CN106087682A - A kind of cold regenerative machine lifting mechanism and control method thereof - Google Patents
A kind of cold regenerative machine lifting mechanism and control method thereof Download PDFInfo
- Publication number
- CN106087682A CN106087682A CN201610610301.5A CN201610610301A CN106087682A CN 106087682 A CN106087682 A CN 106087682A CN 201610610301 A CN201610610301 A CN 201610610301A CN 106087682 A CN106087682 A CN 106087682A
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- China
- Prior art keywords
- working depth
- oil cylinder
- lift arm
- rotor
- controller
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses a kind of cold regenerative machine lifting mechanism and control method thereof, mechanism includes vehicle frame, is symmetricly set on the connecting rod of vehicle frame both sides, lift arm and rotor；Connecting rod is connected with lift arm tail end, and lift arm front end is hinged on vehicle frame, can rotate around hinge, and lift arm tail end connects rotor, lift arm has rotation system drive rotor operating；Vehicle frame both sides are also arranged with oil cylinder, slideway and slide block, and slide block is arranged in slideway, and slide block one end is connected with oil cylinder, and the other end is connected with connecting rod；Installing built-in displacement sensor in oil cylinder, by working depth feedback module, the analogue signal of working depth is passed to controller, controller is stretched by Electro-hydraulic Proportional Control liquefaction cylinder.The present invention can effectively reduce the counteracting force of rotor cutting, extends the service life of oil cylinder；Control method, on the basis of traditional Non-follow control, increases working depth and is automatically adjusted pattern.The most more convenient to operate, more ensure working depth accuracy.
Description
Technical field
The present invention relates to a kind of cold regenerative machine, specifically a kind of cold regenerative machine lifting mechanism and control method thereof.
Background technology
Cold regenerative machine rotor lifting mechanism extensively applies piston oil-cylinder to be directly connected to vehicle frame and lift arm at present, passes through oil cylinder
Control lift arm to decline, make the rotor being connected with lift arm drop on ground, carry out milling and plane operation.
Said mechanism needs the piston oil-cylinder that stroke is bigger, the counteracting force of rotor cutting simultaneously to directly act on piston oil
On cylinder, affecting the life-span of piston oil-cylinder, cost is the highest；Piston oil cylinder rod motion simultaneously is irregular, and displacement transducer records
Working depth is the most accurate.After deviation occurs in working depth, there is no automatic regulation function, be unfavorable for the accurate control of working depth
System.
Summary of the invention
The problem existed for above-mentioned prior art, the present invention provides a kind of cold regenerative machine lifting mechanism and controlling party thereof
Method, effectively reduces the counteracting force of rotor cutting, extends the service life of oil cylinder；Increase working depth automatic control mode, behaviour
Make convenient, it is ensured that working depth accuracy.
To achieve these goals, the technical solution used in the present invention is: a kind of cold regenerative machine lifting mechanism, including car
Frame, is symmetricly set on the connecting rod of vehicle frame both sides, lift arm and rotor；Described connecting rod is connected with lift arm tail end, lift arm front end
Being hinged on vehicle frame, can rotate around hinge, lift arm tail end connects rotor, lift arm has rotation system drive rotor operating；
Vehicle frame both sides are also arranged with oil cylinder, slideway and slide block, and described slide block is arranged in slideway, and slide block one end is connected with oil cylinder, separately
One end is connected with connecting rod；Built-in displacement sensor is installed in oil cylinder, the analogue signal of working depth is anti-by working depth
Feedback module passes to controller, and controller is stretched by Electro-hydraulic Proportional Control liquefaction cylinder.
Further, described two side slides are rigidly connected by connecting shaft.
Further, it is provided with display in driver's cabin, is connected with controller.
The present invention also provides for the control method of a kind of above-mentioned cold regenerative machine lifting mechanism, and automatic control mode includes walking as follows
Rapid: the analogue signal of working depth is passed to controller by working depth feedback module by displacement transducer, controller is according to setting
Fixed working depth and the working depth detected carry out PID adjustment, and output pwm signal, turn through proportional amplifier module
Turn to the current controling signal of standard and pass to the electro-hydraulic proportional valve controlling oil cylinder, controlling the flexible of oil cylinder, it is achieved deep to work
Being automatically adjusted of degree.
The method is further, also includes that MANUAL CONTROL mode step is as follows: be provided with manual control knobs in driver's cabin,
Manually control handle triggers corresponding manual mode interruption, by corresponding control program, controls corresponding electric-hydraulic proportion
Valve, oil cylinder is flexible makes rotor slowly decline cutting road surface, when rotor reaches near working depth, carries out walking handle, cold renewal
Machine starts walking and works.
The method is further, when meeting following condition: controller detects that engine speed is more than preset value, and car load has
Walk signal, rotor torque is more than preset value, and working depth opens the degree of depth and less than preset value or less than maximum more than minimum
Opening the degree of depth and more than preset value, controller controls Automatic Program and enables the pattern of being automatically adjusted.
The method is further, and MANUAL CONTROL mode has precedence over automatic control mode.
Owing to using technique scheme, the present invention uses sliding-block linkage to connect piston oil-cylinder and lift arm, permissible
Effectively reducing the rotor cutting counteracting force to oil cylinder, extend the service life of oil cylinder, the stroke of piston oil-cylinder is little simultaneously, cost
Low, volume is little, easy for installation；This mechanism can realize transmission of moving at a distance；The transform linear motion of piston oil-cylinder is simultaneously
The circular motion of rotor, measurement and the conversion precision of working depth are high.On the basis of traditional Non-follow control, increase working depth
It is automatically adjusted pattern.Such that after making manual mode regulation working depth error occur, after work, automatic mode also can eliminate
Error, the most more convenient to operate, more ensure working depth accuracy.Automatic control mode is realized work by closed loop PID control
Being automatically adjusted of the degree of depth, beneficially working depth control accuracy, it is ensured that the additives such as watering, emulsified asphalt and foamed asphalt
Proportioning.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram；
Fig. 2 is control system figure of the present invention；
Fig. 3 is MANUAL CONTROL mode flow chart of the present invention；
Fig. 4 is automatic control mode flow chart of the present invention；
In figure: 1, vehicle frame, 2, oil cylinder, 3, displacement transducer, 4, slide block, 5, slideway, 6, connecting rod, 7, rotor 8, lift arm, 9, turn
Dynamic system, 10, electromagnetic proportional valve, 11, controller, 12, display, 13, manual control knobs.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As it is shown in figure 1, one cold regenerative machine lifting mechanism of the present invention, including vehicle frame 1, it is symmetricly set on vehicle frame 1 both sides
Connecting rod 6, lift arm 8, rotor 7, oil cylinder 2, slideway 5 and slide block 4；Connecting rod 6 is connected with lift arm 8 tail end, and lift arm 8 front end is hinged
On vehicle frame 1, can rotate around hinge, lift arm 8 tail end connects rotor 7, lift arm 8 has rotation system 9 drive rotor 7 to transport
Turn；Slide block 4 is arranged in slideway 5, and slide block 4 one end is connected with oil cylinder 2, and the other end is connected with connecting rod 6.Install built-in in oil cylinder 2
Formula displacement transducer 3, passes to controller 11 by the analogue signal of working depth by working depth feedback module, and controller 11 leads to
Cross electro-hydraulic proportional valve 10 to control oil cylinder 2 and stretch.
On the basis of said structure, the present invention two side slide 4 is rigidly connected by connecting shaft, ensures left and right lift arm fortune
Dynamic synchronicity.It is provided with display 12 in driver's cabin, is connected with controller 11, control can be monitored constantly by display 12
Various parameters and state.
The control method of a kind of above-mentioned cold regenerative machine lifting mechanism, includes MANUAL CONTROL mode and automatic control mode,
In control method of the present invention, MANUAL CONTROL mode has precedence over automatic control mode.Non-follow control is real by manual mode interrupt routine
Existing, automatically control and controlled program realization by timer interruption, manual mode interrupts having precedence over timer interruption, it is ensured that the peace of operation
Quan Xing.
Wherein automatic control mode comprises the steps: as in figure 2 it is shown, first preset rotor 7 working depth, enters timing
Device interrupts, and the analogue signal of working depth is passed to controller 11(MCU by working depth feedback module by displacement transducer 3),
Controller 11 carries out PID adjustment, and output pwm signal according to the working depth set and the working depth detected, through than
Example amplifier module is converted into the current controling signal of standard and passes to the electro-hydraulic proportional valve 10 controlling oil cylinder, controls oil cylinder 2
Flexible, it is achieved working depth is automatically adjusted.Automatic control mode is realized the automatic tune of working depth by closed loop PID control
Joint, beneficially working depth control accuracy, it is ensured that the proportioning of the additives such as watering, emulsified asphalt and foamed asphalt.
As it is shown on figure 3, MANUAL CONTROL mode step is as follows: be provided with manual control knobs 13 in driver's cabin, at electromotor
Under in running order, manually control handle 13 triggers the manual mode interruption of correspondence, by corresponding control program, control
Making corresponding electro-hydraulic proportional valve 10, oil cylinder 2 is flexible makes rotor 7 slowly decline cutting road surface, reaches near working depth at rotor 7
Time, to carry out walking handle, cold regenerative machine starts walking and works.
As shown in Figure 4, when meeting 4 conditions simultaneously, controller 11 controls program and just can automatically enable and be automatically adjusted mould
Formula.Condition is as follows: controller 11 detects that engine speed is more than preset value, and car load has walk signal, and rotor 7 moment of torsion is more than pre-
If value, working depth is opened the degree of depth more than minimum and is less than preset value or opens the degree of depth and more than preset value less than maximum.This
Four conditions enable automatic control mode after meeting simultaneously, reduce automatic mode and enable scope, can be effectively improved controller work
Make efficiency.
Certainly, above-described embodiment is only the preferred version of the present invention, is specifically not limited thereto, on this basis can basis
It is actually needed to make having and adjusts targetedly, thus obtain different embodiments.Owing to mode in the cards is more, this
In illustrate the most one by one.
Claims (7)
1. a cold regenerative machine lifting mechanism, including vehicle frame (1), is symmetricly set on the connecting rod (6) of vehicle frame (1) both sides, lift arm
And rotor (7) (8)；Described connecting rod (6) is connected with lift arm (8) tail end, and lift arm (8) front end is hinged on vehicle frame (1), can be around
Hinge rotates, and lift arm (8) tail end connects rotor (7), lift arm (8) has rotation system (9) drive rotor (7) operating；Its
Being characterised by, vehicle frame (1) both sides are also arranged with oil cylinder (2), slideway (5) and slide block (4), and described slide block (4) is arranged on slideway
(5), in, slide block (4) one end is connected with oil cylinder (2), and the other end is connected with connecting rod (6)；Built-in position is installed in described oil cylinder (2)
Displacement sensor (3), passes to controller (11), controller (11) by the analogue signal of working depth by working depth feedback module
Control oil cylinder (2) by electro-hydraulic proportional valve (10) to stretch.
A kind of cold regenerative machine lifting mechanism, it is characterised in that described two side slides (4) are by even
Spindle is rigidly connected.
A kind of cold regenerative machine lifting mechanism, it is characterised in that be provided with display in driver's cabin
(12), it is connected with controller (11).
4. the control method of the cold regenerative machine lifting mechanism as described in any one of claims 1 to 3, it is characterised in that from
Dynamic control model comprises the steps: that the analogue signal of working depth is passed through working depth feedback module by displacement transducer (3)
Passing to controller (11), controller (11) carries out PID adjustment according to the working depth set with the working depth detected, and defeated
Go out pwm signal, control the electric-hydraulic proportion of oil cylinder through current controling signal that proportional amplifier module converter is standard passing to
Valve (10), controls the flexible of oil cylinder (2), it is achieved be automatically adjusted working depth.
The control method of a kind of cold regenerative machine lifting mechanism, it is characterised in that also include manually controlling
Mode step processed is as follows: being provided with manual control knobs (13) in driver's cabin, manually control handle (13) triggers correspondence
Manual mode interrupts, and by corresponding control program, controls corresponding electro-hydraulic proportional valve (10), and oil cylinder (2) is flexible makes rotor (7)
Slowly declining cutting road surface, when rotor (7) reaches near working depth, carry out walking handle, cold regenerative machine starts walking work
Make.
The control method of a kind of cold regenerative machine lifting mechanism, it is characterised in that when meeting following bar
Part: controller (11) detects that engine speed is more than preset value, car load has walk signal, and rotor (7) moment of torsion is more than preset value,
Working depth is opened the degree of depth more than minimum and is less than preset value or opens the degree of depth and more than preset value, controller less than maximum
(11) control Automatic Program and enable the pattern of being automatically adjusted.
The control method of a kind of cold regenerative machine lifting mechanism, it is characterised in that MANUAL CONTROL mode
Have precedence over automatic control mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610610301.5A CN106087682B (en) | 2016-07-29 | 2016-07-29 | A kind of cold regenerative machine lifting mechanism and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610610301.5A CN106087682B (en) | 2016-07-29 | 2016-07-29 | A kind of cold regenerative machine lifting mechanism and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106087682A true CN106087682A (en) | 2016-11-09 |
| CN106087682B CN106087682B (en) | 2018-01-23 |
Family
ID=57480013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610610301.5A Active CN106087682B (en) | 2016-07-29 | 2016-07-29 | A kind of cold regenerative machine lifting mechanism and its control method |
Country Status (1)
| Country | Link |
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Citations (8)
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|---|---|---|---|---|
| EP1522634A2 (en) * | 2003-10-10 | 2005-04-13 | WIRTGEN GmbH | Rear loading road milling machine with height adjustable sealing device |
| CN101466899A (en) * | 2006-12-22 | 2009-06-24 | 维特根有限公司 | Road milling machine, and method for positioning the machine frame parallel to the ground |
| AU2011200402A1 (en) * | 2010-02-08 | 2011-08-25 | Wirtgen Gmbh | Adaptive drive control for milling machine |
| CN103437268A (en) * | 2013-08-29 | 2013-12-11 | 徐州徐工筑路机械有限公司 | Rotor mechanism of pavement cold recycler |
| CN103437269A (en) * | 2013-08-29 | 2013-12-11 | 徐州徐工筑路机械有限公司 | Rotor moving mechanism of cold recycler |
| CN203701186U (en) * | 2013-12-02 | 2014-07-09 | 徐工集团工程机械股份有限公司道路机械分公司 | Automatic reset control device for walking leg of walking excavator |
| CN104483985A (en) * | 2014-12-09 | 2015-04-01 | 镇江市高等专科学校 | Initial milling control system of road surface milling machine |
| CN205907580U (en) * | 2016-07-29 | 2017-01-25 | 徐州徐工筑路机械有限公司 | Cold recycling machine lifting mechanism |
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2016
- 2016-07-29 CN CN201610610301.5A patent/CN106087682B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1522634A2 (en) * | 2003-10-10 | 2005-04-13 | WIRTGEN GmbH | Rear loading road milling machine with height adjustable sealing device |
| EP1522634A3 (en) * | 2003-10-10 | 2005-11-23 | WIRTGEN GmbH | Rear loading road milling machine with height adjustable sealing device |
| CN101466899A (en) * | 2006-12-22 | 2009-06-24 | 维特根有限公司 | Road milling machine, and method for positioning the machine frame parallel to the ground |
| AU2011200402A1 (en) * | 2010-02-08 | 2011-08-25 | Wirtgen Gmbh | Adaptive drive control for milling machine |
| CN103437268A (en) * | 2013-08-29 | 2013-12-11 | 徐州徐工筑路机械有限公司 | Rotor mechanism of pavement cold recycler |
| CN103437269A (en) * | 2013-08-29 | 2013-12-11 | 徐州徐工筑路机械有限公司 | Rotor moving mechanism of cold recycler |
| CN203701186U (en) * | 2013-12-02 | 2014-07-09 | 徐工集团工程机械股份有限公司道路机械分公司 | Automatic reset control device for walking leg of walking excavator |
| CN104483985A (en) * | 2014-12-09 | 2015-04-01 | 镇江市高等专科学校 | Initial milling control system of road surface milling machine |
| CN205907580U (en) * | 2016-07-29 | 2017-01-25 | 徐州徐工筑路机械有限公司 | Cold recycling machine lifting mechanism |
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| Publication number | Publication date |
|---|---|
| CN106087682B (en) | 2018-01-23 |
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| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A lifting mechanism of cold regenerator and its control method Effective date of registration: 20210707 Granted publication date: 20180123 Pledgee: Xugong Group Finance Co.,Ltd. Pledgor: XUZHOU XUGONG ROAD-CONSTRUCTION MACHINERY Co.,Ltd. Registration number: Y2021320000109 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220311 Granted publication date: 20180123 Pledgee: Xugong Group Finance Co.,Ltd. Pledgor: XUZHOU XUGONG ROAD-CONSTRUCTION MACHINERY Co.,Ltd. Registration number: Y2021320000109 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |