CN106827987B - Towing method, towing equipment and slope paving system for slope paver - Google Patents
Towing method, towing equipment and slope paving system for slope paver Download PDFInfo
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- CN106827987B CN106827987B CN201710029275.1A CN201710029275A CN106827987B CN 106827987 B CN106827987 B CN 106827987B CN 201710029275 A CN201710029275 A CN 201710029275A CN 106827987 B CN106827987 B CN 106827987B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 58
- 238000004891 communication Methods 0.000 claims description 18
- 239000010720 hydraulic oil Substances 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 claims description 5
- 239000003921 oil Substances 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 239000011384 asphalt concrete Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000010409 ironing Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/42—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable
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- Road Paving Machines (AREA)
Abstract
The invention relates to a dragging method, dragging equipment and a slope paving system for a slope paver. In the dragging method, the traction force of the dragging equipment on the slope paver is adjusted according to the pressure of the walking motors on the two sides of the slope paver, so that the pressure difference of the walking motors on the two sides of the slope paver is smaller than or equal to a preset value. The towing device comprises a towing main body, a towing device and a signal processing device. The traction device is connected between the traction main body and the slope paver, the signal processing device controls the traction device to adjust the traction force of the traction device on the slope paver according to the pressure of the walking motors on two sides so that the pressure difference of the walking motors on two sides of the slope paver is smaller than or equal to a preset value, and the signal processing device is fixed on the traction main body. The above-described paving system includes the above-described towing apparatus. The traction method, the traction equipment and the slope paving system can adjust the traction force of the slope paver in real time with high precision and small error so as to ensure the stable operation of the slope paver.
Description
Technical Field
The invention relates to a dragging method, dragging equipment and a slope paving system for a slope paver.
Background
Referring to fig. 1, for paving construction of a slope asphalt pavement such as a high-speed test loop of an automobile test site, the construction apparatus thereof includes: a slope paver 1, a towing device 2, a road roller 3 and a transport vehicle 4. The dragging equipment 2 is used for providing traction force for the slope paver 1 and the road roller 3, ensuring that the slope paver 1 and the road roller 3 normally and stably run on a slope and adjusting a walking track. An important key point in whether asphalt concrete can be spread evenly and continuously on a slope is the towing apparatus 2.
There are two types of towing devices in this field in the world today. The first paver does not require a towing device, but its compacting device requires a towing device. The dragging principle is that the compaction equipment sends out instructions to a signal processing device positioned in the dragging equipment, and the elongation of the winch is adjusted through signal processing, so that the position of the compaction equipment is controlled. The second paver is operated by pulling the paver by a set of pulling equipment, the pulling principle is that a signal transmitting device of the paver transmits laser beams to a light beam receiving device on a respective fixed carrier, and the heights of connection points of pulling wires are continuously changed through signal processing of the receiving devices on the anchor vehicle, so that the paver is kept stable.
The towing equipment of the first paver or the second paver has to be specially customized from foreign importation, and has high maintenance cost. Furthermore, the weight of the slope paver is very high, which requires a towing device to provide sufficient traction. The dragging main body of the compacting device matched with the first paver is a rubber-tire road roller, so that the walking speed is high, and the device is not suitable for dragging a slope paver to walk; the dragging main body of the second paver is modified by an excavator or rotary drilling equipment, a front walking system and a rear walking system are arranged, the walking direction is not easy to control, the slope paver is easy to cause that the track cannot be fixed, and the slope paver is not easy to drag to walk. More importantly, the traction force adjustment of the two traction devices of the first paver and the second paver has hysteresis and inaccuracy, so that the slope paver often moves away from a preset route due to the fact that the slope paver cannot be corrected in time.
Disclosure of Invention
First, the technical problem to be solved
In order to solve the problems in the prior art, the invention provides a dragging method, dragging equipment and a slope paving system for a slope paver, which can adjust the traction force of the slope paver with high precision and small error in real time so as to ensure the stable operation of the slope paver.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
the invention provides a dragging method for a slope paver, which is used for adjusting the traction force of dragging equipment on the slope paver according to the pressure of two side traveling motors of the slope paver so as to ensure that the pressure difference of the two side traveling motors of the slope paver is smaller than or equal to a preset value.
According to the invention, the method specifically comprises the following steps: s1, receiving pressure data of walking motors at two sides of a slope paver by a signal processing device of dragging equipment; s2, the signal processing device calculates the pressure difference of the two-side walking motors according to the pressure data of the two-side walking motors, and judges whether the pressure difference of the two-side walking motors is smaller than or equal to a preset value; s3, if not, the signal processing device controls the traction device to adjust the traction force of the traction device on the slope paver until the pressure difference of the traveling motors on the two sides of the slope paver is smaller than or equal to a preset value, then the step S1 is returned, and if yes, the step S1 is directly returned; the adjusting process in the step S3 is as follows: traction is reduced when the upper travel motor pressure is greater than the lower travel motor pressure, and traction is increased when the upper travel motor pressure is less than the lower travel motor pressure.
According to the invention, in step S1, a signal processing device of a dragging device receives two-side walking motor pressure data sent by two-side walking motor pressure sensors of a slope paver and a processor of the slope paver; the processor is in communication connection with the travel motor pressure sensor to receive travel motor pressure data.
According to the invention, in step S3, the traction device comprises a hydraulic cylinder and a traction piece, one end of the traction piece is connected with a piston rod of the hydraulic cylinder, the other end of the traction piece is connected with the slope paver, and the signal processing device adjusts the traction force of the traction device on the slope paver by controlling the piston rod of the hydraulic cylinder to stretch out and draw back, so that the pressure difference of the walking motors at two sides of the slope paver is smaller than or equal to a preset value; when the pressure of the upper side travelling motor is larger than that of the lower side travelling motor, the signal processing equipment controls the pressure of the rod cavity of the hydraulic oil cylinder to be relatively reduced, and when the pressure of the upper side travelling motor is smaller than that of the lower side travelling motor, the signal processing equipment controls the pressure of the rod cavity of the hydraulic oil cylinder to be relatively increased.
Another aspect of the present invention provides a towing apparatus for a slope paver, comprising a towing body, characterized by further comprising: the traction device is connected between the traction main body and the slope paver; the signal processing device can receive the pressure data of the two-side traveling motors of the slope paver and control the traction device to adjust the traction force of the traction device on the slope paver according to the pressure of the two-side traveling motors so that the pressure difference of the two-side traveling motors of the slope paver is smaller than or equal to a preset value, and the signal processing device is fixed on the dragging main body.
According to the invention, the traction device comprises a hydraulic cylinder and a traction member, wherein the hydraulic cylinder is fixed on the traction main body, one end of the traction member is connected with a piston rod of the hydraulic cylinder, and the other end of the traction member is used for being connected with the slope paver.
According to the present invention, there is also provided: at least two traction posts mounted on the towing body in spaced relation; the guide wheels are fixed on the dragging main body; the adjusting valve group is used for adjusting the load pressure of the hydraulic cylinder; the device comprises at least two hydraulic cylinders, at least two traction pieces and at least two regulating valve groups, wherein the at least two hydraulic cylinders and the at least two regulating valve groups are respectively arranged on the at least two traction upright posts in a one-to-one correspondence manner, the at least two traction pieces are respectively connected with piston rods of the at least two hydraulic cylinders in a one-to-one correspondence manner, the at least two guide wheels are respectively arranged in a one-to-one correspondence manner with the at least two traction pieces, the traction pieces are steel wire ropes, and the steel wire ropes bypass the guide wheels corresponding to the steel wire ropes for reversing; the hydraulic oil cylinder is vertically arranged, a piston rod of the hydraulic oil cylinder moves up and down, and an included angle between a part of the traction piece located between the hydraulic oil cylinder and the guide wheel and a part located between the guide wheel and the slope paver is within a range of 90-140 degrees.
According to the invention, the towing body is a paver.
In yet another aspect, the present invention provides a paving system comprising any of the towing apparatus described above and a paving machine; the two sides of the slope paver are correspondingly provided with walking motor pressure sensors which are in communication connection with a signal processing device of the dragging equipment so as to transmit the walking motor pressure data to the signal processing device, and the dragging main body is connected with the slope paver through a traction device.
According to the invention, the slope paver is provided with a processor, and the processor is in communication connection with the walking motor pressure sensor so as to receive the walking motor pressure data; the processor is in communication with the signal processing device for transmitting the travel motor pressure data to the signal processing device.
(III) beneficial effects
The beneficial effects of the invention are as follows:
according to the dragging method for the slope paver, the traction force of the slope paver is monitored and adjusted in real time through the pressure difference of the traveling motors on the two sides of the slope paver, so that stable operation of the slope paver is guaranteed, and the adjustment accuracy is high and the error is small.
According to the dragging equipment for the slope paver, the signal processing device is used for receiving the pressure data of the traveling motors on the two sides of the slope paver and controlling the traction device to adjust the traction force of the traction device on the slope paver in real time according to the pressure data of the traveling motors on the two sides, so that the stable operation of the slope paver is ensured, and the adjustment precision is high and the error is small.
According to the slope paving system, the walking motor pressure sensors are arranged on the two sides of the slope paver, so that the pressure data change condition of the walking motor can be detected in real time, and the traction equipment can adjust the traction force of the slope paver according to the pressure data change condition of the walking motor in real time, so that the stable operation of the slope paver is ensured, the adjustment precision is high, and the error is small.
Drawings
FIG. 1 is a schematic diagram of a prior art paving construction of a slope;
FIG. 2 is a front view of a towing apparatus according to a first embodiment of the present invention provided in the detailed description, wherein a hill-drop paver towed using the towing apparatus is also shown;
FIG. 3 is a side view of the towing apparatus of FIG. 2;
fig. 4 is a flowchart of a dragging method according to a third embodiment of the present invention provided in the specific embodiment.
[ reference numerals description ]
In fig. 1:
1: a slope paver; 2: a drag device; 3: road roller; 4: and (5) a transport vehicle.
Fig. 2 to 4:
5: dragging the main body; 6: a traction device; 7: a slope paver; 8: a hydraulic cylinder; 9: a traction member; 10: a guide wheel; 11: a regulating valve group; 12: and (5) pulling the upright post.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
Example 1
Referring to fig. 2 and 3, in the present embodiment, a towing apparatus for a slope paver is provided. The towing device comprises a towing body 5, towing means 6 and signal processing means.
Specifically, the towing body 5 is provided on the horizontal plane of the slope top end, is connected to the slope paver 7 through the traction apparatus 6, and moves synchronously with the movement of the slope paver 7. The traction device 6 is connected between the traction body 5 and the slope paver 7, providing traction for the slope paver 7. Preferably, the traction device 6 selectively connects the traction body 5 and the slope paver 7, i.e. the traction device 6 is able to release the connection of the traction body 5 and the slope paver 7 when traction is not required.
Specifically, the signal processing device is fixed on the towing body 5, and is capable of receiving two-side traveling motor pressure data (known to those skilled in the art, the motor pressure data is expressed as a pressure value, and in this embodiment, the unit is MPa, preferably the motor pressure data is controlled to be in ten minutes), and controlling the traction device 6 according to the two-side traveling motor pressure data to adjust the traction force of the traction device on the slope paver 7 so that the two-side traveling motor pressure difference of the slope paver 7 is less than or equal to a preset value. In this embodiment, the preset value is 3MPa, however, the present invention is not limited thereto, and in other embodiments, the preset value may be 0 (i.e. the pressures of the walking motors on both sides must be equal), or may be other values greater than 0, and the specific selection is determined according to the actual working conditions. Preferably, the preset value is selected from the range of 0-3 MPa.
Specifically, the signal processing device firstly calculates the pressure difference of the two-side travelling motors, then judges whether the pressure difference of the two-side travelling motors is smaller than or equal to a preset value, and when the pressure difference of the two-side travelling motors is larger than the preset value, controls the traction device 6 to adjust the traction force of the traction device on the slope paver 7 until the calculated pressure difference of the two-side travelling motors is monitored in real time to be smaller than or equal to the preset value. Wherein, when the upper side walking motor pressure is greater than the lower side walking motor pressure, the traction force is reduced, and when the upper side walking motor pressure is less than the lower side walking motor pressure, the traction force is increased. The upper side walking motor refers to the walking motor which is relatively positioned above the two side walking motors when the slope paver is positioned on the slope, and the lower side walking motor refers to the walking motor which is relatively positioned below the two side walking motors when the slope paver is positioned on the slope. As a slope shown in fig. 2, the travel motor located on the right side is an upper travel motor, and the travel motor located on the left side is a lower travel motor.
Therefore, the traction force of the slope paver 7 is adjusted in real time to ensure that the pressure difference of the traveling motors at the two sides of the slope paver 7 is smaller than or equal to a preset value, so that the slope paver 7 runs stably. The towing device is used for indirectly observing the pressure difference of the crawler tracks on the two sides of the slope paver 7 through the pressure difference of the travelling motors on the two sides, and the pressure difference of the crawler tracks can obviously represent the stable state of the slope paver.
Further, the above-described slopes include a linear slope, a convex slope, a concave slope, and a concave-convex-linear slope. In fig. 2, a linear slope is taken as an example, but the present invention is not limited thereto. The above-described towing apparatus is applicable to a hill-paver 7 that operates on the above four types of hill.
Furthermore, the slope may be a high-speed loop, which is a circulating runway dedicated to continuous high-speed running test of automobiles in an automobile test field, and the geometric design of the high-speed loop is different from that of a general road, particularly a curve part thereof, and actually requires to form a pelvic-type space three-dimensional curved surface. The space of the pelvic cavity curved surface is changed from a straight line to a special relaxation curve to a round curve to a high-loop curve road surface inclined by 0-50 degrees, and the linear shape is complex.
In particular to the present embodiment, the towing body 5 is a paver. The paver has no back ironing device, has firm structure and large tonnage, can provide enough traction force to support the slope paver 7 to stably move, and is not easy to drag by the slope paver 7.
In particular to the present embodiment, the traction means 6 comprise a hydraulic cylinder 8 and a traction member 9, the hydraulic cylinder 8 being fixed to the towing body 5, preferably by means of an anchor. One end of the traction member 9 is connected to a piston rod of the hydraulic cylinder 8, and the other end of the traction member 9 is used for being connected with the slope paver 7, and in the embodiment, the traction member 9 is a steel wire rope. Preferably, the traction member 9 is detachably connected to the slope paver 7, and the traction member 9 is detachably connected to the hydraulic cylinder 8.
Further, the extension and retraction of the piston rod of the hydraulic cylinder 8 determines the adjustment of the traction force of the traction device 6 on the slope paver 7, wherein when the pressure of the upper side travelling motor is greater than that of the lower side travelling motor, the signal processing device controls the pressure of the rod cavity of the hydraulic cylinder to be relatively reduced, and when the pressure of the upper side travelling motor is less than that of the lower side travelling motor, the signal processing device controls the pressure of the rod cavity of the hydraulic cylinder to be relatively increased. The signal processing device comprises a calculation module and a control module, wherein the calculation module is used for calculating the pressure difference of the walking motors at two sides, judging whether the pressure difference is smaller than or equal to a preset value, judging which side of the walking motor has larger pressure when the pressure difference is larger than the preset value, and then sending an instruction to the control module; the hydraulic cylinder 8 is externally connected with a valve for controlling the oil inlet and outlet of the rod cavity and the rodless cavity, and the control module is connected with the valve in a communication way and sends an instruction to the valve so as to control the rod cavity or the rodless cavity to inlet oil according to the instruction. Wherein the means for relatively reducing the rod cavity pressure is selected to increase the rod cavity pressure or decrease the rod cavity pressure (e.g., to inject oil into the rod cavity); likewise, the manner in which the rod chamber pressure is caused to rise relatively may be selected to either decrease the rodless chamber pressure or to raise the rod chamber pressure (e.g., to inject oil into the rod chamber).
In addition, the hydraulic oil cylinder 8 adopts a large-tonnage hydraulic oil cylinder, at least can provide more than 20 tons of pulling force, and provides enough pulling force for the slope paver 7. The hydraulic cylinder 8 is vertically installed, and a piston rod of the hydraulic cylinder 8 moves up and down. The dragging main body 5 is also provided with a guide wheel 10, one end of the dragging member 9 is connected with a piston rod of the hydraulic oil cylinder 8, the other end bypasses the guide wheel 10 and then is connected with the inclined paver, and the guide wheel 10 has the function of changing the direction of the dragging force. The angle between the part of the traction element 9 located between the hydraulic ram 8 and the guide wheel 10 and the part located between the guide wheel 10 and the slope paver 7 lies in the range of 90 deg. -140 deg.. Such an angular setting is advantageous for smooth pulling of the slope paver 7 and is more labor-saving.
Further, in this embodiment, the guide wheel 10 is mounted on the mounting frame, the dragging main body 5 is provided with a sliding rail extending up and down, and the mounting frame is connected with the sliding rail in a manner that the mounting frame can move up and down, so that when the mounting frame moves up and down along the sliding rail, the guide wheel 10 also moves up and down along the dragging main body 5, that is, the guide wheel 10 is fixed on the dragging main body 5 in a manner that the guide wheel can move up and down. The design is favorable for adjusting the traction angle on one hand, and can prevent the traction piece from interfering with the steel rail to collide when the guide wheel 10 is too low when the steel rail is arranged on the horizontal plane at the top end of the slope on the other hand.
Further, in this embodiment, the traction device 6 further includes an adjusting valve group 11 for adjusting the load pressure of the hydraulic cylinder 8, so as to ensure that the load pressure in the cylinder does not exceed the allowable range, thereby ensuring the normal operation of the paving apparatus.
Further, in this embodiment, in order to make the installation of the traction device 6 more convenient, the traction column 12 may be installed on the traction body 5 first, and then the hydraulic cylinder 8 and the adjusting valve group 11 may be installed on the traction column 12.
Further, in the present embodiment, the traction device 6 and the traction columns 12 are provided with at least two (preferably two), that is, one hydraulic cylinder 8 is fixed to each traction column 12, each hydraulic cylinder 8 corresponds to one traction member 9, at least one guide wheel 10 (in the present embodiment, each traction member passes through a pair of guide wheels), and one regulating valve group 11, and the traction columns 12 are disposed at the same side of the traction body 5 at intervals. The spacing distance between the traction posts 12 is in the range of 1.5m-2.5m. In this way, the slope paver 7 pulled by the pulling device 6 can be prevented from steering due to uneven single stress, so that the slope paver 7 can run more stably.
In addition, the walking motors on two sides of the slope paver 7 are correspondingly provided with walking motor pressure sensors, pressure data of the walking motors are detected and sent, a processor in communication connection with the walking motor pressure sensors can be further arranged in the slope paver 7, and the processor receives the pressure data sent by the walking motor pressure sensors and sends the pressure data to a signal processing device in the dragging equipment. The signal processing device is connected with the walking motor pressure sensor and the processor in a communication way so as to receive the walking motor pressure data sent by the walking motor pressure sensor and the processor. Due to the influence of signal transmission, the signal receiving device of the dragging equipment can not receive the pressure data signal of the walking motor of the pressure sensor, so that the pressure data of the walking motor, which is sent to the signal processing device by the walking motor pressure sensor and the processor, can be ensured to be accurately obtained in real time by the signal receiving device of the dragging equipment.
The traveling motor pressure sensor of the slope paver 7 is provided with a signal transmitting end, and the signal transmitting end is used for transmitting traveling motor pressure data to a signal processing device of the towing equipment and a processor of the slope paver 7.
The signal processing device of the dragging equipment is provided with a signal receiving end and a signal transmitting end, wherein the signal receiving end is used for receiving pressure data of the walking motor, and the signal transmitting end is used for transmitting instructions to the hydraulic oil cylinder.
The processor of the slope paver 7 is provided with a signal receiving end and a signal transmitting end, the signal receiving end is used for receiving the pressure data of the walking motor, and the signal transmitting end is used for transmitting the pressure data of the walking motor to the signal processing device of the dragging equipment.
The hydraulic cylinder 8 has a signal receiving end for receiving a command.
Thus, the signal transmitting end of the walking motor pressure sensor is in communication connection (preferably wireless connection) with the signal receiving end of the signal processing device, the signal transmitting end of the walking motor pressure sensor is in communication connection (preferably wired connection) with the signal receiving end of the processor, the signal transmitting end of the processor is in communication connection (preferably wireless connection) with the signal receiving end of the signal processing device, and the signal transmitting end of the signal processing device is in communication connection (preferably wired connection) with the signal receiving end of the hydraulic cylinder 8.
Example two
In this embodiment a hill paving system is provided. With continued reference to fig. 2, the paving system includes a towing apparatus as in embodiment one and a paving machine 7.
The walking motor pressure sensors are correspondingly arranged on the walking motors on the two sides of the slope paver 7, the walking motor pressure sensors are in communication connection with the signal processing device, the dragging main body 5 is connected with the slope paver 7 through the traction device 6, in this embodiment, one end of the traction piece 9 is connected with a piston rod of the hydraulic oil cylinder 8, and the other end of the traction piece is connected with the slope paver 7. Therefore, the pressure data of the traveling motors at the two sides can be detected in real time, the traction force of the slope paver 7 is regulated by the signal processing device of the dragging equipment through calculation of the pressure data of the traveling motors at the two sides, and therefore stable operation of the slope paver 7 is guaranteed, the precision is high, and the error is small.
Further, a processor is arranged on the slope paver 7 and is in communication connection with the pressure sensors of the walking motors at the two sides so as to receive the pressure data of the walking motors at the two sides; the processor is in communication connection with the signal processing device to transmit the pressure data of the walking motors at two sides to the signal processing device. Due to the influence of signal transmission, the signal receiving device of the dragging device may not receive the two-side walking motor pressure data signals of the two-side walking motor pressure sensors, and therefore the two-side walking motor pressure sensors and the processor are used for sending the two-side walking motor pressure data to the signal processing device together, so that the signal receiving device of the dragging device can accurately acquire the pressure data signals of the two-side walking motor pressure sensors in real time.
Example III
In this embodiment, a dragging method for a slope paver is provided, that is, the traction force to the slope paver 7 is adjusted according to the pressures of the two side traveling motors of the slope paver 7 so that the pressure difference between the two side traveling motors of the slope paver 7 is smaller than or equal to a preset value, that is, the pressure difference between the two side traveling motors of the slope paver 7 can be smaller than or equal to the preset value only when the traction force is adjusted according to the pressures of the two side traveling motors. The method may be applied to a towing apparatus for a slope paver 7 provided in the first embodiment and a slope paving system provided in the second embodiment.
In conclusion, the pressure difference of the traveling motors at the two sides of the slope paver is monitored in real time, the traction force of the slope paver is adjusted, the stable operation of the slope paver is ensured, and the adjustment precision is high and the error is small.
Specifically, according to the both-side travel motor pressure of the slope paver 7, the traction force is reduced when the upper-side travel motor pressure is greater than the lower-side travel motor pressure, and the traction force is increased when the upper-side travel motor pressure is less than the lower-side travel motor pressure, i.e., the both-side travel motor pressure difference can be made smaller and smaller.
Further, referring to fig. 4, in this embodiment, the method specifically includes the following steps:
s1: the signal processing device of the dragging equipment receives the two-side traveling motor pressure data from the two-side traveling motor pressure sensors of the slope paver 7;
s2: the signal processing device calculates the pressure difference of the walking motors at the two sides of the slope paver 7 and judges whether the pressure difference of the walking motors at the two sides is smaller than or equal to a preset value;
s3: if not, the signal processing device controls the traction device 6 to adjust the traction force of the traction device on the paver until the pressure difference of the walking motors on the two sides of the paver is smaller than or equal to a preset value, then the step S1 is returned, and if yes, the step S1 is directly returned.
It can be understood that the adjustment process in step S3 is: the traction force is reduced when the upper travel motor pressure is greater than the lower travel motor pressure and increased when the upper travel motor pressure is less than the lower travel motor pressure.
Further, in step S1, the signal receiving device of the towing apparatus may not receive the running motor pressure data signal of the running motor pressure sensor due to the influence of signal transmission, so the signal processing device of the towing apparatus also receives the running motor pressure data of the running motor pressures at both sides sent by the processor of the slope paver 7, so as to ensure that the signal receiving device of the towing apparatus accurately obtains the running motor pressure data signal of the running motor pressure sensor in real time. Whereas the travel motor pressure data of the processor of the slope paver 7 is obtained from the travel motor pressure sensor.
Further, in step S2 and step S3, the signal processing device first calculates the pressure difference between the two sides of the walking motor, determines whether the pressure difference is less than or equal to a preset value, determines the pressures of the upper side walking motor and the lower side walking motor when the pressure difference is greater than the preset value, and controls the hydraulic cylinder to have a rod cavity with relatively reduced pressure when the pressure of the upper side walking motor is greater than the pressure of the lower side walking motor, and controls the hydraulic cylinder to have a rod cavity with relatively increased pressure when the pressure of the upper side walking motor is less than the pressure of the lower side walking motor.
Further, after returning from step S3 to step S1, step S1 is started to be executed when the travel distance increases.
When the slope paver 7 completes the paving task, the power supply is cut off, the cycle mode of the towing method for the slope paver 7 of the embodiment is ended, and all steps stop running.
In summary, the dragging method, the dragging equipment and the slope paving system for the slope paver can adjust the traction force of the slope paver in real time with high precision and small error so as to ensure the stable operation of the slope paver, and the used parts are produced in most countries, so that the cost is low.
The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.
Claims (9)
1. The dragging method for the slope paver is characterized in that the traction force of dragging equipment on the slope paver is adjusted according to the pressure of the walking motors on the two sides of the slope paver, so that the pressure difference of the walking motors on the two sides of the slope paver is smaller than or equal to a preset value; the method specifically comprises the following steps:
s1, receiving pressure data of walking motors at two sides of a slope paver by a signal processing device of dragging equipment;
s2, the signal processing device calculates the pressure difference of the two-side walking motors according to the pressure data of the two-side walking motors, and judges whether the pressure difference of the two-side walking motors is smaller than or equal to a preset value;
s3, if not, the signal processing device controls the traction device to adjust the traction force of the traction device on the slope paver until the pressure difference of the walking motors at the two sides of the slope paver is smaller than or equal to a preset value, then the step S1 is returned, and if yes, the step S1 is directly returned;
the adjusting process in the step S3 is as follows: the traction force is reduced when the upper travel motor pressure is greater than the lower travel motor pressure and increased when the upper travel motor pressure is less than the lower travel motor pressure.
2. The towing method for a slope paver according to claim 1, characterized in that,
in the step S1, a signal processing device of the dragging device receives pressure data of two-side traveling motors sent by pressure sensors of two-side traveling motors of the slope paver and a processor of the slope paver;
the processor is in communication connection with the travel motor pressure sensor to receive travel motor pressure data.
3. The towing method for a slope paver according to claim 1, characterized in that,
in the step S3, the traction device includes a hydraulic cylinder and a traction member, one end of the traction member is connected to a piston rod of the hydraulic cylinder, the other end of the traction member is connected to the slope paver, and the signal processing device adjusts the traction force of the traction device on the slope paver by controlling the piston rod of the hydraulic cylinder to stretch out and draw back, so that the pressure difference between two sides of the slope paver and the traveling motor is smaller than or equal to a preset value;
when the pressure of the upper side travelling motor is larger than that of the lower side travelling motor, the signal processing equipment controls the pressure of the rod cavity of the hydraulic oil cylinder to be relatively reduced, and when the pressure of the upper side travelling motor is smaller than that of the lower side travelling motor, the signal processing equipment controls the pressure of the rod cavity of the hydraulic oil cylinder to be relatively increased.
4. A towing apparatus for a slope paver applying the towing method according to one of claims 1-3, comprising a towing body (5), characterized in that it further comprises:
a traction device (6) connected between the towing body (5) and the slope paver (7);
the signal processing device can receive the pressure data of the two-side traveling motors of the slope paver (7) and control the traction device (6) to adjust the traction force of the traction device on the slope paver (7) according to the pressure data of the two-side traveling motors so that the pressure difference of the two-side traveling motors of the slope paver (7) is smaller than or equal to a preset value, and the signal processing device is fixed on the traction main body (5).
5. The towing apparatus for a paving machine according to claim 4, wherein,
the traction device (6) comprises a hydraulic oil cylinder (8) and a traction piece (9), wherein the hydraulic oil cylinder (8) is fixed on the traction main body (5), one end of the traction piece (9) is connected with a piston rod of the hydraulic oil cylinder (8), and the other end of the traction piece (9) is connected with the slope paver (7).
6. The towing apparatus for a paving machine according to claim 5, wherein,
the towing apparatus further comprises at least two towing uprights (12), the at least two towing uprights (12) being mounted at intervals on the towing body (5);
the traction device (6) further comprises:
at least two guide wheels (10), the guide wheels (10) being fixed on the towing body (5); a regulating valve group (11) for regulating the load pressure of the hydraulic cylinder (8);
the device comprises at least two hydraulic cylinders (8), at least two traction pieces (9) and at least two regulating valve groups (11), wherein the at least two hydraulic cylinders (8) and the at least two regulating valve groups (11) are uniformly and correspondingly arranged on the at least two traction columns (12), the at least two traction pieces (9) are connected to piston rods of the at least two hydraulic cylinders (8) in one-to-one correspondence, the at least two guide wheels (10) are arranged in one-to-one correspondence with the at least two traction pieces (9), the traction pieces (9) are steel wire ropes, and the steel wire ropes bypass the guide wheels (10) corresponding to the steel wire ropes for reversing;
the hydraulic oil cylinder (8) is vertically arranged, a piston rod of the hydraulic oil cylinder (8) moves up and down, and an included angle between a part of the traction piece (9) located between the hydraulic oil cylinder (8) and the guide wheel (10) and a part located between the guide wheel (10) and the slope paver (7) is within a range of 90-140 degrees.
7. The towing apparatus for a hill spreader according to any one of the claims 4-6, characterized in that,
the dragging main body (5) is a paver.
8. A slope paving system, characterized by comprising a towing device according to any of claims 4-7 and a slope paver (7);
the two sides of the slope paver (7) are correspondingly provided with walking motor pressure sensors, the walking motor pressure sensors are in communication connection with a signal processing device of the dragging equipment so as to transmit the walking motor pressure data to the signal processing device, and the dragging main body (5) is connected with the slope paver (7) through the dragging device (6).
9. The paving system of claim 8, wherein,
the slope paver (7) is provided with a processor which is in communication connection with the walking motor pressure sensor so as to receive the walking motor pressure data;
the processor is in communication connection with the signal processing device to transmit the travel motor pressure data to the signal processing device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710029275.1A CN106827987B (en) | 2017-01-16 | 2017-01-16 | Towing method, towing equipment and slope paving system for slope paver |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710029275.1A CN106827987B (en) | 2017-01-16 | 2017-01-16 | Towing method, towing equipment and slope paving system for slope paver |
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| CN106827987A CN106827987A (en) | 2017-06-13 |
| CN106827987B true CN106827987B (en) | 2023-11-24 |
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|---|---|---|---|---|
| US4699543A (en) * | 1986-02-10 | 1987-10-13 | Kajima Corporation | Slope paving machine |
| US4861189A (en) * | 1987-02-26 | 1989-08-29 | Kajima Corporation | System for paving inclined and/or curved surfaces |
| JPH11148107A (en) * | 1997-11-17 | 1999-06-02 | Taisei Rotec Corp | Cutting device of slope pavement |
| CN102660919A (en) * | 2012-05-20 | 2012-09-12 | 陕西中大机械集团有限责任公司 | Slope spreading device for spreading machine |
| CN202644359U (en) * | 2012-05-20 | 2013-01-02 | 陕西中大机械集团有限责任公司 | Slope paving device for paver |
| CN206579421U (en) * | 2017-01-16 | 2017-10-24 | 特路（北京）科技有限公司 | Trailing equipment and slope roadway paving system for slope paver |
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2017
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| US4699543A (en) * | 1986-02-10 | 1987-10-13 | Kajima Corporation | Slope paving machine |
| US4861189A (en) * | 1987-02-26 | 1989-08-29 | Kajima Corporation | System for paving inclined and/or curved surfaces |
| JPH11148107A (en) * | 1997-11-17 | 1999-06-02 | Taisei Rotec Corp | Cutting device of slope pavement |
| CN102660919A (en) * | 2012-05-20 | 2012-09-12 | 陕西中大机械集团有限责任公司 | Slope spreading device for spreading machine |
| CN202644359U (en) * | 2012-05-20 | 2013-01-02 | 陕西中大机械集团有限责任公司 | Slope paving device for paver |
| CN206579421U (en) * | 2017-01-16 | 2017-10-24 | 特路（北京）科技有限公司 | Trailing equipment and slope roadway paving system for slope paver |
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| CN106827987A (en) | 2017-06-13 |
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