasonic transmitter 526 according to the time difference of the received signal relative to the ultrasonic transmitter 526 and the known relative distance between the two ultrasonic receivers 527 by the ultrasonic receiver 527 according to the near-far effect.
In order to combat the interference of multipath reflected waves and other external interference, the ultrasonic transmitter 526 operates in a frequency hopping manner, the frequency hopping period should be as short as possible under the premise that the two ultrasonic receivers 527 can both receive effective signals, the frequency points in the frequency hopping patterns should be as many as possible and be non-repeated, in addition, the ultrasonic transmitters 526 of different electric mine cars 1 preferably use different frequency hopping patterns, in theory, after the signal reflected at the contact line 23 after the transmission of the short ultrasonic wave of one frequency is determined to have been received by the ultrasonic receiver 527 according to the longest path, the ultrasonic wave should be hopped to the next frequency to transmit the ultrasonic wave, the ultrasonic receiver 527 should be blocked before the latest reflected signal is received and the time period after the farthest reflected signal is received by the ultrasonic receiver 527, the received signal is not processed, and the detection structure has low cost, no rotating parts, strong anti-interference capability and high reliability.
In the above three embodiments, the contact line position detecting device may also detect by using a linear scanning radar, each pantograph 511 adopts a single carbon brush sliding vane structure, a linear scanning radar is installed on the top of the cab 13 and below the pantograph 511, the radar uses ultrasonic or millimeter wave radio and image processing to directly measure the relative position between the contact line 23 and the center of the carbon brush sliding vane 501, and the detecting system not only can measure the relative position relative to the center of the carbon brush sliding vane 501, but also can provide signals such as the traversing speed of the contact line 23 on the carbon brush sliding vane 501 at the upper end of the pantograph 511, whether the carbon brush sliding vane 501 is connected with the contact line 23, and the like. The scheme has the advantage of stronger anti-interference capability.
The contact line position detection device can also detect by adopting a phased array ultrasonic radar, and can perform linear scanning on the contact line 23 positioned on the same plane with the carbon brush slide block 501 by using the phased array ultrasonic radar arranged below the pantograph 511, and then process the received signal to directly obtain the relative position of the contact line 23 and the phased array ultrasonic radar. In order to resist the interference of multipath reflected waves, the scanning of the phased array ultrasonic radar is that the focusing point is always on the same plane of the carbon brush slide block 501, in addition, the transmitted signals adopt Direct Sequence (DS) pseudo-random coding, and various interferences are eliminated through a digital coherent processing technology.
In the above embodiment, the converter station 3 includes the high-voltage power transformer 301, the medium-voltage rectifier 302, the filter 303, the overvoltage protector 304 and the lightning protector 305, the high-voltage power transformer 301 converts the 110kV or 220kV three-phase high-voltage ac from the power grid into the medium-voltage ac of 10 kV-35 kV, then the medium-voltage rectifier 302 full-wave rectifies the medium-voltage ac to obtain the medium-voltage dc of 14 kV-49.5 kV and transmits the medium-voltage dc to the medium-voltage dc bus, the medium-voltage dc is filtered by the filter 303 and then connected with the medium-voltage dc contact net 12 disposed on the special lane 2, wherein, in order to use wind power and photovoltaic with larger fluctuation, an energy storage device 307 can be added in the converter station 3, the positive electrode and the negative electrode of the medium-voltage dc bus are respectively connected with the positive electrode and the negative electrode of the energy storage device 307 in parallel, when the voltage of the medium-voltage dc bus is higher than the energy storage device 307, the energy storage device 307 is automatically charged, and when the voltage of the medium-voltage dc bus is lower than the fused salt of the energy storage device 307, the energy storage device 307 is automatically discharged, so as to maintain the stability of the medium-voltage dc bus voltage, the energy storage device 307 is the super-voltage battery, the super battery can be a lithium battery, the electric battery or a power station can be used for producing a power station or a power station, or a power station is not for cleaning, or a power station is used for cleaning; the high-voltage power transformer 301 converts high-voltage alternating current from a power grid into medium-voltage alternating current of 3 kV-35 kV, and then obtains medium-voltage direct current of 4.2 kV-50 kV through the medium-voltage rectifier 302 to be connected to the medium-voltage direct current contact net 12 above the special lane 2.
A great advantage of using medium voltage direct current with a higher voltage level for the contact net 23 is that more electric mining vehicles 1 can be supplied simultaneously on the same line.
The method comprises the steps that 35kV medium-voltage alternating current is adopted, 49.5kV medium-voltage direct current is obtained through full-wave rectification of a medium-voltage rectifier 302, compared with 10kV medium-voltage alternating current, 14kV medium-voltage direct current is obtained through full-wave rectification of the medium-voltage rectifier 302, the number of vehicles which can be simultaneously supplied by a contact net can be more than 2.5 times that of the embodiment 1, the contact line 23 with the current-carrying capacity of 1000A is also used, and if the 14kV medium-voltage direct current is adopted, each pair of contact lines 23 can simultaneously supply power for 50-100 t-level electric mine cars 1; if the medium-voltage direct current of 49.5kV is adopted, each pair of the contact wires 23 of each lane can simultaneously supply power for 200-400 electric mine cars 1 of 100t level, and in addition, the maximum length of each pair of the contact wires 23 can be increased from 10km to 60km.
The special lane 2 is a bidirectional double lane built according to the standard, as shown in fig. 6, a medium-voltage direct-current contact net 12 is erected on an electric pole 10 buried in the middle of the special lane 2, a horizontal cross arm 11 is arranged at the upper part of the electric pole 10 and is supported by a diagonal brace, and insulators 14 are arranged below the horizontal cross arm 11 at a specified interval; two parallel contact lines 23 of the medium-voltage direct-current contact net 12 are symmetrically arranged right above the road center lines of the ascending lane 16 and the descending lane 17 through the hanging pieces 15 below the insulators 14, the contact line 23 on the left side in the running direction is positive, and the contact line 23 on the right side is negative.
The real-time monitoring system for the transportation of the electric mine car 1 comprises a monitoring center 4, a display screen, a monitoring camera arranged on the special lane 2, an operation state information acquisition, transmission and analysis processing system of the electric mine car 1, the converter station 3 and each section of the contact net, and the like.
During production operation, a driver drives the electric mine car 1 to operate through each operation switch, pedals, an operation rod and a steering wheel in the cab 13, the whole car controller CAN timely send out an execution instruction to a subsystem of the electric mine car 1 through a CAN bus according to the operation and control actions made by the driver, the driving motor controller 601 drives the driving motor 602 to rotate, and drives the tires 19 to rotate through the transmission, 603, the differential 18 and the like, so that the electric mine car 1 travels, after the electric mine car 1 enters the special lane 2, the driver CAN get off the car, then the remote controller commands the two pantographs 511 of the electric mine car 1 to lift and be respectively connected with the two contact wires 23 of the medium-voltage direct current contact net 12, and the electric mine car 1 automatically travels along the instant, the medium-voltage direct current provides 620V low-voltage power supply for the electric mine car 1 through the DC-DC power supply converter 503, at this time, the electric mine car 1 is supplied by the medium-voltage direct current contact net 12, and the storage battery 502 enters a charging state; when the electric mine car 1 leaves the special lane 2 and enters the loading area or the dumping area for operation, the driver or the monitoring center 4 returns and sends out a command of retracting and stopping, the pantograph 511 of the electric mine car 1 is automatically retracted and separated from the medium-voltage direct-current contact net 12, the electric mine car 1 stops, the electric mine car 1 is powered by the storage battery 502, and the driver gets on the car and flexibly drives according to the site situation.
For safety, not only the DC-DC power converter 503 must be isolated, but also the driver must be able to get on or off the vehicle when the pantograph 511 is connected to the medium-voltage direct-current contact net 12, and the driver must get on or off the vehicle when the pantograph 511 is disconnected from the medium-voltage direct-current contact net 12, and at least one discharging brush 24 towed on the ground must be installed under the frame of the electric mine car 1, so as to ensure that the vehicle body of the electric mine car 1 is at zero potential.
In fig. 3, the pantograph 511 introduces the medium-voltage direct current provided by the medium-voltage direct current contact net 12 into the electric mine car 1, the medium-voltage direct current is converted into the low-voltage direct current of 620V by the DC-DC power supply converter 503 to provide a power supply for the vehicle-mounted electric appliances on the electric mine car 1, the charger 504 is essentially a current limiting device with overvoltage protection, the rated voltage of the storage battery 502 is 540V, when the voltage of the storage battery 502 is lower than 620V, the DC-DC power supply converter 503 charges the storage battery 502 through the charger 503, when the pantograph 511 of the electric mine car 1 is separated from the medium-voltage direct current contact net 12, the storage battery 502 provides a power supply for the vehicle-mounted electric appliances on the electric mine car 1 through the diode 505, and the driving motor controller 601, the hydraulic station oil pump motor controller 731, the steering oil pump motor controller 711, the air conditioner motor controller 741, the universal power supply 507 and the DC-DC control power supply 506 all adopt the same level of input voltage.
In normal operation, the driving motor controller 601 inverts the low-voltage direct current into three-phase alternating current with controllable frequency and amplitude and provides the three-phase alternating current for the driving motor 602, and the driving motor 602 operates according to the input alternating current and drives the electric mine car 1 to travel; when the vehicle brakes, the driving motor controller 601 converts the kinetic energy of the electric mine car 1 into electric power through the driving motor 602 and applies the electric power to the low-voltage direct current bus, at the moment, the voltage of the low-voltage direct current bus is higher than 620V, the DC-DC power supply converter 503 works reversely, and the braking energy emitted by the electric mine car 1 is fed back to the medium-voltage direct current bus for other vehicles in the network; the working conditions of the hydraulic station oil pump motor controller 731, the steering oil pump motor controller 711 and the air conditioner motor controller 741 are basically similar to those of the driving motor controller 601, the low-voltage direct current is inverted into three-phase alternating current with controllable frequency and amplitude and is provided for the corresponding oil pump motor 732, the steering oil pump motor 712 and the air conditioner motor 742, the universal power frequency power supply 507 and the DC-DC direct current control power supply 506 respectively provide 50Hz-380V/220V alternating current for other alternating current electric equipment of the electric mine car 1 and DC24V direct current for direct current equipment, and after the carbon brush slide blocks 501 in a pantograph mechanism of the electric mine car 1 are separated from contact lines 23 in a medium-voltage direct current contact net 12, the storage battery 502 provides required low-voltage power direct current for the electric mine car 1 through the diode 505.
The dual power supply mode power supply part 5 comprises a pantograph mechanism, a storage battery 502, a DC-DC power supply converter 503, a charger 504, a DC-DC direct current control power supply 506 and a universal power frequency power supply 507, the pantograph mechanism comprises a carbon brush slide block 501, a pantograph 511, a pantograph controller 508, a pantograph traversing device 509, a pantograph lifting device 510 and a contact line position detection device, when a driver drives the electric mine car 1 to enter a special lane 2 below a contact net, the pantograph lifting device 510 is started, the pantograph controller 508 starts the contact line position detection device, and controls the traversing device 509 according to the relative position of the pantograph 511 and the contact line 23 measured by the contact line position detection device, so that the pantograph 511 is transversely shifted, the connection between the pantograph 511 and the contact line 23 is ensured, when the driver drives the electric mine car 1 to leave the special lane 2, the pantograph lifting device 510 is closed, the pantograph 51 is separated from the contact line 23 and is automatically retracted, and the DC-DC power supply converter 503 converts the medium voltage direct current from the medium voltage direct current 12 into low voltage power required by the electric mine car 1; when the electric mine car 1 decelerates and brakes or descends, the DC-DC power supply converter 503 also transmits the electric energy generated by braking to the medium-voltage direct-current contact net 12; charger 504 will charge battery 502 in a catenary powered mode; when the electric mine car 1 is separated from the medium-voltage direct current contact net 12, the electric mine car 1 enters a power supply mode of the storage battery 502, and the electric mine car 1 is a pure battery powered electric mine car 1.
The traveling part 6 mainly comprises a traveling part 6, and the traveling part 6 comprises a driving motor controller 601, a driving motor 602, a transmission 603, an automatic gear shifting controller 604 and a clutch 605, wherein the driving motor controller 601 drives and controls the steering and rotating speed of the driving motor 602 according to instructions from the whole vehicle controller 8, converts direct current from a low-voltage power bus into alternating current with controllable frequency and amplitude and activates the driving motor 602, and the driving motor 602 drives the tires 19 to rotate through the clutch 605 and the transmission 603 and then through the transmission rod 20 and the differential 18 of the rear axle 21, wherein the power input end of the electric water cooling system 22 is connected to the low-voltage power bus.
The auxiliary function part 7 mainly comprises a hydraulic steering power-assisted system, a pneumatic brake system, a hydraulic lifting system and an air conditioning system, the whole vehicle controller 8 is a control center of the whole vehicle, and comprises a high-performance MCU and a CAN module inside, CAN collect working state information of subsystems, sensor signals and various control signals sent by a driver, then makes corresponding execution commands according to a pre-designed control rule, and reaches each subsystem through a CAN bus.
The wireless communication system 9 mainly comprises a receiving and transmitting antenna 91, a wireless transmission module 92, a data acquisition module 93, a GPS module 94, an anti-collision radar and a camera, and has the main functions of timely transmitting the coordinates and the running speed of the electric mine car 1, monitoring information required to be reported by the whole car controller 8, running state data of each subsystem of the electric mine car 1 and the like to the monitoring center 4 in real time, and when the electric mine car 1 encounters an abnormal condition, the electric mine car can be actively stopped by the whole car controller 8 and timely feeds back information to the monitoring center 4; the operator of the monitoring center 4 can call out the real-time image to remotely control the driving or command the motor maintenance vehicle to go forward for processing, and inform the nearby electric mine car 1 of the road condition information.
In order to avoid that the contact line 23 of the medium-voltage direct-current contact net 12 always contacts with the center of the carbon brush slide 501 of the pantograph 511, so that the carbon brush slide 501 prematurely ends life, the pantograph 511 has an automatic deflection function, thereby effectively avoiding and slowing down the abrasion of the contact slide 501 at the upper end of the pantograph 511 and improving the service life of the contact slide 501, as shown in fig. 6, the center distances of the two pantographs 511 are transversely arranged at the same distance as the positive and negative contact lines 23, and if the pantograph traversing device 509 adopts an electric cylinder to realize the traversing action of the pantograph 511, the specific structure of the pantograph traversing device 509 is as follows: the pantograph traversing device 509 is an electric cylinder, the electric cylinder is arranged at the top of the cab 13, the telescopic ends at two ends of the electric cylinder are fixed on a rigid traversing connecting seat capable of transversely moving along with the telescopic ends, the pantograph lifting device 510 connected with the pantograph 511 is arranged on the rigid traversing connecting seat, the electric cylinder stretches to realize the adjustment of the transverse position of the pantograph 511, and the pantograph controller 508 enables the carbon brush slide blocks 501 at the upper end of the pantograph 511 to always keep contact with the contact wires 23 and not slide far according to the information of the relative position traversing speed and the like of the contact wires 23 and the electric mining vehicle 1 detected by the contact wire position detecting device; in order to avoid the phenomenon that the contact line 23 always rubs at the central position of the carbon brush slide block 501, so that the carbon brush slide block 501 has a premature end life, the pantograph controller 508 intentionally adds an automatic deflection motion when controlling the pantograph traversing device 509 to do a tracking joint dangerous motion, so that the contact point of the contact line 23 and the carbon brush slide block 501 deflects transversely and leftwards relative to the center of the carbon brush slide block 501 on the pantograph 511 by a certain amplitude in the advancing process of the electric mine car 1.
The pantograph lifting device 510 is a telescopic cylinder or a screw rod lifter and is directly and fixedly connected with the pantograph 511, and in normal operation of a catenary power supply mode, the pantograph controller 508 controls the pantograph lifting device 510 (i.e. the telescopic cylinder or the screw rod lifter) to drive the pantograph 511 to change the height in time according to the height information of the contact line 23 and the electric mine car 1 detected by the contact line position detection device, so that the pressure between the carbon brush slide block 501 and the contact line 23 of the pantograph 511 is kept in a reasonable range.
The lifting part of the vertical pantograph lifting device 510 and the pantograph 511 adopt a hinged structure, as shown in fig. 12, the top of the telescopic end of the telescopic cylinder 512 is fixedly connected with the fixed plate 514, one end of the fixed plate 514 is hinged with the lower end of the power receiving rod, the other end of the fixed plate 514 is hinged with the lower end of the bidirectional cylinder 528, the carbon brush slide block 501 is fixed at the other end of the power receiving rod, and the end of the telescopic rod at the upper end of the bidirectional cylinder 528 is hinged with the power receiving rod.
The electric mine car 1 adopts an automatic tracking technology to realize automatic driving, the hydraulic steering mechanism of the electric mine car 1 is controlled by a computer of the whole car controller 8 through the relative position signals of the contact line 23 and the electric mine car 1 obtained by the contact line position detection device, so that the electric mine car 1 moves along a medium-voltage direct-current contact net 12 above the special lane 1, the length and the running time of a fixed route in a mining area are always far longer than those of a loading area and a dumping area, a small number of drivers are only equipped in the loading area and the dumping area to get on the car for flexible driving, the drivers get off the car after entering a fixed road, the electric mine car 1 adopts automatic tracking unmanned, more than 70% of drivers can be saved, and the electric mine car 1 can realize complete unmanned driving along with the improvement of artificial vision and artificial intelligence technology.
The DC-DC power source converter 503 may use a converter with a bidirectional medium-low voltage change function, and the DC-DC power source converter 503 may also be implemented by using a structure with two unidirectional converters inside, that is, the DC-DC power source converter 503 adopts a combined structure with two unidirectional converters inside, and includes one DC-DC unidirectional medium-low voltage drop isolation converter and one DC-DC unidirectional medium-low voltage boost isolation converter inside, where the DC-DC unidirectional medium-low voltage drop isolation converter converts the medium-voltage direct current from the medium-voltage direct current contact net 12 into low-voltage direct current to provide a power source for the electric mine car 1, and the DC-DC unidirectional medium-low voltage boost isolation converter converts the low-voltage energy generated by regenerative braking of the electric mine car 1 during downhill or braking into medium-voltage direct current, and feeds the medium-voltage direct current contact net 12 back to other electric mine cars 1 through the pantograph 511.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent modifications made by the appended claims shall be included in the scope of the present invention.
Claims (8)
1. Pure electric mine car conveying system, including electric mine car (1), special lane (2), converter station (3) and real-time supervision center (4), its characterized in that: the special lane (2) is buried with a plurality of electric poles (10), a medium-voltage direct-current contact net (12) with the voltage range of 4.2 kV-50 kV is arranged on a horizontal cross arm (11) arranged at the upper end of the electric poles (10), the electric mine car (1) is provided with a double-power-supply-mode power supply part (5), a walking part (6), an auxiliary function part (7), a whole car controller (8) and a wireless communication system (9), the whole car controller (8) is connected with the double-power-supply-mode power supply part (5), the walking part (6), the auxiliary function part (7) and the wireless communication system (9) through CAN buses, the vehicle control unit (8) is in wireless connection with the real-time monitoring center (4), the vehicle control unit (8) controls a carbon brush sliding block (501) on a pantograph (511) in the double-power-supply-mode power supply part (5) to be in contact with or separated from a medium-voltage direct-current contact net (12) according to a control instruction sent by the monitoring center (4) or a driver, the medium-voltage direct-current contact net (12) is used for directly supplying power to the electric mine car (1) or a storage battery (502) in the double-power-supply-mode power supply part (5) is used for supplying power to the electric mine car (1), and the real-time monitoring center (4) is connected with the electric mine car (1), the electric mine car (1) and the converter station (3) are in running state and road condition information transmission after the converter station (3) and the monitoring cameras arranged on the special lanes (2) are in wireless connection;
The double-power-supply-mode power supply part (5) comprises a pantograph mechanism, a storage battery (502), a DC-DC power supply converter (503), a charger (504), a DC-DC direct-current control power supply (506) and a universal power frequency power supply (507), wherein a carbon brush sliding block (501) in the pantograph mechanism is connected with the DC-DC power supply converter (503), all power input ends in a walking part (6), the pantograph mechanism, the charger (504), an auxiliary function part (7), the universal power supply (507) and the DC-DC direct-current control power supply (506) are connected in parallel according to the homopolarity and then connected to a low-voltage power bus connected with the DC-DC power supply converter (503), the positive electrode of the storage battery (502) is connected with the positive electrode of the low-voltage power bus connected with the DC-DC power supply converter (503) through a diode (505), a whole car controller (8) is connected with the DC-DC power supply converter (503), the charger (504) and the storage battery (502), and the electric mining car (1) is in contact with a contact line (23) in the carbon brush sliding block (501) in the special-lane (2), a DC-DC power converter (503) converts the medium-voltage direct current from the medium-voltage direct current contact net (12) into low-voltage power direct current required by the electric mine car (1);
The pantograph mechanism comprises a carbon brush sliding block (501), a pantograph (511), a pantograph controller (508), a pantograph transverse moving device (509), a pantograph lifting device (510) and a contact wire (23) position detection device, the pantograph transverse moving device (509) comprises a fixed part and a moving part, the fixed part is arranged at the top of a cab (13), the moving part matched with the fixed part is provided with two pantograph lifting devices (510) corresponding to the transverse spacing of the contact wire (23) in a medium-voltage direct-current contact net (12), the pantograph lifting device (510) is connected with the moving part of the pantograph transverse moving device (509) through a transverse moving connecting seat, the lifting part of the pantograph lifting device (510) is connected with the pantograph (511), the pantograph controller (508) is connected with the pantograph transverse moving device (509), the pantograph lifting device (510) and the position detection device, at least one contact wire position detection device is arranged at the top of the cab (13), the pantograph controller (508) is connected with a whole car controller (8) through a CAN, and the pantograph controller (508) sends out a lifting command signal to the lifting device of the contact wire (509) according to the contact wire lifting device, and the lifting command to the lifting device of the contact wire detection device (509) is driven by the pantograph lifting device After the carbon brush slide block (501) fixed on the top of the pantograph (511) is transversely moved, the carbon brush slide block is contacted with or separated from a contact line (23) in the medium-voltage direct-current contact net (12);
The lifting part of the pantograph lifting device (510) is fixedly connected with the pantograph (511), wherein the pantograph (511) is of a structure made of a power receiving rod when the lifting part of the pantograph lifting device (510) is hinged with the pantograph (511), the pantograph lifting device (510) comprises a telescopic cylinder (512), a spring (513) and an angle sensor, the lower end of the telescopic cylinder (512) is fixed on a transverse moving connecting seat, the top end of a telescopic rod of the telescopic cylinder (512) is hinged with one end of the power receiving rod, a carbon brush sliding block (501) is fixed at the other end of the power receiving rod, the lower end of the spring (513) is fixedly connected with a fixed plate (514) arranged on the telescopic rod of the telescopic cylinder (512), and the upper end of the spring (513) is fixedly connected with a diagonal rod (515) fixed at one end of the power receiving rod; or the pantograph lifting device (510) comprises a telescopic cylinder (512), a bidirectional cylinder (528) and an angle sensor, wherein the lower end of the telescopic cylinder (512) is fixed on a transverse moving connecting seat, the top end of a telescopic rod of the telescopic cylinder (512) is fixedly connected with a fixed plate (514), one end of the fixed plate (514) is hinged with the lower end of a power receiving rod, the other end of the fixed plate (514) is hinged with the lower end of the bidirectional cylinder (528), and the carbon brush sliding block (501) is fixed on the upper end of the power receiving rod, and the end of the telescopic rod at the upper end of the bidirectional cylinder (528) is hinged with the power receiving rod;
The auxiliary function part (7) comprises a hydraulic steering power-assisted system, a pneumatic brake system, a hydraulic lifting system and an air conditioning system, wherein the hydraulic steering power-assisted system comprises a steering oil pump motor controller (711), a steering oil pump motor (712) and a steering oil pump (713), the output end of the steering oil pump motor controller (711) is connected with the input end of the steering oil pump motor (712) to drive the steering oil pump motor (712) to rotate, the steering oil pump motor (712) is connected with the steering oil pump (713), the pneumatic brake system comprises an air compressor controller (721), an air compressor motor (723), an air storage bottle (724) and an air valve (725), the output end of the air compressor controller (721) is connected with the input end of the air compressor motor (722) and controls the air compressor motor (722) to rotate, the air compressor motor (722) is connected with the air storage bottle (723) to store generated compressed air in the air storage bottle (724), the air storage bottle (724) is connected with the air storage bottle (724) to generate a hydraulic braking force through the hydraulic lifting system (733) and the hydraulic lifting system, the output end of the hydraulic station oil pump motor controller (731) is connected with the input end of the oil pump motor (732), the oil pump motor (732) is connected with the hydraulic station oil pump (734), the hydraulic station oil pump (734) is connected with the hydraulic energy accumulator (736) and high-pressure hydraulic oil generated by the hydraulic station oil pump (734) is stored in the hydraulic energy accumulator (736), the high-pressure hydraulic oil of the hydraulic energy accumulator (736) is connected with a lifting hydraulic cylinder (735) for lifting a hopper of the electric mine car (1) through a hydraulic valve (733) and a pipeline, the air conditioning system comprises an air conditioner motor controller (741) and an air conditioner motor (742), the output end of the air conditioner motor controller (741) is connected with the input end of the air conditioner motor (742), the input ends of the steering oil pump motor controller (711), the air compressor controller (721), the air valve (725), the input ends of the hydraulic station oil pump motor controller (731) and the hydraulic valve (733) are all connected with the output end of the whole car controller (8), the steering oil pump motor controller (731), the hydraulic station oil motor controller (731) and the hydraulic valve (731) are all connected with the output end of the whole car controller (8), the power transmission module (93) is connected with the DC power transmission module (93), the wireless power transmission module (93) and the wireless power transmission module (93) is provided by the wireless power transmission module The system comprises a GPS module (94), an anti-collision radar and cameras, wherein the data acquisition module (93) is connected with a whole car controller (8), the anti-collision radar is arranged on the car body on the front, back, left and right sides of the electric mine car (1), and the cameras are fixed on the car bodies on the front, back and both sides of the electric mine car (1);
When a vehicle brakes, the driving motor controller (601) converts kinetic energy of the electric mine car (1) into electric power through the driving motor (602) and applies the electric power to the low-voltage direct current bus, at the moment, the voltage of the low-voltage direct current bus is higher than 620V, the DC-DC power supply converter (503) works reversely, and braking energy emitted by the electric mine car (1) is fed back to the medium-voltage direct current bus for other vehicles in the network;
the contact line position detection device comprises a high-frequency choke coil (516), a shielding wire (517) and a high-frequency signal source (518); or the contact line position detection device comprises a light emitter (522), two light receivers (523), a motor (524) and a rotating shaft (525); or the contact line position detection device is a linear scanning radar; or the contact line position detection device is an ultrasonic transmitter (526) and two ultrasonic receivers (527).
2. A pure electric mining vehicle transportation system according to claim 1, wherein: the contact line position detection device comprises a high-frequency choke coil (516), a shielding wire (517) and a high-frequency signal source (518), each carbon brush sliding blade I (519) and each carbon brush sliding blade II (520) of the carbon brush sliding blade (501) adopt a double-carbon brush sliding blade structure, one end of each carbon brush sliding blade I (519) and one end of each carbon brush sliding blade II (520) are connected to the input end of the DC-DC power supply converter (503) through the high-frequency choke coil (516), the other ends of the two carbon brush sliding blades I (519) and the other ends of the carbon brush sliding blades II (520) are connected to the two output ends of the high-frequency signal source (518) through the shielding wire (517) after being respectively connected with the fixed wire I and the fixed wire II, the two carbon brush sliding blades I (519) and the two carbon brush sliding blades II (520) are contacted with the contact lines (23) in the medium-voltage direct current (12) to form a high-frequency signal loop (521), and the current value of the high-frequency signal loop (521) is measured and fed back to the bow controller (508) to obtain the position information of the contact line (23) in the medium-voltage direct current car (12) relative to the electric mine car (1).
3. A pure electric mining vehicle transportation system according to claim 1, wherein: the contact line position detection device comprises a light emitter (522), two light receivers (523), a motor (524) and a rotating shaft (525), wherein the rotating shaft (525) is arranged beside one pantograph (511) at the top of a cab (13), and is positioned below a contact line (23) corresponding to one pantograph (511) in a medium-voltage direct-current contact net (12) in operation, the rotating shaft (525) is rotatably arranged at the top of the cab (13), one end of the rotating shaft (525) is fixedly connected with an output shaft of the motor (524), the light emitter (522) is fixedly arranged in the middle of the shaft (525), the light receivers (523) with different receiving positions are fixedly arranged on the rotating shaft (525) at two sides of the light emitter (522), scattered light formed by the contact line (23) after being reflected by the contact line (523) is respectively received by the two light receivers (523), the angle of the rotating shaft (525) measured by an encoder on the motor (524) when the two light receivers (523) receive the scattered light is equal to the relative vertical line (522) of the contact line (522) of the medium-voltage direct-current contact net (12), the light receiver (523) and the light emitter (522) are both connected with the pantograph controller (508), and after the light receiver (523) feeds back received scattered light signals to the pantograph controller (508), the pantograph controller (508) obtains position information of a contact line (23) in the medium-voltage direct-current contact net (12) relative to the electric mine car (1) according to angle information of a rotating shaft (525) corresponding to the scattered light.
4. A pure electric mining vehicle transportation system according to claim 1, wherein: the contact line position detection device is a linear scanning radar, the carbon brush sliding block (501) adopts a single carbon brush sliding block structure and is arranged on the top surface of a cab (13) below a pantograph (511), a linear scanning radar output signal line is connected with a pantograph controller (508), or the contact line position detection device is a phased array ultrasonic radar which is arranged on the top surface of the cab (13) below the pantograph (511), the phased array ultrasonic radar is connected with the pantograph controller (508), and the phased array ultrasonic radar transmits obtained relative position information of a contact line (23) and the phased array ultrasonic radar to the pantograph controller (508) after the phased array ultrasonic radar performs linear scanning on a medium-voltage direct-current contact network (12) on the same plane with the carbon brush sliding block (501), so that the position information of the contact line (23) in the medium-voltage direct-current contact network (12) relative to an electric mine car (1) is obtained.
5. A pure electric mining vehicle transportation system according to claim 1, wherein: the contact line position detection device is an ultrasonic emitter (526) and two ultrasonic receivers (527), the ultrasonic emitter (526) is of a flat conical horn-shaped structure, the ultrasonic emitter (526) adopts a frequency hopping working mode, the ultrasonic emitter (526) is arranged on the top surface of the cab (13), the two ultrasonic receivers (527) are positioned on two lateral sides of the ultrasonic emitter (526) and are fixed on the top surface of the cab (13), an ultrasonic beam emitted by the ultrasonic emitter (526) is reflected by a contact line (23) in a medium-voltage direct-current contact network (12), reflected waves formed after the ultrasonic beam is reflected by the two ultrasonic receivers (527), signal lines of the ultrasonic emitter (526) and the two ultrasonic receivers (527) are connected with a pantograph controller (508), and the pantograph controller (508) obtains the relative high-angle information of the contact line (526) in the medium-voltage direct-current contact network (527) according to the emission time of the ultrasonic beam emitted by the ultrasonic emitter (526) and the time of the reflected beams received by the two ultrasonic receivers (527) and the relative distance between the two ultrasonic receivers (527).
6. A pure electric mining vehicle transportation system according to claim 1, wherein: the walking part (6) comprises a driving motor controller (601), a driving motor (602), a transmission (603) and an automatic gear shifting controller (604), the driving motor controller (601) is connected with a low-voltage power bus connected with a DC-DC power supply converter (503), the driving motor controller (601) is connected with the driving motor (602), the driving motor (602) is connected with the transmission (603) through a clutch (605) and the transmission (603) is controlled by the automatic gear shifting controller (604), the input ends of the driving motor controller (601) and the automatic gear shifting controller (604) are connected with the output end of a whole vehicle controller (8), the converter station (3) comprises a high-voltage power transformer (301), a medium-voltage rectifier (302), a filter (303), an overvoltage protector (304) and a lightning arrester (305), the primary side of the high-voltage power transformer (301) is connected with an external power grid high-voltage line, the secondary side of the high-voltage power transformer (301) is connected with the medium-voltage rectifier (302), the high-voltage power transformer (301) is connected with a special-purpose Direct Current (DC) of the high-voltage power grid (302) through a positive and negative-voltage (12) of the medium-voltage rectifier (302) when the high-voltage transformer (301) is connected with the medium-voltage power grid (12), the device is characterized in that a filter (303), an overvoltage protector (304) and a lightning protector (305) are connected to a medium-voltage direct current bus output by the medium-voltage rectifier (302), one end of the lightning protector (305) is grounded, when the high-voltage power transformer (301) is connected with a high-voltage wire of a wind power plant or a high-voltage wire of a photovoltaic power plant, the positive electrode and the negative electrode of the medium-voltage direct current bus output by the medium-voltage rectifier (302) are respectively connected in parallel with the positive electrode and the negative electrode of the energy storage device (307) through a choke coil (306), the filter (303) and the overvoltage protector (304) are connected to the medium-voltage direct current bus output by the medium-voltage rectifier (302) and are connected with a medium-voltage direct current contact net (12), and one end of the lightning protector (305) is grounded.
7. A pure electric mine car transportation system according to any one of claims 2-6, wherein: the DC-DC power supply converter (503) is a DC-DC unidirectional medium-low voltage drop isolation converter, and the DC-DC medium-low voltage drop isolation converter converts medium-voltage direct current of the medium-voltage direct current contact net (12) into low-voltage direct current and provides power supply for the electric mine car (1).
8. A pure electric mine car transportation system according to any one of claims 2-6, wherein: the DC-DC power supply converter (503) is a DC-DC bidirectional medium-low voltage isolation converter, or the DC-DC power supply converter (503) is a combination of a DC-DC unidirectional medium-low voltage drop isolation converter and a DC-DC unidirectional medium-low voltage boost isolation converter.
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| CN109910622A (en) * | 2019-03-15 | 2019-06-21 | 天津益昌电气设备股份有限公司 | A kind of intelligent elevated formula insulation arm pantograph |
| CN111071044A (en) * | 2019-12-17 | 2020-04-28 | 北汽福田汽车股份有限公司 | Vehicle control device and method and vehicle |
| CN113386587A (en) * | 2020-03-13 | 2021-09-14 | 苏州冠桥机电科技有限公司 | Electrification dual-power control method for mining truck |
| CN214929282U (en) * | 2021-06-18 | 2021-11-30 | 河南跃薪智能机械有限公司 | Double-source trackless unmanned pure electric mine card |
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| CN117871900B (en) * | 2023-04-11 | 2024-12-10 | 国网冀北电力有限公司超高压分公司 | A remote measuring device for direct current of power line |
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