CN118082664B - Four-wheel drive four-steering mine car and opening and closing system thereof - Google Patents
Four-wheel drive four-steering mine car and opening and closing system thereof Download PDFInfo
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- CN118082664B CN118082664B CN202410508913.8A CN202410508913A CN118082664B CN 118082664 B CN118082664 B CN 118082664B CN 202410508913 A CN202410508913 A CN 202410508913A CN 118082664 B CN118082664 B CN 118082664B
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- 206010063385 Intellectualisation Diseases 0.000 abstract 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/001—Devices for manually or automatically controlling or distributing tyre pressure whilst the vehicle is moving
- B60C23/002—Devices for manually or automatically controlling or distributing tyre pressure whilst the vehicle is moving by monitoring conditions other than tyre pressure or deformation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/001—Devices for manually or automatically controlling or distributing tyre pressure whilst the vehicle is moving
- B60C23/004—Devices for manually or automatically controlling or distributing tyre pressure whilst the vehicle is moving the control being done on the wheel, e.g. using a wheel-mounted reservoir
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/02—Signalling devices actuated by tyre pressure
- B60C23/04—Signalling devices actuated by tyre pressure mounted on the wheel or tyre
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/10—Arrangement of tyre-inflating pumps mounted on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/10—Arrangement of tyre-inflating pumps mounted on vehicles
- B60C23/12—Arrangement of tyre-inflating pumps mounted on vehicles operated by a running wheel
- B60C23/127—Arrangement of tyre-inflating pumps mounted on vehicles operated by a running wheel the pumps being mounted on the hubs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C2200/00—Tyres specially adapted for particular applications
- B60C2200/04—Tyres specially adapted for particular applications for road vehicles, e.g. passenger cars
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Tires In General (AREA)
Abstract
The invention discloses a four-wheel-drive four-steering mine car and an opening and closing system thereof, and particularly relates to the technical field of mining equipment. The invention can judge whether the contact area adjusting mechanism and the tire pressure adjusting mechanism need to adjust the tire, and control the working states of the contact area adjusting mechanism and the tire pressure adjusting mechanism according to the comparison result, thereby ensuring uniform stress between the tire and the ground, avoiding uneven friction and improving the intellectualization of the device.
Description
Technical Field
The invention relates to the technical field of mining equipment, in particular to a four-wheel-drive four-steering mine car and an opening and closing system thereof.
Background
The mine car is a special vehicle for transporting raw materials or waste materials such as ores and ore sand, is usually used in industrial places such as mines and mining sites, has the main functions of transporting materials such as ores collected from the mines or mining sites to processing factories, processing factories or storage areas, or transporting waste materials from the processing areas or storage areas to the waste material processing sites, is usually one of important equipment in mines and mining operations by adopting different driving modes and carrying capacities according to specific transportation requirements and environmental characteristics, is one of important equipment in mines and mining operations, is generally composed of four independent driving shafts, is provided with power transmission devices, realizes driving of four wheels through power provided by engines, can still maintain good traction force in steep and rugged terrains, and easily handles transportation tasks of heavy goods such as ores. Whether in the narrow passageway of mine inside or in the complicated topography in the mining site, four steering system all makes the mine car can light turn, pass through the barrier, has improved work efficiency and security, but current four-wheel drive four-steering mine car still has some shortages.
The prior art has the following defects: compared with a mine car steering before a rear drive, the existing four-wheel drive four-steering mine car is easier to generate tire abrasion, mainly because the weight distribution born by four wheels is uneven when a carriage is loaded with goods, the tire is stressed unevenly, particularly when the four-wheel drive four-steering mine car is started, the uneven tire abrasion is easily caused due to the fact that the friction difference among the tires is large due to different bearing weights, the abrasion degree is increased, the uneven tire abrasion not only affects the running stability and the safety of the mine car, but also increases the tire replacement frequency and the cost, the service life of the vehicle is reduced, additional maintenance and repair cost can be caused, adverse effects are caused on the operation of the mine car, in addition, the uneven tire abrasion can further cause vibration aggravation when the vehicle runs, the stability and the production efficiency of transported materials are further affected, and even the safety of the working environment is affected.
The above information disclosed in the background section is only for enhancement of understanding of the background of the disclosure and therefore it may include information that does not form the prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a four-wheel drive four-steering mine car and an opening and closing system thereof, which are used for solving the defects in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The four-wheel-drive four-steering mine car comprises a car body, a chassis, a carriage for loading cargoes, a hub, tires and an air tap, wherein a central processor is arranged on one side of the chassis, a driving mechanism and a contact area adjusting mechanism are arranged at the bottom of the chassis, the driving mechanism comprises a fixing frame and is used for driving the hub and the tires to rotate and steer, the contact area adjusting mechanism is used for adjusting the contact area between the tires and the ground, and a tire pressure adjusting mechanism is arranged on the inner side wall of the hub and is used for adjusting the tire pressure in the tires;
Further comprises:
the inclination acquisition module is arranged at the top of the fixing frame and used for acquiring the actual inclination of the vehicle in real time and generating an inclination deviation index through the central processing unit;
the tire pressure acquisition module is arranged on the inner side wall of the hub and used for acquiring the actual tire pressure in the tire in real time and generating a tire pressure change coefficient through the central processing unit;
The central processing unit comprehensively analyzes the generated gradient deviation index and the tire pressure change coefficient to generate an evaluation coefficient, the evaluation coefficient is compared with a preset evaluation coefficient reference threshold value, whether the contact area adjusting mechanism and the tire pressure adjusting mechanism need to adjust the tire or not is judged, and the working states of the contact area adjusting mechanism and the tire pressure adjusting mechanism are controlled according to the comparison result.
Preferably, the driving mechanism further comprises a first motor bearing frame, a first motor, a second motor and a supporting frame, wherein the top of the first motor bearing frame is fixedly connected with the bottom of the chassis, the inner side wall of the first motor bearing frame is fixedly connected with the outer wall of the first motor, one end of the output shaft of the first motor is fixedly connected with the top of the fixing frame, the inner side wall of the fixing frame is fixedly connected with the outer wall of the second motor, the inner bottom wall of the fixing frame is fixedly connected with the bottom of the supporting frame, the outer wall of the output shaft of the second motor is movably connected with the inner side wall of the supporting frame through a bearing, and one end of the output shaft of the second motor is fixedly connected with one side of the hub.
Preferably, the contact area adjusting mechanism comprises a hydraulic cylinder, a hydraulic telescopic rod, a pulley fixing frame, a rotating shaft and pulleys, wherein the bottom of the hydraulic cylinder is fixedly connected with the inner bottom wall of the fixing frame, an output shaft of the hydraulic cylinder is in transmission connection with one end of the hydraulic telescopic rod, the other end of the hydraulic telescopic rod is fixedly connected with the top of the pulley fixing frame, the inner side wall of the pulley fixing frame is fixedly connected with the two ends of the rotating shaft, and the outer wall of the rotating shaft is movably connected with the inner side wall of the pulleys through bearings.
Preferably, the tire pressure adjusting mechanism comprises a control valve and an automatic pneumatic pump, the control valve is arranged on one side of the hub, the automatic pneumatic pump is arranged on the inner side wall of the hub, an output port of the control valve is fixedly connected with an input port of the air tap, and an input port of the control valve is fixedly connected with an output port of the automatic pneumatic pump.
Preferably, the output end of the central processing unit is electrically connected with the input end of the first motor, the input end of the second motor, the input end of the hydraulic cylinder, the input end of the control valve and the input end of the automatic pneumatic pump respectively, and the input end and the output end of the inclination acquisition module and the input end and the output end of the tire pressure acquisition module are electrically connected with the output end and the input end of the central processing unit respectively.
Preferably, the logic for obtaining the inclination deviation index is:
S1, acquiring actual inclination of the vehicle at different moments in T time and preset inclination of the vehicle through a central processing unit by an inclination acquisition module, and respectively calibrating the actual inclination and the preset inclination of the vehicle at different moments in T time as And/>，/>A number indicating the actual inclination of the vehicle at different times during time T,，/>Is a positive integer;
S2, calculating an inclination deviation index, wherein the calculated expression is as follows:
；
In the method, in the process of the invention, Is the gradient deviation index.
Preferably, the logic for acquiring the tire pressure change coefficient is:
S1, acquiring actual tire pressures in the tires at different moments in T time through a tire pressure acquisition module, and calibrating the actual tire pressures in the tires at different moments in T time as ，/>Number representing actual tire pressure inside tire at different moments in time T，/>Is a positive integer;
s2, calculating a tire pressure change coefficient, wherein the calculated expression is as follows:
；
In the method, in the process of the invention, Is the tire pressure change coefficient.
Preferably, the expression formula of the evaluation coefficient is:
carrying out formulation analysis by the central processing unit, and according to the formula:
；
In the method, in the process of the invention, To evaluate the coefficient,/>And/>Preset proportional coefficients of inclination deviation index and tire pressure change coefficient respectively, and/>And/>Are all greater than 0.
Preferably, the preset evaluation coefficient reference threshold value is set to beWherein/>The calculated evaluation coefficient/>, is processed by the central processing unitAnd a preset evaluation coefficient reference threshold/>Comparing, judging whether the contact area adjusting mechanism and the tire pressure adjusting mechanism need to adjust the tire, and controlling the working states of the contact area adjusting mechanism and the tire pressure adjusting mechanism according to the comparison result, wherein the specific judgment is as follows:
When (when) When the tire pressure regulating mechanism and the tire pressure regulating mechanism do not need to regulate the tire, normal signals are generated, the central processing unit generates standby signals after receiving the normal signals, the standby signals are respectively transmitted to the hydraulic cylinder, the control valve and the automatic pneumatic pump, and the hydraulic cylinder, the control valve and the automatic pneumatic pump respectively control the contact area regulating mechanism and the tire pressure regulating mechanism to carry out standby operation after receiving the standby signals;
When (when) When the tire pressure regulating mechanism is used, the contact area regulating mechanism and the tire pressure regulating mechanism need to regulate the tire to generate hidden danger signals, the central processing unit generates regulating signals after receiving the hidden danger signals, the regulating signals are respectively transmitted to the hydraulic cylinder, the control valve and the automatic pneumatic pump, and the hydraulic cylinder, the control valve and the automatic pneumatic pump respectively control the contact area regulating mechanism and the tire pressure regulating mechanism to regulate after receiving the regulating signals.
Preferably, an opening and closing system of four-wheel drive four-steering mine car comprises an inclination acquisition module, a tire pressure acquisition module and a central processing unit:
The inclination acquisition module is arranged at the top of the fixing frame and used for acquiring the actual inclination of the vehicle in real time, transmitting the acquired actual inclination of the vehicle at different moments in T time to the central processing unit, and carrying out formulated analysis on the actual inclination of the vehicle at different moments in T time and the preset inclination by the central processing unit to generate an inclination deviation index;
the tire pressure acquisition module is arranged on the inner side wall of the hub and used for acquiring the actual tire pressure in the tire in real time, transmitting the acquired actual tire pressure in the tire at different moments in T time to the central processing unit, and carrying out formulated analysis on the actual tire pressure in the tire at different moments in T time by the central processing unit to generate a tire pressure change coefficient;
The central processing unit is arranged on one side of the chassis, generates an evaluation coefficient by comprehensively analyzing the generated gradient deviation index and the tire pressure change coefficient, judges whether the contact area adjusting mechanism and the tire pressure adjusting mechanism need to adjust the tire or not by comparing the evaluation coefficient with a preset evaluation coefficient reference threshold value, controls the working states of the contact area adjusting mechanism and the tire pressure adjusting mechanism according to the comparison result, and specifically judges as follows: when the evaluation coefficient is smaller than or equal to the evaluation coefficient reference threshold value, the contact area adjusting mechanism and the tire pressure adjusting mechanism do not need to adjust the tire to generate a normal signal, the central processing unit generates a standby signal after receiving the normal signal, and the standby signal is respectively transmitted to the hydraulic cylinder, the control valve and the automatic pneumatic pump, and the hydraulic cylinder, the control valve and the automatic pneumatic pump respectively control the contact area adjusting mechanism and the tire pressure adjusting mechanism to perform standby operation after receiving the standby signal; when the evaluation coefficient is larger than the evaluation coefficient reference threshold, the contact area adjusting mechanism and the tire pressure adjusting mechanism need to adjust the tire to generate hidden danger signals, the central processing unit generates adjusting signals after receiving the hidden danger signals, the adjusting signals are respectively transmitted to the hydraulic cylinder, the control valve and the automatic pneumatic pump, and the hydraulic cylinder, the control valve and the automatic pneumatic pump respectively control the contact area adjusting mechanism and the tire pressure adjusting mechanism to adjust after receiving the adjusting signals.
The invention has the technical effects and advantages that:
1. According to the intelligent vehicle tire pressure monitoring device, the actual gradient of the vehicle and the actual tire pressure in the tire can be obtained in real time through the gradient collecting module and the tire pressure collecting module, and the integrated analysis is carried out through the central processing unit, so that whether the contact area adjusting mechanism and the tire pressure adjusting mechanism need to adjust the tire or not can be judged in real time, the working states of the contact area adjusting mechanism and the tire pressure adjusting mechanism are controlled according to the comparison result, and the intelligent device is improved.
2. When the contact area adjusting mechanism and the tire pressure adjusting mechanism need to adjust the tire, the hydraulic cylinder, the control valve and the automatic pneumatic pump respectively control the contact area adjusting mechanism and the tire pressure adjusting mechanism to adjust the tire pressure in the tire in time, so that the contact area between the tire and the ground and the tire pressure in the tire can be adjusted in real time, uneven stress of the tire caused by uneven weight distribution born by four wheels when a carriage loads goods can be easily solved, particularly when the device is started, the problem of uneven abrasion of the tire is easily caused due to the fact that the friction force between the tires is large due to different bearing weights, and the practicability and the use value of the device are improved.
3. According to the invention, through monitoring and adjusting the tire pressure and the inclination of the vehicle in real time, unstable factors in the running process of the vehicle can be reduced, the risk of accidents is reduced, the running safety is improved, the abrasion of the tire can be reduced by reasonably adjusting the tire pressure and the inclination, the service life of the tire is prolonged, the maintenance and operation cost is reduced, the operability and the running stability of the vehicle can be improved by adjusting the inclination and the tire pressure of the vehicle, the driving comfort and the running experience are improved, in addition, the fuel economy of the vehicle can be improved by reducing the tire pressure change and unnecessary energy loss, the fuel consumption is saved, the operation cost is reduced, the trafficability and the off-road capability of the vehicle under different road conditions can be improved by timely adjusting the tire pressure and the inclination, and the adaptability and the capability of coping with severe road conditions of the vehicle are enhanced.
Drawings
For the convenience of those skilled in the art, the present invention will be further described with reference to the accompanying drawings;
FIG. 1 is a schematic perspective view of a four-wheel-drive four-steering mine car according to the present invention;
FIG. 2 is a schematic diagram of a front structure of a four-wheel-drive four-steering mine car according to the present invention;
FIG. 3 is a schematic view of the bottom structure of a chassis of a four-wheel-drive four-steering mine car according to the present invention;
FIG. 4 is a schematic diagram of the mounting structure of the wheel hub, tire pressure adjusting mechanism and tire pressure collecting module of the four-wheel drive four-steering mine car;
FIG. 5 is a schematic view of a driving mechanism, a contact area adjusting mechanism and an inclination acquisition module mounting structure of a four-wheel-drive four-steering mine car according to the present invention;
FIG. 6 is an enlarged schematic view of the structure shown in FIG. 5A;
FIG. 7 is a schematic view of a driving mechanism and contact area adjusting mechanism for a four-wheel drive four-steering mine car according to the present invention;
FIG. 8 is a schematic view of a pulley mount, a rotating shaft and a pulley mounting structure of a four-wheel drive four-steering mine car according to the present invention;
FIG. 9 is a schematic block diagram of a four-wheel drive four-wheel steering mine car and an opening and closing system thereof according to the present invention.
In the figure: 1. a vehicle body; 2. a chassis; 3. a carriage; 4. a hub; 5. a tire; 6. an air tap; 7. a central processing unit; 8. a driving mechanism; 801. a first motor load-bearing frame; 802. a first motor; 803. a fixing frame; 804. a second motor; 805. a support frame; 9. a contact area adjusting mechanism; 901. a hydraulic cylinder; 902. a hydraulic telescopic rod; 903. a pulley fixing frame; 904. a rotation shaft; 905. a pulley; 10. a tire pressure adjusting mechanism; 1001. a control valve; 1002. an automatic pneumatic pump; 11. an inclination acquisition module; 12. and the tire pressure acquisition module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
1-9, A four-wheel-drive four-steering mine car comprises a car body 1, a chassis 2, a carriage 3 for loading cargoes, a hub 4, tires 5 and air nozzles 6, wherein a central processing unit 7 is arranged on one side of the chassis 2, a driving mechanism 8 and a contact area adjusting mechanism 9 are arranged at the bottom of the chassis 2, the driving mechanism 8 comprises a fixing frame 803, the driving mechanism 8 is used for driving the hub 4 and the tires 5 to rotate and steer, the contact area adjusting mechanism 9 is used for adjusting the contact area between the tires 5 and the ground, tire pressure adjusting mechanisms 10 are arranged on the inner side walls of the hubs 4, and the tire pressure adjusting mechanisms 10 are used for adjusting the tire pressure in the tires 5;
Further comprises:
the gradient acquisition module 11 is arranged at the top of the fixing frame 803 and is used for acquiring the actual gradient of the vehicle in real time and generating a gradient deviation index through the central processing unit 7;
It should be noted that, the inclination acquisition module 11 may be an inclination sensor or other devices capable of acquiring an actual inclination of the vehicle in real time, and the inclination acquisition module 11 is not specifically limited herein and may be selected according to actual requirements;
The tire pressure acquisition module 12 is arranged on the inner side wall of the hub 4 and is used for acquiring the actual tire pressure in the tire 5 in real time and generating a tire pressure change coefficient through the central processing unit 7;
It should be noted that, the tire pressure collecting module 12 may be a pressure sensor or other devices capable of obtaining the actual tire pressure inside the tire 5 in real time, and the tire pressure collecting module 12 is not specifically limited herein and may be selected according to the actual requirements;
The generated inclination deviation index and the tire pressure change coefficient are comprehensively analyzed through the central processing unit 7 to generate an evaluation coefficient, the evaluation coefficient is compared with a preset evaluation coefficient reference threshold value to judge whether the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 need to adjust the tire 5 or not, and the working states of the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 are controlled according to the comparison result.
In this embodiment, the driving mechanism 8 further includes a first motor bearing frame 801, a first motor 802, a second motor 804 and a supporting frame 805, where the top of the first motor bearing frame 801 is fixedly connected with the bottom of the chassis 2, the inner side wall of the first motor bearing frame 801 is fixedly connected with the outer wall of the first motor 802, one end of the output shaft of the first motor 802 is fixedly connected with the top of the fixing frame 803, the inner side wall of the fixing frame 803 is fixedly connected with the outer wall of the second motor 804, the inner bottom wall of the fixing frame 803 is fixedly connected with the bottom of the supporting frame 805, the outer wall of the output shaft of the second motor 804 is movably connected with the inner side wall of the supporting frame 805 through a bearing, and one end of the output shaft of the second motor 804 is fixedly connected with one side of the hub 4;
The driving mechanism 8 is used for driving the hub 4 and the tire 5 to rotate and turn, and the specific working process is as follows: the second motor 804 drives the hub 4 to rotate through the output shaft thereof, and then drives the tire 5 to rotate, so that the movement of the vehicle can be controlled, the first motor 802 controls the fixing frame 803 to rotate through the output shaft thereof, and the hub 4 and the tire 5 can be driven to rotate due to the fixed connection between the inner side wall of the fixing frame 803 and the outer wall of the second motor 804 and the fixed connection between one end of the output shaft of the second motor 804 and one side of the hub 4, so that the steering of the vehicle is controlled;
It should be noted that the number of the driving mechanisms 8 is four, which is the same as the number of the hubs 4 and the tires 5, and each driving mechanism 8 is only used for driving one hub 4 and one tire 5 to rotate and turn, so that the four-wheel-drive four-turn function is achieved, the structure is simple, and the practicability is strong.
In this embodiment, the contact area adjusting mechanism 9 includes a hydraulic cylinder 901, a hydraulic telescopic rod 902, a pulley fixing frame 903, a rotating shaft 904 and a pulley 905, wherein the bottom of the hydraulic cylinder 901 is fixedly connected with the inner bottom wall of the fixing frame 803, an output shaft of the hydraulic cylinder 901 is in transmission connection with one end of the hydraulic telescopic rod 902, the other end of the hydraulic telescopic rod 902 is fixedly connected with the top of the pulley fixing frame 903, the inner side wall of the pulley fixing frame 903 is fixedly connected with two ends of the rotating shaft 904, and the outer wall of the rotating shaft 904 is movably connected with the inner side wall of the pulley 905 through a bearing;
The contact area adjusting mechanism 9 is used for adjusting the contact area between the tire 5 and the ground, and the specific working process is as follows: the hydraulic cylinder 901 controls the hydraulic telescopic rod 902 to stretch through the output shaft of the hydraulic cylinder 901, so that the pulley 905 is controlled to move towards the ground, and when the pulley 905 contacts the ground, the pulley continues to stretch for a certain degree, and as the bottom of the hydraulic cylinder 901 is fixedly connected with the inner bottom wall of the fixing frame 803, the fixing frame 803 can be lifted for a certain degree through the reaction force, and then the hub 4 and the tire 5 can be lifted for a certain height, so that the contact area between the tire 5 and the ground is reduced;
it should be noted that, when the hydraulic cylinder 901 is contacted to the ground through the output shaft control pulley 905, the hydraulic telescopic rod 902 is controlled to continue to extend and retract to a certain extent, wherein a specific value of a certain extent can be determined according to the design requirement and the actual situation of the vehicle, the specific value is usually evaluated and calculated by an engineer according to the characteristics, the running environment and the performance requirement of the vehicle, and is set to a proper value, specifically, the specific value may relate to the minimum contact area requirement between the tire 5 and the ground, the consideration of the stability of the vehicle, the rated working range of the hydraulic system and other factors, for example, a minimum contact area may be determined according to the size, the material and the design requirement of the tire 5, so as to ensure that the tire 5 can provide sufficient adhesion and traction, and further, the performance parameters of the hydraulic system, such as the maximum extension length, the rated pressure and the like, need to be considered, so that the specific value of the certain extent needs to be calculated and verified by engineering according to the specific situation, and is not limited specifically, but it is noted that the hydraulic cylinder 901 is not allowed to extend and retract to continue to extend to the certain extent after the hydraulic cylinder is contacted to the output shaft control pulley 905 to the ground and the control pulley 905.
According to different road conditions and use requirements, the contact area of the vehicle is flexibly adjusted, the adaptability and the passing performance of the vehicle under different road conditions are improved, the friction and the abrasion between the tire 5 and the ground can be reduced by reducing the contact area, the service life of the tire 5 is prolonged, and the frequency and the cost for replacing the tire 5 are reduced. In addition, the driving stability and the safety of the vehicle can be improved by adjusting the contact area, and the stability of the vehicle under high-speed driving and special road conditions is enhanced, so that the driving experience and the safety guarantee of a driver are improved. In a combined view, the contact area adjusting mechanism not only improves the performance and economy of the vehicle, but also enhances the safety and comfort of the vehicle, and is a very practical device.
In this embodiment, the tire pressure adjusting mechanism 10 includes a control valve 1001 and an automatic pneumatic pump 1002, the control valve 1001 is disposed at one side of the hub 4, the automatic pneumatic pump 1002 is disposed at an inner sidewall of the hub 4, an output port of the control valve 1001 is fixedly connected with an input port of the air tap 6, and an input port of the control valve 1001 is fixedly connected with an output port of the automatic pneumatic pump 1002;
The tire pressure adjusting mechanism 10 is used for adjusting the tire pressure in the tire 5, and the specific working process is as follows: the control valve 1001 is located at one side of the hub 4, and can control the flow of gas by the on-off state of the control valve 1001, when the tire pressure in the tire needs to be regulated, the control valve 1001 will be opened, and gas is allowed to flow from the air tap 6 to the automatic pneumatic pump 1002, and then flows into the tire 5; the automatic pneumatic pump 1002 is arranged on the inner side wall of the hub 4 and is responsible for injecting gas into the tire 5, and when the control valve 1001 is opened, the automatic pneumatic pump 1002 starts to work and conveys the gas into the tire 5, so that the tire pressure is increased; the output port of the control valve 1001 is fixedly connected with the input port of the air tap 6, and the input port of the control valve 1001 is fixedly connected with the output port of the automatic pneumatic pump 1002, so that when the control valve 1001 is opened, gas enters the tire 5 from the air tap 6 through the control valve 1001 and the automatic pneumatic pump 1002, thereby increasing the tire pressure in the tire, and the tire pressure of the tire can be flexibly adjusted through the on-off state of the control valve 1001 so as to meet the requirements under different working conditions, such as the load condition or the change of road surface conditions;
The working principle of the automatic pneumatic pump 1002 is as follows: the motor or other power sources are utilized to drive the pump body to operate, negative pressure is generated in the pump body, surrounding air is pumped into the pump body, then, the pumped air is compressed and discharged through an exhaust valve or other exhaust devices of the pump body, so that high-pressure gas is generated, the high-pressure gas is connected to an input port of the control valve 1001 through a pipeline, then flows into the tire 5 through the control valve 1001, the internal tire pressure of the tire 5 is increased, and when the automatic pneumatic pump 1002 works, gas can be quickly and effectively injected into the tire to achieve the purpose of regulating the tire pressure.
The tire pressure of the vehicle tire 5 can be accurately regulated in the mode, so that the vehicle can obtain optimal running performance and comfort under different road conditions and using conditions, the automatic pneumatic pump 1002 is used for regulating the tire pressure, the operation is simple and convenient, automatic control can be realized, manual intervention is reduced, the accuracy and efficiency of regulation are improved, in addition, the tire pressure condition of the vehicle tire 5 can be monitored in real time due to the fact that the vehicle tire pressure is connected with a system in the vehicle, the running safety and stability of the vehicle are maintained, abnormal abrasion of the tire 5 can be reduced by periodically regulating the tire pressure, the service life of the tire 5 is prolonged, and the maintenance cost and the replacement frequency are reduced.
In this embodiment, the output end of the central processing unit 7 is electrically connected with the input end of the first motor 802, the input end of the second motor 804, the input end of the hydraulic cylinder 901, the input end of the control valve 1001 and the input end of the automatic pneumatic pump 1002, and the input end and the output end of the inclination acquisition module 11 and the input end and the output end of the tire pressure acquisition module 12 are electrically connected with the output end and the input end of the central processing unit 7;
It should be noted that, the electrical connection refers to a process of transmitting the current from one part of an electronic device or a circuit to another part through conductive materials or conductive elements, and the connection is a key component of the operation of the electronic device and the circuit, which ensures the effective transmission and connection of the electronic current in the electronic device, the electrical connection may be performed by using wires, and the manner of electrical connection between the central processing unit 7 and the first motor 802, the second motor 804, the hydraulic cylinder 901, the control valve 1001, the automatic pneumatic pump 1002, the inclination collection module 11 and the tire pressure collection module 12 is not specifically limited, and may be selected according to actual requirements.
Compared with a mine car steering before a rear drive, the existing four-wheel drive four-steering mine car is easier to wear tires 5, mainly because when a carriage 3 loads goods, the weight distribution born by four wheels is uneven, so that the tires 5 are stressed unevenly, particularly when the vehicle is started, due to different bearing weights, the uneven wear of the tires 5 is easily caused, the wear degree is increased, the uneven wear of the tires 5 affects the running stability and safety of the mine car, the replacement frequency and cost of the tires 5 are increased, the service life of the vehicle is reduced, additional maintenance and repair cost can be caused, the operation is adversely affected, in addition, the uneven wear of the tires 5 can also cause vibration when the vehicle runs, the stability and production efficiency of transported materials are further affected, and even the safety of the working environment is affected, therefore, the contact state of the tires 5 and the ground is adjusted in time after the carriage 3 loads goods and before the vehicle is started, the stress of each tire 5 can be relieved, and the wear of the tires 5 can be relieved, and various benefits can be brought: firstly, the service life of the tire 5 can be prolonged and the replacement cost can be reduced by adjusting the contact area and the tire pressure of the tire 5 in real time; secondly, the running efficiency and stability of the vehicle are improved, and the maintenance and repair cost caused by the problem of the tire 5 is reduced; meanwhile, the potential safety hazard caused by uneven wear of the tire 5 is reduced, and the driving safety is enhanced; most importantly, the production efficiency of the mine car is improved, and the stable and continuous development of mine production is promoted.
In this embodiment, the gradient deviation index is the difference between the actual gradient of the vehicle and the preset gradient of the vehicle at different times within the T time, if the gradient deviation index is larger, accidents such as vehicle runaway or rollover may be caused, driving comfort is reduced, an occupant may feel obvious instability and jolt, meanwhile, fuel consumption is increased, because the vehicle runs in an unstable state to increase energy consumption, in addition, wear of vehicle parts is increased, uneven wear of key parts is caused, maintenance cost is increased, and finally, running stability is affected, the driver may lose control ability of the vehicle, and accident risk is increased;
the acquisition logic of the gradient deviation index is as follows:
S1, acquiring actual inclination of the vehicle at different moments in T time and preset inclination of the vehicle through the inclination acquisition module 11, and respectively calibrating the actual inclination and the preset inclination of the vehicle at different moments in T time as And/>，/>A number indicating the actual inclination of the vehicle at different times during time T,，/>Is a positive integer;
It should be noted that, the preset inclination of the vehicle may be determined by the vehicle manufacturer when designing the vehicle, and included in the design specifications and parameters of the vehicle, which may be obtained through technical documents of the vehicle or data provided by the manufacturer; in the development and testing stage of the vehicle, engineers can perform various experiments and tests to verify design parameters and performances of the vehicle, wherein the tests comprise testing the inclination of the vehicle, the preset inclination of the vehicle can be obtained through test data, the obtaining mode of the preset inclination of the vehicle is not particularly limited, and the preset inclination can be selected according to actual requirements;
S2, calculating an inclination deviation index, wherein the calculated expression is as follows:
；
In the method, in the process of the invention, Is the gradient deviation index.
In this embodiment, the tire pressure change coefficient refers to the change degree of the actual tire pressure in the tire 5 at different moments in time T, if the change degree is larger, the tire pressure change coefficient is larger, the instability of the tire pressure is increased, which may cause the tire 5 to generate additional heat and friction in the running process, the abrasion and aging speed of the tire 5 are increased, the frequent change of the tire pressure may affect the handling and stability of the vehicle, especially when running at high speed or in emergency braking, the excessive change of the tire pressure may affect the grip and braking performance of the vehicle, meanwhile, the instability of the tire pressure may also affect the fuel economy of the vehicle, because the unstable tire pressure may increase the rolling resistance between the tire 5 and the road surface, and the energy consumption of the vehicle is increased, so the increase of the tire pressure change coefficient may affect the safety, driving comfort and fuel economy of the vehicle;
The tire pressure change coefficient acquisition logic is as follows:
S1, acquiring actual tire pressures in the tire 5 at different times in a T time through a tire pressure acquisition module 12, and calibrating the actual tire pressures in the tire 5 at different times in the T time as ，/>Number indicating actual tire pressure inside tire 5 at different times within T time,/>，/>Is a positive integer;
s2, calculating a tire pressure change coefficient, wherein the calculated expression is as follows:
；
In the method, in the process of the invention, Is the tire pressure change coefficient.
In this embodiment, the expression formula of the evaluation coefficient is:
Will be And/>After dimensionless processing, the CPU 7 performs formulation analysis according to the formula:
In the method, in the process of the invention, To evaluate the coefficient,/>And/>Preset proportional coefficients of inclination deviation index and tire pressure change coefficient respectively, and/>And/>Are all greater than 0;
From the calculated expression, the gradient deviation index And tire pressure change coefficient/>All the smaller the evaluation coefficient/>The smaller the size;
It should be noted that dimensionless is a process of expressing a physical quantity in a dimensionless form, and in this way, the influence of units on physical problems can be eliminated, so that the problems are more concise and universal; preset proportional coefficient of inclination deviation index and tire pressure change coefficient And/>The system is used for flexibly adapting to different working conditions and environmental changes in actual monitoring, and the deviation coefficients can be adjusted according to specific conditions so as to improve the performance and applicability of the monitoring system.
In the present embodiment, the preset evaluation coefficient reference threshold value is set toWherein/>The calculated evaluation coefficient/>, is processed by the central processing unit 7And a preset evaluation coefficient reference threshold/>The comparison is carried out, whether the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 need to adjust the tire 5 or not is judged, and the working states of the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 are controlled according to the comparison result, and the specific judgment is as follows:
When (when) When the tire pressure regulating mechanism 10 and the contact area regulating mechanism 9 need not regulate the tire 5, a normal signal is generated at the moment, the central processing unit 7 receives the normal signal and then generates a standby signal, the standby signal is respectively transmitted to the hydraulic cylinder 901, the control valve 1001 and the automatic pneumatic pump 1002, and after the hydraulic cylinder 901, the control valve 1001 and the automatic pneumatic pump 1002 receive the standby signal, the contact area regulating mechanism 9 and the tire pressure regulating mechanism 10 are respectively controlled to perform standby operation;
Standby operation refers to: after receiving the standby signal, the hydraulic cylinder 901, the control valve 1001 and the automatic pneumatic pump 1002 do not work, i.e. in an initial state, and then drive the adjustment mechanism 9 and the tire pressure adjustment mechanism 10 to perform standby work;
When (when) When the tire pressure regulating mechanism 10 and the contact area regulating mechanism 9 need to regulate the tire 5, a hidden danger signal is generated at the moment, the central processing unit 7 receives the hidden danger signal and then generates a regulating signal, the regulating signal is respectively transmitted to the hydraulic cylinder 901, the control valve 1001 and the automatic pneumatic pump 1002, and after the hydraulic cylinder 901, the control valve 1001 and the automatic pneumatic pump 1002 receive the regulating signal, the contact area regulating mechanism 9 and the tire pressure regulating mechanism 10 are respectively controlled to regulate;
The adjustment work means: after the hydraulic cylinder 901 receives the adjustment signal, the hydraulic cylinder 901 controls the hydraulic telescopic rod 902 to stretch through an output shaft of the hydraulic cylinder 901, so that the pulley 905 is controlled to move towards the ground, and when the hydraulic cylinder 901 contacts the ground, the hydraulic cylinder continues to stretch to a certain extent, as the bottom of the hydraulic cylinder 901 is fixedly connected with the inner bottom wall of the fixing frame 803, the fixing frame 803 can be lifted to a certain extent through the reaction force, and then the wheel hub 4 and the tire 5 can be lifted to a certain height, so that the contact area between the tire 5 and the ground is reduced, namely, the contact area adjustment mechanism 9 is controlled to perform adjustment work; after receiving the adjustment signal, the control valve 1001 and the automatic pneumatic pump 1002 open the control valve 1001, allowing the gas to flow from the air tap 6 to the automatic pneumatic pump 1002 and further into the tire 5, and the automatic pneumatic pump 1002 operates to inject the gas into the tire 5, and when the control valve 1001 is opened, the automatic pneumatic pump 1002 starts to operate to deliver the gas into the tire 5, thereby increasing the tire pressure, that is, controlling the tire pressure adjusting mechanism 10 to perform the adjustment operation.
The opening and closing system of the four-wheel drive four-steering mine car comprises an inclination acquisition module 11, a tire pressure acquisition module 12 and a central processing unit 7:
The inclination acquisition module 11 is arranged at the top of the fixing frame 803 and is used for acquiring the actual inclination of the vehicle in real time, transmitting the acquired actual inclination of the vehicle at different times in T time to the central processing unit 7, and carrying out formulated analysis on the actual inclination of the vehicle at different times in T time and the preset inclination by the central processing unit 7 to generate an inclination deviation index;
The tire pressure acquisition module 12 is arranged on the inner side wall of the hub 4 and is used for acquiring the actual tire pressure in the tire 5 in real time, transmitting the acquired actual tire pressure in the tire 5 at different moments in T time to the central processing unit 7, and carrying out formulated analysis on the actual tire pressure in the tire 5 at different moments in T time by the central processing unit 7 to generate a tire pressure change coefficient;
The central processing unit 7 is arranged at one side of the chassis 2, generates an evaluation coefficient by comprehensively analyzing the generated gradient deviation index and the tire pressure change coefficient, judges whether the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 need to adjust the tire 5 or not by comparing the evaluation coefficient with a preset evaluation coefficient reference threshold value, and controls the working states of the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 according to the comparison result, wherein the specific judgment is as follows: when the evaluation coefficient is smaller than or equal to the evaluation coefficient reference threshold value, the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 do not need to adjust the tire 5 to generate a normal signal, the central processing unit 7 generates a standby signal after receiving the normal signal, and transmits the standby signal to the hydraulic cylinder 901, the control valve 1001 and the automatic pneumatic pump 1002 respectively, and after receiving the standby signal, the hydraulic cylinder 901, the control valve 1001 and the automatic pneumatic pump 1002 control the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 to perform standby operation respectively; when the evaluation coefficient is greater than the evaluation coefficient reference threshold, the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 need to adjust the tire 5 to generate a hidden danger signal, the central processing unit 7 receives the hidden danger signal to generate an adjusting signal, the adjusting signal is transmitted to the hydraulic cylinder 901, the control valve 1001 and the automatic pneumatic pump 1002 respectively, and after the hydraulic cylinder 901, the control valve 1001 and the automatic pneumatic pump 1002 receive the adjusting signal, the contact area adjusting mechanism 9 and the tire pressure adjusting mechanism 10 are controlled respectively to adjust.
The above formulas are all formulas with dimensions removed and numerical values calculated, the formulas are formulas with a large amount of data collected for software simulation to obtain the latest real situation, and preset parameters in the formulas are set by those skilled in the art according to the actual situation.
It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided by the present application, it should be understood that the disclosed general system, apparatus, and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another overall system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a four-wheel drive four-steering mine car, includes automobile body (1), chassis (2), is used for loading carriage (3) of goods, wheel hub (4), tire (5) and air cock (6), its characterized in that: one side of the chassis (2) is provided with a central processing unit (7), the bottom of the chassis (2) is provided with a driving mechanism (8) and a contact area adjusting mechanism (9), the driving mechanism (8) comprises a fixing frame (803), the driving mechanism (8) is used for driving a wheel hub (4) and a tire (5) to rotate and steer, the contact area adjusting mechanism (9) is used for adjusting the contact area between the tire (5) and the ground, the inner side wall of the wheel hub (4) is provided with a tire pressure adjusting mechanism (10), and the tire pressure adjusting mechanism (10) is used for adjusting the tire pressure inside the tire (5);
Further comprises:
The inclination acquisition module (11) is arranged at the top of the fixing frame (803) and is used for acquiring the actual inclination of the vehicle in real time and generating an inclination deviation index through the central processing unit (7);
the tire pressure acquisition module (12) is arranged on the inner side wall of the hub (4) and is used for acquiring the actual tire pressure in the tire (5) in real time and generating a tire pressure change coefficient through the central processing unit (7);
the central processing unit (7) is used for comprehensively analyzing the generated gradient deviation index and the tire pressure change coefficient to generate an evaluation coefficient, comparing the evaluation coefficient with a preset evaluation coefficient reference threshold value, judging whether the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) need to adjust the tire (5) or not, and controlling the working states of the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) according to the comparison result.
2. A four-wheel drive four-way bogie as claimed in claim 1, wherein: the driving mechanism (8) further comprises a first motor bearing frame (801), a first motor (802), a second motor (804) and a supporting frame (805), the top of the first motor bearing frame (801) is fixedly connected with the bottom of the chassis (2), the inner side wall of the first motor bearing frame (801) is fixedly connected with the outer wall of the first motor (802), one end of an output shaft of the first motor (802) is fixedly connected with the top of the fixing frame (803), the inner side wall of the fixing frame (803) is fixedly connected with the outer wall of the second motor (804), the inner bottom wall of the fixing frame (803) is fixedly connected with the bottom of the supporting frame (805), the outer wall of the output shaft of the second motor (804) is movably connected with the inner side wall of the supporting frame (805) through a bearing, and one end of the output shaft of the second motor (804) is fixedly connected with one side of the hub (4).
3. A four-wheel drive four-way bogie as claimed in claim 2, wherein: contact area adjustment mechanism (9) include pneumatic cylinder (901), hydraulic telescoping rod (902), pulley mount (903), rotation axis (904) and pulley (905), the bottom of pneumatic cylinder (901) is connected with the interior bottom wall fixed connection of mount (803), the output shaft of pneumatic cylinder (901) is connected with the one end transmission of hydraulic telescoping rod (902), the other end of hydraulic telescoping rod (902) is connected with the top fixed connection of pulley mount (903), the both ends fixed connection of the inside wall and rotation axis (904) of pulley mount (903), the outer wall of rotation axis (904) passes through bearing swing joint with the inside wall of pulley (905).
4. A four-wheel drive four-way bogie as claimed in claim 3, wherein: the tire pressure regulating mechanism (10) comprises a control valve (1001) and an automatic pneumatic pump (1002), wherein the control valve (1001) is arranged on one side of the hub (4), the automatic pneumatic pump (1002) is arranged on the inner side wall of the hub (4), an output port of the control valve (1001) is fixedly connected with an input port of the air tap (6), and an input port of the control valve (1001) is fixedly connected with an output port of the automatic pneumatic pump (1002).
5. A four-wheel drive four-way bogie as defined in claim 4 wherein: the output end of the central processing unit (7) is respectively electrically connected with the input end of the first motor (802), the input end of the second motor (804), the input end of the hydraulic cylinder (901), the input end of the control valve (1001) and the input end of the automatic pneumatic pump (1002), and the input end and the output end of the gradient acquisition module (11) and the input end and the output end of the tire pressure acquisition module (12) are respectively electrically connected with the output end and the input end of the central processing unit (7).
6. A four-wheel drive four-wheeled bogie as claimed in claim 5, wherein the inclination deviation index acquisition logic is:
S1, acquiring actual inclination of the vehicle at different moments in T time and preset inclination of the vehicle through a central processing unit (7) through an inclination acquisition module (11), and respectively calibrating the actual inclination and the preset inclination of the vehicle at different moments in T time as And/>，/>A number indicating the actual inclination of the vehicle at different times during time T,，/>Is a positive integer;
S2, calculating an inclination deviation index, wherein the calculated expression is as follows:
；
In the method, in the process of the invention, Is the gradient deviation index.
7. The four-wheel drive four-way bogie as recited in claim 6, wherein the tire pressure change coefficient obtaining logic is:
s1, acquiring actual tire pressures in the tires (5) at different times in T time through a tire pressure acquisition module (12), and calibrating the actual tire pressures in the tires (5) at different times in T time as ，/>Number indicating actual tire pressure inside the tire (5) at different times within T time,/>，/>Is a positive integer;
s2, calculating a tire pressure change coefficient, wherein the calculated expression is as follows:
；
In the method, in the process of the invention, Is the tire pressure change coefficient.
8. A four-wheel drive four-way bogie according to claim 7 wherein the expression formula for the evaluation coefficient is:
And (3) carrying out formulation analysis by a central processing unit (7), and according to the formula:
；
In the method, in the process of the invention, To evaluate the coefficient,/>And/>Preset proportional coefficients of inclination deviation index and tire pressure change coefficient respectively, and/>And/>Are all greater than 0.
9. A four-wheel drive four-wheeled bogie according to claim 8 wherein the predetermined reference threshold for the evaluation coefficient is set to beWherein/>The calculated evaluation coefficient/>, is processed by a central processing unit (7)And a preset evaluation coefficient reference threshold/>Comparing, judging whether the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) need to adjust the tire (5), and controlling the working states of the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) according to the comparison result, wherein the specific judgment is as follows:
When (when) When the tire pressure regulating mechanism (9) and the tire pressure regulating mechanism (10) do not need to regulate the tire (5) to generate normal signals, the central processing unit (7) generates standby signals after receiving the normal signals, the standby signals are respectively transmitted to the hydraulic cylinder (901), the control valve (1001) and the automatic pneumatic pump (1002), and after the hydraulic cylinder (901), the control valve (1001) and the automatic pneumatic pump (1002) receive the standby signals, the contact area regulating mechanism (9) and the tire pressure regulating mechanism (10) are respectively controlled to perform standby operation;
When (when) During the time, contact area adjustment mechanism (9) and tire pressure adjustment mechanism (10) need carry out adjustment work to tire (5), generate hidden danger signal, central processing unit (7) receive hidden danger signal after, generate adjustment signal to transmit adjustment signal respectively to pneumatic cylinder (901), control valve (1001) and automatic pneumatic pump (1002), after pneumatic cylinder (901), control valve (1001) and automatic pneumatic pump (1002) receive adjustment signal, control contact area adjustment mechanism (9) and tire pressure adjustment mechanism (10) carry out adjustment work respectively.
10. An opening and closing system based on the four-wheel-drive four-steering mine car as claimed in claim 9, which is characterized by comprising an inclination acquisition module (11), a tire pressure acquisition module (12) and a central processor (7):
The inclination acquisition module (11) is arranged at the top of the fixing frame (803) and is used for acquiring the actual inclination of the vehicle in real time, transmitting the acquired actual inclination of the vehicle at different times in T time to the central processing unit (7), and carrying out formulated analysis on the actual inclination of the vehicle and the preset inclination at different times in T time by the central processing unit (7) to generate an inclination deviation index;
The tire pressure acquisition module (12) is arranged on the inner side wall of the hub (4) and is used for acquiring the actual tire pressure in the tire (5) in real time, transmitting the acquired actual tire pressure in the tire (5) at different moments in T time to the central processing unit (7), and carrying out formulated analysis on the actual tire pressure in the tire (5) at different moments in T time by the central processing unit (7) to generate a tire pressure change coefficient;
The central processing unit (7) is arranged on one side of the chassis (2), generates an evaluation coefficient by comprehensively analyzing the generated gradient deviation index and the tire pressure change coefficient, judges whether the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) need to adjust the tire (5) or not by comparing the evaluation coefficient with a preset evaluation coefficient reference threshold value, and controls the working states of the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) according to the comparison result, wherein the specific judgment is as follows: when the evaluation coefficient is smaller than or equal to the evaluation coefficient reference threshold value, the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) do not need to adjust the tire (5) to generate a normal signal, the central processing unit (7) generates a standby signal after receiving the normal signal, the standby signal is respectively transmitted to the hydraulic cylinder (901), the control valve (1001) and the automatic pneumatic pump (1002), and the hydraulic cylinder (901), the control valve (1001) and the automatic pneumatic pump (1002) respectively control the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) to perform standby operation after receiving the standby signal; when the evaluation coefficient is larger than the evaluation coefficient reference threshold, the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) need to adjust the tire (5) to generate hidden danger signals, the central processing unit (7) generates adjusting signals after receiving the hidden danger signals, the adjusting signals are respectively transmitted to the hydraulic cylinder (901), the control valve (1001) and the automatic pneumatic pump (1002), and after the hydraulic cylinder (901), the control valve (1001) and the automatic pneumatic pump (1002) receive the adjusting signals, the contact area adjusting mechanism (9) and the tire pressure adjusting mechanism (10) are respectively controlled to adjust.
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| CN104890457A (en) * | 2015-06-24 | 2015-09-09 | 中山菲柯特电子电器有限公司 | Tire pressure monitoring system and tire pressure monitoring method capable of achieving automatic angle adjustment |
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| ATE381004T1 (en) * | 1998-04-07 | 2007-12-15 | Pirelli | METHOD FOR DETERMINING THE ROAD BEHAVIOR OF A VEHICLE TIRE |
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