CN106087682B - A kind of cold regenerative machine lifting mechanism and its control method - Google Patents
A kind of cold regenerative machine lifting mechanism and its control method Download PDFInfo
- Publication number
- CN106087682B CN106087682B CN201610610301.5A CN201610610301A CN106087682B CN 106087682 B CN106087682 B CN 106087682B CN 201610610301 A CN201610610301 A CN 201610610301A CN 106087682 B CN106087682 B CN 106087682B
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- working depth
- control
- lift arm
- rotor
- controller
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- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention discloses a kind of cold regenerative machine lifting mechanism and its control method, mechanism includes vehicle frame, is symmetricly set on the connecting rod, lift arm and rotor of vehicle frame both sides；Connecting rod is connected with lift arm tail end, and lift arm front end is hinged on vehicle frame, can be rotated around hinge, lift arm tail end connection rotor, there is rotation system driving rotor operating on lift arm；Vehicle frame both sides are also arranged with oil cylinder, slideway and sliding block, and sliding block is arranged in slideway, and sliding block one end is connected with oil cylinder, and the other end is connected with connecting rod；Installation built-in displacement sensor, is transmitted to controller, controller is stretched by Electro-hydraulic Proportional Control liquefaction cylinder by the analog signal of working depth by working depth feedback module in oil cylinder.The present invention can effectively reduce the reaction force of rotor cutting, extend the service life of oil cylinder；For control method on the basis of traditional manual control, increase working depth automatically adjusts pattern.So operation is more convenient, more ensures 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 its control method.
Background technology
Cold regenerative machine rotor lifting mechanism is directly connected to vehicle frame and lift arm extensively using piston oil-cylinder at present, passes through oil cylinder
Lift arm is controlled to decline, the rotor for making to be connected with lift arm is dropped on ground, carries out milling and plane operation.
Said mechanism needs the larger piston oil-cylinder of stroke, while the reaction force of rotor cutting directly acts on piston oil
On cylinder, the life-span of piston oil-cylinder is influenceed, cost is also higher；Piston oil cylinder rod motion simultaneously is irregular, what displacement transducer measured
Working depth is not accurate enough.After deviation occurs in working depth, without automatic regulation function, it is unfavorable for the accurate control of working depth
System.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of cold regenerative machine lifting mechanism and its controlling party
Method, the reaction force of rotor cutting is effectively reduced, extend the service life of oil cylinder；Increase working depth automatic control mode, behaviour
It is more convenient to make, and ensures working depth accuracy.
To achieve these goals, the technical solution adopted by the present invention is：A kind of cold regenerative machine lifting mechanism, including car
Frame, it is symmetricly set on the connecting rod, lift arm and rotor of vehicle frame both sides；The connecting rod is connected with lift arm tail end, lift arm front end
It is hinged on vehicle frame, can be rotated around hinge, lift arm tail end connects rotor, there is rotation system driving rotor operating on lift arm；
Vehicle frame both sides are also arranged with oil cylinder, slideway and sliding block, and the sliding block is arranged in slideway, and sliding block one end is connected with oil cylinder, separately
One end is connected with connecting rod；Installation built-in displacement sensor, anti-by working depth by the analog signal of working depth in oil cylinder
Feedback module is transmitted to controller, and controller is stretched by Electro-hydraulic Proportional Control liquefaction cylinder.
Further, two side slide is rigidly connected by connecting shaft.
Further, display is provided with driver's cabin, is connected with controller.
The present invention also provides a kind of control method of above-mentioned cold regenerative machine lifting mechanism, and automatic control mode includes following step
Suddenly：The analog signal of working depth is transmitted to controller by displacement transducer by working depth feedback module, and controller is according to setting
Fixed working depth and the working depth detected carry out PID adjustment, and output pwm signal, turn by proportional amplifier module
Turn to the current controling signal of standard and be transmitted to the electro-hydraulic proportional valve of control cylinder, control cylinder is stretched, and is realized deep to work
Degree automatically adjusts.
This method is further, in addition to MANUAL CONTROL mode step is as follows：Manual control knobs are provided with driver's cabin,
Manually manual mode corresponding to control handle triggering interrupts, and by corresponding control program, controls corresponding electric-hydraulic proportion
Valve, oil cylinder is flexible to make rotor slowly decline cutting road surface, when rotor reaches near working depth, carries out walking handle, cold renewal
Machine starts to walk and worked.
This method is further, when meeting following condition：Controller detects that engine speed is more than preset value, and vehicle has
Walk signal, rotor torque are more than preset value, and working depth is more than minimum unlatching depth and less than preset value or less than maximum
Open depth and be more than preset value, controller control program enables the pattern of automatically adjusting automatically.
This method is further, and MANUAL CONTROL mode is prior to automatic control mode.
Due to using above-mentioned technical proposal, the present invention, can be with using sliding-block linkage connection piston oil-cylinder and lift arm
Reaction force of the rotor cutting to oil cylinder is effectively reduced, extends the service life of oil cylinder, while the stroke of piston oil-cylinder is small, cost
Low, small volume is easy for installation；The mechanism can realize that remote motion is transmitted；The transform linear motion of piston oil-cylinder is simultaneously
The circular motion of rotor, the measurement of working depth and conversion precision are high.On the basis of traditional manual control, increase working depth
Automatically adjust pattern.So, even if after error occurs in manual mode adjustment work depth, after work, automatic mode can also eliminate
Error, so operation are more convenient, more ensure working depth accuracy.Automatic control mode realizes work by closed loop PID control
Depth automatically adjusts, and is advantageous to working depth control accuracy, ensure that the additives such as watering, emulsified asphalt and foamed asphalt
Proportioning.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
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：1st, vehicle frame, 2, oil cylinder, 3, displacement transducer, 4, sliding block, 5, slideway, 6, connecting rod, 7, rotor 8, lift arm,
9th, rotation system, 10, electro-hydraulic proportional valve, 11, controller, 12, display, 13, manual control knobs.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in figure 1, a kind of cold regenerative machine lifting mechanism of the present invention, including vehicle frame 1, it is symmetricly set on the both sides of vehicle frame 1
Connecting rod 6, lift arm 8, rotor 7, oil cylinder 2, slideway 5 and sliding block 4；Connecting rod 6 is connected with the tail end of lift arm 8, and the front end of lift arm 8 is hinged
It on vehicle frame 1, can be rotated around hinge, the tail end of lift arm 8 connection rotor 7, there is rotation system 9 to drive rotor 7 to transport on lift arm 8
Turn；Sliding block 4 is arranged in slideway 5, and the one end of sliding block 4 is connected with oil cylinder 2, and the other end is connected with connecting rod 6.In oil cylinder 2 built in installation
Formula displacement transducer 3, the analog signal of working depth is transmitted to controller 11 by working depth feedback module, controller 11 is logical
It is flexible to cross the control cylinder 2 of electro-hydraulic proportional valve 10.
On the basis of said structure, two side slides 4 of the invention are rigidly connected by connecting shaft, to ensure left and right lift arm fortune
Dynamic synchronism.Display 12 is provided with driver's cabin, is connected with controller 11, control can constantly be monitored by display 12
Various parameters and state.
A kind of control method of above-mentioned cold regenerative machine lifting mechanism, includes MANUAL CONTROL mode and automatic control mode,
MANUAL CONTROL mode is prior to automatic control mode in control method of the present invention.Control is real by manual mode interrupt routine manually
It is existing, automatically control and realized by timer interruption control program, manual mode interrupts the peace for prior to timer interruption, ensureing operation
Quan Xing.
Wherein automatic control mode comprises the following steps：As shown in Fig. 2 the working depth of rotor 7 default first, into timing
Device is interrupted, and the analog signal of working depth is transmitted to controller 11 by displacement transducer 3 by working depth feedback module（MCU）,
Controller 11 carries out PID adjustment, and output pwm signal according to the working depth of setting and the working depth detected, by than
Example amplifier module is converted into the current controling signal of standard and is transmitted to the electro-hydraulic proportional valve 10 of control cylinder, control cylinder 2
It is flexible, realize and working depth is automatically adjusted.Automatic control mode is realized the automatic tune of working depth by closed loop PID control
Section, is advantageous to working depth control accuracy, ensure that the proportioning of the additives such as watering, emulsified asphalt and foamed asphalt.
As shown in figure 3, MANUAL CONTROL mode step is as follows：Manual control knobs 13 are provided with driver's cabin, in engine
Under in running order, manually control handle 13 triggers corresponding manual mode and interrupted, and passes through corresponding control program, control
Corresponding electro-hydraulic proportional valve 10 is made, oil cylinder 2 is flexible to make rotor 7 slowly decline cutting road surface, reaches in rotor 7 near working depth
When, carry out walking handle, cold regenerative machine starts to walk and worked.
As shown in figure 4, when meeting 4 conditions simultaneously, the control program of controller 11 can just enable automatically automatically adjusts mould
Formula.Condition is as follows：Controller 11 detects that engine speed is more than preset value, and vehicle has walk signal, and the moment of torsion of rotor 7 is more than pre-
If value, working depth is more than minimum unlatching depth and is less than preset value or opens depth less than maximum and be more than preset value.This
Four conditions enable automatic control mode meet simultaneously after, reduce automatic mode and enable scope, can effectively improve controller work
Make efficiency.
Certainly, above-described embodiment is only the preferred scheme of the present invention, is specifically not limited thereto, on this basis can basis
It is actually needed and makes with targetedly adjusting, so as to obtain different embodiments.Because mode in the cards is more, this
In just no longer illustrate one by one.
Claims (6)
1. a kind of cold regenerative machine lifting mechanism, including vehicle frame（1）, it is symmetricly set on vehicle frame（1）The connecting rod of both sides（6）, lift arm
（8）And rotor（7）；The connecting rod（6）With lift arm（8）Tail end connects, lift arm（8）Front end is hinged on vehicle frame（1）On, can be around
Hinge rotates, lift arm（8）Tail end connects rotor（7）, lift arm（8）On have rotation system（9）Drive rotor（7）Operating；Its
It is characterised by, vehicle frame（1）Both sides are also arranged with oil cylinder（2）, slideway（5）And sliding block（4）, the sliding block（4）Installed in slideway
（5）It is interior, sliding block（4）One end and oil cylinder（2）Connection, the other end and connecting rod（6）Connection；The oil cylinder（2）The interior built-in position of installation
Displacement sensor（3）, the analog signal of working depth is transmitted to controller by working depth feedback module（11）, controller（11）
Pass through electro-hydraulic proportional valve（10）Control cylinder（2）It is flexible；Two side slide（4）It is rigidly connected by connecting shaft.
2. a kind of cold regenerative machine lifting mechanism according to claim 1, it is characterised in that be provided with display in driver's cabin
（12）, it is connected with controller (11).
A kind of 3. control method of cold regenerative machine lifting mechanism as described in any one of claim 1 to 2, it is characterised in that from
Dynamic control model comprises the following steps：Displacement transducer（3）The analog signal of working depth is passed through into working depth feedback module
It is transmitted to controller（11）, controller（11）PID adjustment is carried out according to the working depth of setting and the working depth detected, and it is defeated
Go out pwm signal, for the current controling signal of standard and the electric-hydraulic proportion of control cylinder is transmitted to by proportional amplifier module converter
Valve（10）, control cylinder（2）It is flexible, realize and working depth automatically adjusted.
4. a kind of control method of cold regenerative machine lifting mechanism according to claim 3, it is characterised in that also include control manually
Mode step processed is as follows：Manual control knobs are provided with driver's cabin（13）, manually control handle（13）Corresponding to triggering
Manual mode interrupts, and by corresponding control program, controls corresponding electro-hydraulic proportional valve（10）, oil cylinder（2）It is flexible to make rotor（7）
Slowly decline cutting road surface, in rotor（7）When reaching near working depth, carry out walking handle, cold regenerative machine starts walking and work
Make.
5. a kind of control method of cold regenerative machine lifting mechanism according to claim 3, it is characterised in that when meeting following bar
Part：Controller（11）Detect that engine speed is more than preset value, vehicle has walk signal, rotor（7）Moment of torsion is more than preset value,
Working depth is more than minimum unlatching depth and is less than preset value or opens depth less than maximum and be more than preset value, controller
（11）Control program enables the pattern of automatically adjusting automatically.
A kind of 6. control method of cold regenerative machine lifting mechanism according to claim 5, it is characterised in that MANUAL CONTROL mode
Prior to 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 CN106087682A (en) | 2016-11-09 |
| CN106087682B true CN106087682B (en) | 2018-01-23 |
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| 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 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2016
- 2016-07-29 CN CN201610610301.5A patent/CN106087682B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN106087682A (en) | 2016-11-09 |
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| 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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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 |