CN102852080B - Method, device and system for controlling operation of paver and paver - Google Patents
Method, device and system for controlling operation of paver and paver Download PDFInfo
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- 230000005484 gravity Effects 0.000 claims description 26
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Abstract
The invention provides a method, a device and a system for controlling operation of a paver and the paver. Wherein, the method comprises the following steps: when the paver is in operation, acquiring an angle value between a current roadbed and a horizontal plane; and controlling the pressure of the screed of the paver to the current roadbed in the vertical direction to be a specified value according to the obtained angle value. According to the method, the pressure of the screed plate on the roadbed in the vertical direction is controlled according to the current inclination angle of the roadbed, so that the compaction forces of the screed plates on the roadbeds with different inclinations are the same, the compactness of the paved road surface is the same, the problem that the compactness of the paved road surface of a slope roadbed and a horizontal roadbed is inconsistent is solved, and the performance of the road surface is enhanced.
Description
Technical Field
The invention relates to the field of machinery, in particular to a method, a device and a system for controlling operation of a paver and the paver.
Background
The paver is a key device for pavement construction, and the quality of the paver directly influences the service life and driving comfort of a pavement; the screed is used as a paver road surface forming working device, and the control, the structure, the deformation and the like of the screed actuating mechanism have direct influence on the road surface quality; the compactness and the flatness of the pavement are influenced by the compacting force of the ironing plate on the pavement; if the compacting force of the screed on the road surface is changed at different road sections, the longitudinal compactness of the road surface is uneven, and the comfort and the service life of the vehicle are seriously influenced;
fig. 1 is a schematic diagram of stress analysis of a paver during operation on a horizontal road surface, wherein a lifting cylinder and a leveling cylinder are hinged to an ironing plate, a large traction arm is rigidly connected to the ironing plate, a leveling instrument is fixed to the ironing plate, a sensing arm can freely rotate around a central point, and the other end of the sensing arm presses on a reference steel rope due to self-gravity (simply referred to as "self-weight"); in the paving process, the ironing plate is required to be in a floating state, namely the lifting oil cylinder can freely slide up and down, so that the dead weight of the ironing plate is completely pressed on the paving aggregate, and the aggregate is fully compacted and compacted; in the paving process, an included angle alpha is formed between the bottom plate of the ironing plate and the horizontal plane, the larger the alpha is, the larger the aggregate compression ratio at the bottom of the ironing plate is, the larger the required compaction force is, and the larger the supporting force F of the aggregates on the ironing plate is according to the principle that the acting force is equal to the reacting force; and vice versa; the screed is subjected to four forces: gravity G, supporting force F of bottom aggregate, resistance of aggregate and traction force of a large arm; the four forces are in equilibrium;
breaking the balance state of the ironing plate for any reason, causing the ironing plate to ascend or descend relative to the reference rope, changing an included angle b between a leveling device (namely the leveling instrument and the sensing arm) fixed on the ironing plate and the vertical direction to deviate from an initial value, descending the ironing plate to increase an angle b, outputting a signal by the leveling device to enable the leveling cylinder to move upwards, increasing the elevation angle alpha of the ironing plate, increasing materials entering the bottom of the ironing plate, increasing the compression ratio of aggregate at the bottom of the ironing plate, increasing the supporting force of the aggregate to the ironing plate, ascending the ironing plate, and returning the included angle b between the leveling device and the vertical direction to the initial value b0 to enter the balance state again; the angle b of the screed plate is reduced, the leveling device can output a signal to enable the leveling cylinder to move downwards, the elevation angle alpha of the screed plate is reduced, the material entering the bottom of the screed plate is reduced, the compression ratio of aggregate at the bottom of the screed plate is reduced, the supporting force of the aggregate on the screed plate is reduced, the screed plate descends, and the included angle b between the leveling device and the vertical direction returns to the initial value b0 again to enter a balanced state;
when the paving machine is used for paving a horizontal pavement, the supporting force F of bottom aggregate is equal to the component force G of the gravity G of the screed in the direction vertical to the bottom of the screed, and the component forces are opposite in direction and are a pair of balance forces; meanwhile, G ═ G × Cos α can be known according to mechanics knowledge; f ═ g.
As shown in fig. 2, a schematic diagram of stress analysis of a paver during operation on a non-horizontal road surface is shown, the paver performs an uphill paving operation, and assuming that other working conditions of the paver are completely the same, when only a roadbed is changed from a horizontal roadbed to a slope roadbed, the slope of the roadbed is set to be theta > 0 DEG, and the elevation angle of a screed is alpha ', at this time, the component G ' of the self weight of the screed in the direction perpendicular to the bottom of the screed is G (Cos (alpha ' + theta)); let g ═ g, i.e., α' + θ ═ α; theta is more than 0, so alpha' is less than alpha, namely the aggregate compression ratio is less than that of horizontal paving when the slope roadbed is paved, so that the compaction force is the same when the compression ratio of materials with the same physical property is different, which is obviously contradictory; let g '> g, i.e. α' + θ < α; theta is more than 0, so alpha' is less than alpha, namely the aggregate compression ratio is far less than that of the horizontal roadbed when the slope roadbed is paved, but the compaction force required when the compression ratio of the materials with the same physical characteristics is small is increased, which is obviously contradictory; therefore, only g' < g is reasonable, namely the compacting force of the ironing plate is reduced, the compactness is reduced, namely the compactness of the pavement after the slope roadbed is paved is lower than that of the horizontal roadbed under the same other conditions.
Aiming at the problem of inconsistent pavement compactness after the slope roadbed and the horizontal roadbed are paved in the related technology, an effective solution is not provided at present.
Disclosure of Invention
The invention aims to provide a method, a device and a system for controlling the operation of a paver, and the paver, so as to at least solve the problem that the compactness of a pavement after the slope subgrade and the horizontal subgrade are paved is not consistent.
According to one aspect of the present disclosure, a method of controlling operation of a paving machine is provided, including: when the paver is in operation, acquiring an angle value between a current roadbed and a horizontal plane; and controlling the pressure of the screed of the paver to the current roadbed in the vertical direction to be a specified value according to the obtained angle value.
Wherein, obtaining the angle value between the current roadbed and the horizontal plane comprises: and acquiring the current angle value between the roadbed and the horizontal plane through the roadbed inclination angle sensor.
Wherein, controlling the pressure of the screed of the paver to the current roadbed vertical direction to be a specified value according to the obtained angle value comprises: and adjusting the pressure P of hydraulic oil in the lifting oil cylinder according to the obtained angle value, so that the pressure of the screed in the direction vertical to the current roadbed is a specified value.
The above specified value is the weight G of the screed.
The adjusting the pressure P of the hydraulic oil in the lift cylinder according to the obtained angle value includes: the controller adjusts the pressure P of the hydraulic oil in the lifting oil cylinder to be (G-G Cos theta) L0/(L1S) according to the obtained angle value; wherein S is the cross-sectional area of the upper cavity of the lifting oil cylinder; l0 is a force arm of the gravity G of the screed plate to the hinge point of the leveling oil cylinder; l1 is a force arm for adjusting the hinge point of the leveling oil cylinder by the pressure of the lifting oil cylinder; and theta is the angle value between the current roadbed and the horizontal plane.
Wherein L0 ═ Lg × Cos (a + α); l1 ═ Lf × Cos b; lg is the length of a connecting line QO from the gravity center O of the ironing plate to the center Q of the hinge point of the lifting oil cylinder; lf is the length of a connecting line QN between the center Q of the hinge point of the lifting oil cylinder and the center N of the hinge point of the leveling oil cylinder; a is an included angle between QO and a horizontal line when the ironing board is horizontally placed; alpha is the working angle of the ironing plate; and b is an included angle between the pull rod axis of the lifting oil cylinder and QN.
The pressure intensity P is determined by a pressure intensity sensor arranged in a hydraulic oil circuit on the upper cavity of the lifting oil cylinder.
According to another aspect of the present invention, there is provided an apparatus for controlling operation of a paving machine, comprising: the angle acquisition equipment is used for acquiring the angle value between the current roadbed and the horizontal plane when the paver operates; and the pressure control equipment is used for controlling the pressure of the screed of the paver to the current roadbed in the vertical direction to be a specified value according to the angle value acquired by the angle acquisition equipment.
Wherein the pressure control apparatus includes: and the pressure adjusting unit is used for adjusting the pressure P of the hydraulic oil in the lifting oil cylinder according to the angle value acquired by the angle acquiring equipment, so that the pressure of the screed plate on the current roadbed in the vertical direction is a specified value.
The calculation formula of the pressure adjusting unit for adjusting the pressure P of the hydraulic oil in the lifting oil cylinder is as follows: p ═ (G-G × Cos θ) L0/(L1 × S); wherein G is the gravity of the screed plate; s is the cross-sectional area of the upper cavity of the lifting oil cylinder; l0 is the arm of force of gravity G of the screed plate to the hinge point of the leveling cylinder, L0 is Lg × Cos (a + α); l1 is the moment arm of the pressure of the lift cylinder to the hinge point of the leveling cylinder, L1 is Lf cos; lg is the length of a connecting line QO from the gravity center O of the ironing plate to the center Q of the hinge point of the lifting oil cylinder; lf is the length of a connecting line QN between the center Q of the hinge point of the lifting oil cylinder and the center N of the hinge point of the leveling oil cylinder; a is an included angle between QO and a horizontal line when the ironing board is horizontally placed; alpha is the working angle of the ironing plate; b is an included angle between the pull rod axis of the lifting oil cylinder and QN; and theta is the angle value between the current roadbed and the horizontal plane.
According to yet another aspect of the present disclosure, a system for controlling operation of a paving machine is provided, including a controller, and further including: a roadbed inclination angle sensor; the roadbed inclination angle sensor is used for measuring an angle value between the current roadbed and the horizontal plane and sending the angle value to the controller; the controller comprises the device for controlling the operation of the paver.
The mounting base of the roadbed inclination angle sensor is parallel to the contact surface of the walking crawler belts on two sides of the main machine of the paver and the ground.
The above system further comprises: the angle sensor is used for detecting the sum of the angle between the current roadbed and the horizontal plane and the working angle of the screed, and the rotation angle sensor is used for detecting the included angle between the pull rod axis of the lifting oil cylinder and the connecting line between the center of the hinge point of the lifting oil cylinder and the center of the hinge point of the leveling oil cylinder.
The controller is used for adjusting the pressure P of the hydraulic oil in the lifting oil cylinder to be (G-G Cos theta) L0/(L1S) according to the angle values respectively obtained by the roadbed inclination angle sensor, the screed plate angle sensor and the rotating angle sensor; wherein G is the gravity of the screed plate; s is the cross-sectional area of the upper cavity of the lifting oil cylinder; l0 is the arm of force of gravity G of the screed plate to the hinge point of the leveling cylinder, L0 is Lg × Cos (a + α); l1 is the moment arm of the pressure of the lift cylinder to the hinge point of the leveling cylinder, L1 is Lf cos; lg is the length of a connecting line QO from the gravity center O of the ironing plate to the center Q of the hinge point of the lifting oil cylinder; lf is the length of a connecting line QN between the center Q of the hinge point of the lifting oil cylinder and the center N of the hinge point of the leveling oil cylinder; a is an included angle between QO and a horizontal line when the ironing board is horizontally placed; alpha is the working angle of the ironing plate; b is an included angle between the pull rod axis of the lifting oil cylinder and QN; and theta is the angle value between the current roadbed and the horizontal plane.
The above system further comprises: and the pressure sensor is arranged in the hydraulic oil circuit of the upper cavity of the lifting oil cylinder and used for measuring the pressure of the hydraulic oil in the upper cavity of the lifting oil cylinder and sending the pressure to the controller.
According to yet another aspect of the present disclosure, a paving machine is provided that includes the above-described system for controlling operation of a paving machine.
According to the method, the pressure of the screed plate on the roadbed in the vertical direction is controlled according to the current inclination angle of the roadbed, so that the compaction forces of the screed plates on the roadbeds with different inclinations are the same, the compactness of the paved road surface is the same, the problem that the compactness of the paved road surface of a slope roadbed and the paved road surface of a horizontal roadbed is inconsistent is solved, the performance of the road surface is enhanced, and the consistency of the using effect of the road surface is effectively ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view illustrating a force analysis of a paver according to the related art in a horizontal road surface operation;
fig. 2 is a schematic view illustrating a force analysis of a paver according to the related art when operating on a non-horizontal road surface;
fig. 3 is a flow chart of a method of controlling operation of a paving machine in accordance with an embodiment of the present disclosure;
fig. 4 is a schematic view of force analysis of the paver according to the embodiment of the invention when the paver is used for carrying out the uphill paving operation on a slope road surface;
fig. 5 is a schematic view of a stress analysis of a paving machine according to an embodiment of the present invention during paving operations on a horizontal road surface;
fig. 6 is a schematic view of another force analysis of the paving machine according to the embodiment of the invention during paving operations on a horizontal road surface;
fig. 7 is a schematic view of a stress analysis of the paving machine according to the embodiment of the invention when the paving machine is used for paving on a slope;
fig. 8 is a block diagram of an apparatus for controlling the operation of a paving machine in accordance with an embodiment of the present disclosure;
fig. 9 is a block diagram of a system for controlling operation of a paving machine in accordance with an embodiment of the present disclosure; and
fig. 10 is a block diagram illustrating the detailed structure of a system for controlling the operation of a paving machine in accordance with an embodiment of the present disclosure.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In order to control the compactness of a pavement after a slope roadbed and a horizontal roadbed are paved, the embodiment of the invention provides a method, a device and a system for controlling the operation of a paver, and the paver is described by the following embodiment.
Referring to the flowchart of fig. 3, the method for controlling the operation of the paving machine in the present embodiment is described as applied to a controller of the paving machine, and includes the following steps:
step S302, when the paver works, a controller of the paver obtains an angle value between a current roadbed and a horizontal plane;
and step S304, the controller controls the pressure of the screed of the paver to the current roadbed in the vertical direction to be a designated value according to the acquired angle value.
According to the method, the pressure of the screed plate on the roadbed in the vertical direction is controlled according to the current inclination angle of the roadbed, so that the compaction forces of the screed plates on the roadbeds with different inclinations are the same, the compactness of the paved road surface is the same, the problem that the compactness of the paved road surface of a slope roadbed and a horizontal roadbed is inconsistent is solved, the performance of the road surface is enhanced, and the consistency of the using effect of the road surface is effectively ensured.
In order to facilitate the controller to obtain the angle value between the current roadbed and the horizontal plane, the roadbed inclination angle sensor is arranged on the paver and used for measuring the angle value. Based on this, the step S302 may include: the controller acquires the current angle value between the roadbed and the horizontal plane through the roadbed inclination angle sensor, wherein the mounting base of the roadbed inclination angle sensor is preferably parallel to the contact surface between the two side walking tracks of the host machine of the paver and the ground, so that the angle measured by the roadbed inclination angle sensor is the current angle value between the roadbed and the horizontal plane; if the roadbed inclination angle sensor is arranged at other positions, the controller can obtain the current angle value between the roadbed and the horizontal plane in an angle conversion mode.
For making the pressure of the screed plate to the current roadbed vertical direction be a designated value, various means may be adopted for specific implementation, and this embodiment is preferably implemented by operating the pressure of hydraulic oil in the lift cylinder, based on which, the controller controlling the pressure of the screed plate of the paver to the current roadbed vertical direction to be a designated value according to the obtained angle value may include: and the controller adjusts the pressure P of the hydraulic oil in the lifting oil cylinder according to the acquired angle value, so that the pressure of the screed in the direction vertical to the current roadbed is a specified value.
The specified value can be set according to the road surface condition, and the gravity G of the screed plate is preferably selected in the embodiment, so that when the horizontal roadbed is constructed, the specified value can be realized by adopting the existing mode, namely the pressure P is 0; as shown in fig. 4, in the schematic diagram of analyzing the stress when the paver performs the uphill paving operation on a slope road surface, the component force G 'of the dead weight G of the screed in the direction perpendicular to the roadbed is G × Cos θ, and as long as the force in the G' direction is equal to the force G in the gravity direction when the horizontal road surface is paved, the consistency between the slope paving compactness and the horizontal paving compactness can be ensured; in order to realize the purpose, pressure oil with certain pressure intensity of P can be injected into a large cavity of a lifting oil cylinder, so that the force in the G' direction is equal to the G in the gravity direction when the horizontal road paver is used; the magnitude of the specific pressure P is calculated as follows:
P＝(G-G*Cosθ)*L0/(L1*S)；(1)
wherein "+" denotes a multiplication number and "/" denotes a division number;
l0-is a force arm of the self-weight of the screed plate to the hinge point of the leveling oil cylinder;
l1-is a force arm for adjusting the hinge point of the leveling oil cylinder by the pressure of the lifting oil cylinder;
theta-is the angle of the slope subgrade relative to the horizontal plane, namely theta is the angle value between the current subgrade and the horizontal plane;
s-is the cross-sectional area of the upper cavity of the lifting oil cylinder;
g-is the dead weight of the ironing plate;
the derivation process of equation (1) is as follows:
in the process of paving the slope roadbed, a lifting oil cylinder injects hydraulic oil with the pressure intensity of P, so that the pressure of the screed in the direction vertical to the roadbed is equal to the pressure of the screed paved on the horizontal roadbed in the direction vertical to the roadbed, namely the screed gravity G; paving the slope subgrade, wherein the pressure of the screed plate on the subgrade direction is formed by two parts, and the No. 1 part is the component force G' ═ G Cos theta of the self weight of the screed plate in the direction vertical to the subgrade; the pressure of the screed in the direction vertical to the subgrade is increased by f 'due to the action of the pressure N in the lifting oil cylinder, and the magnitude of the pressure is G-G' ═ G-Cos theta; considering that the downward pressure of the lifting oil cylinder and the moment of the hinge point of the leveling oil cylinder and the large arm of the screed plate are a pair of balance moments, the lengths of the moment arms of the two forces are L0 and L1 respectively, and the magnitudes of the two forces are f '. multidot.L 0 and N.multidot.L 1 respectively, namely f'. multidot.L 0 is equal to N.multidot.L 1; so N ═ f'. L0/L1; and f ═ G — G Cos θ; n ═ P × S; therefore, P is (G-G × Cos θ) L0/(L1 × S).
The analysis method is also suitable for the paver to carry out downhill paving operation, and the analysis conclusion is completely the same.
The derivation processes of L0 and L1 are given by the schematic diagrams of the analysis of the stress when the paver shown in fig. 5 and 6 is used for paving on a horizontal road surface, and the schematic diagram of the analysis of the stress when the paver shown in fig. 7 is used for paving on a slope road surface:
as shown in fig. 5, when the screed is in a horizontal state, the length of a connecting line QO from the center of gravity O of the screed to the center Q of the hinge point of the lifting cylinder is Lg; the length of a connecting line QN at the center of the hinge point of the lifting oil cylinder and the leveling oil cylinder is Lf; when the ironing plate is horizontally placed, the included angle between QO and the horizontal line is A; the size of the included angle A is obtained by calculating the size of the related structural members of the paver.
As shown in fig. 6, the paver is constructed on a horizontal roadbed, and a screed of the paver is assumed to be in a balanced floating state, namely, a screed lifting oil cylinder is in a free telescopic state without stress; namely, the component force G' of the self weight G of the ironing plate in the direction vertical to the bottom surface of the ironing plate is balanced with the supporting force of the aggregates on the ironing plate.
The scheme adopted by the embodiment of the invention is shown in fig. 7, when the paver is constructed on a slope roadbed, in order to ensure that the compaction force of the screed plate on the road surface is consistent with the compaction force constructed on a horizontal road surface, pressure oil with the pressure of P needs to be injected into the upper cavity of the lifting oil cylinder; the method comprises the following steps that an inclination angle sensor 1 is additionally arranged on a paver, a sensor mounting base is parallel to contact surfaces of two side walking tracks of a host and the ground, namely, an angle detected by the inclination angle sensor is the gradient theta of a roadbed; an inclination angle sensor 2 is additionally arranged, a sensor mounting base is parallel to the bottom plate of the ironing plate, and the sensor detects that the angle is theta + alpha; alpha is the working angle of the ironing plate; a rotation angle sensor is arranged and used for detecting an included angle between the axis of the pull rod of the lifting oil cylinder and QN, and the included angle is an included angle b as shown in the figure; according to the obtained calculation formula of the pressure of the upper cavity of the lifting oil cylinder: p ═ (G-G × Cos θ) L0/(L1 × S); namely the above formula (1)
According to the relevant mechanical structure of the spreading machine, the following are known:
l0-is the arm of force of screed dead weight to leveling cylinder pin joint, L0 ═ Lg × Cos (A + alpha), A
L1-is the arm of force of lift cylinder pressure to leveling cylinder hinge point, L1 is Lf Cos b;
the variables on the right side of the formula (1) are known, and a paver control system (such as the controller) can calculate the size of P, wherein the calculated P is used as a set value of PID closed-loop control; in the embodiment, a pressure sensor is further installed in the hydraulic oil path of the upper cavity of the lifting oil cylinder to serve as a pressure feedback value, so that the controller can adjust the pressure P according to the feedback value. Wherein, the PID control algorithm is a most common closed-loop control algorithm; by adjusting P, I, D, the whole control system has good response speed, control precision and stability.
Based on the analysis, when the specified value is G, the adjusting, by the controller, the pressure P of the hydraulic oil in the lift cylinder according to the obtained angle value may include: the controller adjusts the pressure P of the hydraulic oil in the lifting oil cylinder to be (G-G Cos theta) L0/L1S according to the obtained angle value; wherein,
s is the cross-sectional area of the upper cavity of the lifting oil cylinder;
l0 is a force arm of the gravity G of the screed plate to the hinge point of the leveling oil cylinder;
l1 is the arm of force of the pressure of the lift cylinder to the hinge point of the leveling cylinder.
Wherein L0 ═ Lg × Cos (a + α); l1 ═ Lf × Cos b;
lg is the length of a connecting line QO from the gravity center O of the ironing plate to the center Q of the hinge point of the lifting oil cylinder;
lf is the length of a connecting line QN between the center Q of the hinge point of the lifting oil cylinder and the center N of the hinge point of the leveling oil cylinder;
a is an included angle between QO and a horizontal line when the ironing board is horizontally placed;
alpha is the working angle of the ironing plate;
and b is an included angle between the pull rod axis of the lifting oil cylinder and QN.
According to the method, the embodiment of the invention also provides a device for controlling the operation of the paver, and the device can be arranged in the controller. As shown in fig. 8, the apparatus includes: the angle acquisition equipment 82 is used for acquiring the angle value between the current roadbed and the horizontal plane when the paver operates; and the pressure control device 84 is used for controlling the pressure of the screed of the paver to the current roadbed in the vertical direction to be a specified value according to the angle value acquired by the angle acquisition device.
The device of this embodiment is through the pressure of the current inclination control screed of road bed to the road bed vertical direction according to the road bed, and the road bed that can make different inclinations receives the compacting force homogeneous phase of screed, and consequently the road surface compactness homogeneous phase that makes after paving has solved the inconsistent problem of the road surface compactness after slope road bed and the level road bed paves, has strengthened the performance on road surface, has effectively guaranteed the uniformity of road surface result of use.
Preferably, the pressure control device 82 described above includes: and the pressure adjusting unit is used for adjusting the pressure P of the hydraulic oil in the lifting oil cylinder according to the angle value obtained by the angle obtaining equipment, wherein the size of the pressure P is as shown in the formula (1), and the detailed description is omitted here.
Specifically, the controller is configured to adjust the pressure P of the hydraulic oil in the lift cylinder according to the angle value obtained by the angle obtaining device, where the size of P is as described in the above formula (1), and is not described herein again.
A block diagram of a system for controlling the operation of a paving machine as shown in fig. 9 includes, in addition to the controller 90: a roadbed inclination angle sensor 91 for measuring an angle value theta between the current roadbed and the horizontal plane and sending the angle value theta to the controller 90; wherein, the mounting base of the roadbed inclination angle sensor 91 is parallel to the contact surface of the walking crawler belts on two sides of the main machine of the paver and the ground;
the controller 90 is used for acquiring an angle value between a current roadbed and a horizontal plane when the paver operates, and controlling the pressure of a screed of the paver on the current roadbed in the vertical direction to be a specified value according to the acquired angle value. In particular implementations, controller 90 may include the above-described devices for controlling the operation of the paving machine.
A detailed block diagram of a system for controlling the operation of a paving machine, as shown in fig. 10, includes, in addition to the controller 90 and the grade inclination sensor 91 of fig. 9:
the proportional valve 92 connected to the controller 90 is configured to receive the control current of the controller 90, adjust the displacement of the valve element according to the control current, and input the displacement of the valve element to the lift cylinder 93; the lifting oil cylinder 93 controls the pressure of the hydraulic oil according to the displacement of the valve core;
the pressure sensor 94 is arranged in a hydraulic oil circuit on the upper cavity of the lifting oil cylinder 93 and is used for measuring the pressure P of hydraulic oil on the upper cavity of the lifting oil cylinder and sending the pressure P to the controller 90, so that the control precision and the response speed of the controller 90 are improved;
and a screed angle sensor 95 for detecting the above θ + α, and transmitting the detected angle to the controller 90; and a rotation angle sensor 96 for detecting the b angle.
The controller in fig. 10 adjusts the displacement of the spool by controlling the current input to the proportional valve, and the displacement of the spool corresponds to the pressure of the hydraulic oil in the lift cylinder; the pressure intensity of the upper cavity of the lifting oil cylinder and the current intensity of the control valve form a linear relation.
According to the embodiment of the invention, stress analysis of the screed plate is used for obtaining that the compaction degree of slope paving and horizontal paving can be consistent as long as the force in the G' (vertical roadbed) direction is equal to the G in the gravity direction when the horizontal road surface is paved; two inclination angle sensors are used for detecting the angle of the slope roadbed and the angle of the screed plate, one angle sensor is used for detecting the included angle between the axis of the lifting oil cylinder and the QN, and the pressure value P of hydraulic oil to be injected into the upper cavity of the lifting oil cylinder is calculated according to the size parameters of structural components such as the screed plate, the traction big arm, the lifting oil cylinder and the leveling oil cylinder.
It can be seen from the above description that the inclination angle of the screed and the inclination angle of the roadbed are detected in real time during the paving process, the hydraulic oil with the pressure of P to be injected into the upper cavity of the screed lifting cylinder is calculated according to the analysis method, and meanwhile, a pressure sensor is arranged in a hydraulic oil circuit in the upper cavity of the lifting cylinder and is used as a pressure feedback value to form a closed-loop control, so that the screed can be guaranteed to be paved on slope roadbeds at any angle, the compacting force of the screed on aggregates is consistent with the operation on the horizontal roadbed, the consistency of the compactness of the road surface during paving operation on the slope roadbeds and the horizontal roadbeds is solved, and the consistency of the service life of each section of road surface is guaranteed.
Corresponding to the method, the device and the system, the embodiment of the invention also provides the paver, which comprises the system for controlling the operation of the paver.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
1. A method of controlling operation of a paving machine, comprising:
when the paver is in operation, acquiring an angle value between a current roadbed and a horizontal plane;
controlling the pressure of the screed of the paver to the current roadbed in the vertical direction to be a designated value according to the obtained angle value,
wherein the specified value is the weight G of the screed.
2. The method of claim 1, wherein obtaining the angle value between the current subgrade and the horizontal plane comprises:
and acquiring the current angle value between the roadbed and the horizontal plane through the roadbed inclination angle sensor.
3. The method of claim 1, wherein controlling the pressure of a screed of the paving machine against the current subgrade vertical direction to a specified value based on the obtained angle value comprises:
and adjusting the pressure P of hydraulic oil in the lifting oil cylinder according to the obtained angle value, so that the pressure of the screed in the direction vertical to the current roadbed is a specified value.
4. The method of claim 1,
adjusting the pressure P of the hydraulic oil in the lifting oil cylinder according to the obtained angle value comprises the following steps: the controller adjusts the pressure P of hydraulic oil in the lifting oil cylinder to be (G-G Cos theta) L0/(L1S) according to the obtained angle value; wherein,
s is the cross-sectional area of the upper cavity of the lifting oil cylinder;
l0 is the arm of force of the gravity G of the screed plate on the hinge point of the leveling oil cylinder;
l1 is a force arm for adjusting the hinge point of the leveling oil cylinder by the pressure of the lifting oil cylinder;
and theta is the angle value between the current roadbed and the horizontal plane.
5. The method according to claim 4, wherein said L0 ═ Lg × Cos (A + α); l1 ═ Lf × Cosb;
lg is the length of a connecting line QO from the gravity center O of the screed to the hinge point center Q of the lifting oil cylinder;
lf is the length of a connecting line QN between the center Q of the hinge point of the lifting oil cylinder and the center N of the hinge point of the leveling oil cylinder;
a is an included angle between QO and a horizontal line when the ironing board is horizontally placed;
alpha is the working angle of the ironing plate;
and b is an included angle between the pull rod axis of the lifting oil cylinder and QN.
6. The method according to any of claims 3 to 5, characterized in that the magnitude of the pressure P is determined by a pressure sensor arranged in a hydraulic circuit in the upper chamber of the lift cylinder.
7. An apparatus for controlling operation of a paving machine, comprising:
the angle acquisition equipment is used for acquiring the angle value between the current roadbed and the horizontal plane when the paver operates;
the pressure control equipment is used for controlling the pressure of the screed of the paver to the current roadbed in the vertical direction to be a designated value according to the angle value acquired by the angle acquisition equipment,
wherein the specified value is the weight G of the screed.
8. The apparatus of claim 7, wherein the pressure control device comprises:
and the pressure adjusting unit is used for adjusting the pressure P of hydraulic oil in the lifting oil cylinder according to the angle value acquired by the angle acquiring equipment, so that the pressure of the screed plate on the current roadbed in the vertical direction is a specified value.
9. The device for controlling the operation of the paver of claim 8 wherein the formula for adjusting the pressure P of the hydraulic oil in the lift cylinder by the pressure adjustment unit is:
p ═ (G-G × Cos θ) L0/(L1 × S); wherein,
g is the gravity of the screed plate;
s is the cross-sectional area of the upper cavity of the lifting oil cylinder;
l0 is the arm of force of gravity G of the screed plate to the hinge point of the leveling cylinder, L0 ═ Lg × Cos (a + α);
l1 is the moment arm of the pressure of the lift cylinder to the hinge point of the leveling cylinder, L1 is Lf cos;
lg is the length of a connecting line QO from the gravity center O of the screed to the hinge point center Q of the lifting oil cylinder;
lf is the length of a connecting line QN between the center Q of the hinge point of the lifting oil cylinder and the center N of the hinge point of the leveling oil cylinder;
a is an included angle between QO and a horizontal line when the ironing board is horizontally placed;
alpha is the working angle of the ironing plate;
b is an included angle between a pull rod axis of the lifting oil cylinder and QN;
and theta is the angle value between the current roadbed and the horizontal plane.
10. A system for controlling operation of a paving machine, comprising a controller, and further comprising: a roadbed inclination angle sensor;
the roadbed inclination angle sensor is used for measuring an angle value between the current roadbed and the horizontal plane and sending the angle value to the controller;
the controller includes the apparatus for controlling the operation of a paving machine of claim 8.
11. The system for controlling the operation of a paving machine as recited in claim 10, wherein the mounting base of the subgrade inclination sensor is parallel to the contact surface of the two side walking tracks of the main frame of the paving machine and the ground.
12. The system for controlling the operation of a paving machine of claim 10, further comprising: the angle sensor is used for detecting the sum of the angle between the current roadbed and the horizontal plane and the working angle of the screed, and the rotation angle sensor is used for detecting the included angle between the pull rod axis of the lifting oil cylinder and the connecting line between the center of the hinge point of the lifting oil cylinder and the center of the hinge point of the leveling oil cylinder.
13. The system of claim 12, wherein the controller is configured to adjust the pressure P ═ L0/(L1 ·) of the hydraulic oil in the lift cylinder according to the angle values respectively obtained by the slope angle sensor, the screed angle sensor, and the rotation angle sensor; wherein,
g is the gravity of the screed plate;
s is the cross-sectional area of the upper cavity of the lifting oil cylinder;
l0 is the arm of force of gravity G of the screed plate to the hinge point of the leveling cylinder, L0 ═ Lg × Cos (a + α);
l1 is the moment arm of the pressure of the lift cylinder to the hinge point of the leveling cylinder, L1 is Lf cos;
lg is the length of a connecting line QO from the gravity center O of the screed to the hinge point center Q of the lifting oil cylinder;
lf is the length of a connecting line QN between the center Q of the hinge point of the lifting oil cylinder and the center N of the hinge point of the leveling oil cylinder;
a is an included angle between QO and a horizontal line when the ironing board is horizontally placed;
alpha is the working angle of the ironing plate;
b is an included angle between a pull rod axis of the lifting oil cylinder and QN;
and theta is the angle value between the current roadbed and the horizontal plane.
14. The system for controlling the operation of a paving machine as recited in any one of claims 10-13, further comprising: and the pressure sensor is arranged in the hydraulic oil path of the upper cavity of the lifting oil cylinder and used for measuring the pressure of the hydraulic oil in the upper cavity of the lifting oil cylinder and sending the pressure to the controller.
15. A paver comprising a system for controlling the operation of a paver of any one of claims 10 to 14.
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| CN113152222B (en) * | 2021-04-13 | 2022-11-29 | 徐州工业职业技术学院 | Ironing plate suitable for small paver |
| CN114150548A (en) * | 2021-12-29 | 2022-03-08 | 常州市市政工程设计研究院有限公司 | Permeable pavement anti-collapse structure |
| CN114922014A (en) * | 2022-06-07 | 2022-08-19 | 山河智能装备股份有限公司 | Automatic leveling method of turnout laying and exchanging machine and turnout laying and exchanging machine |
| CN115852781B (en) * | 2022-11-29 | 2023-12-22 | 河海大学 | Screed lifting device of paver |
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| US8020659B2 (en) * | 2007-11-28 | 2011-09-20 | Caterpillar Paving Products Inc. | Hydrostatically driven vehicle and method therefor |
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