CN111424638A - Automatic braking method and system for dynamic compaction machine - Google Patents
Automatic braking method and system for dynamic compaction machine Download PDFInfo
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- CN111424638A CN111424638A CN202010244805.6A CN202010244805A CN111424638A CN 111424638 A CN111424638 A CN 111424638A CN 202010244805 A CN202010244805 A CN 202010244805A CN 111424638 A CN111424638 A CN 111424638A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
- E02D3/02—Improving by compacting
- E02D3/046—Improving by compacting by tamping or vibrating, e.g. with auxiliary watering of the soil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
- B66D5/24—Operating devices
- B66D5/30—Operating devices electrical
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/03—Mechanisms with latches or braking devices in general for capstans, hoists or similar devices as well as braking devices actuated electrically or by fluid under pressure
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- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
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- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Agronomy & Crop Science (AREA)
- Road Paving Machines (AREA)
Abstract
The invention discloses an automatic braking method and system of a dynamic compactor, which comprises a pressure detection device arranged on a clutch and used for detecting the pressure value of the clutch; the displacement detection device is arranged on the main winch of the dynamic compactor and is used for detecting the displacement of the main winch; the main control device is connected with the engine control unit to obtain actual output torque of the engine, and when the pressure value of a clutch of the pressure detection device is larger than or equal to a first preset pressure value, the main control device judges whether the increase rate of the actual output torque of the engine in a preset time period is larger than a preset value, if so, the current moment is used as a lifting zero position of the rammer with zero lifting height, and the actual lifting height of the rammer is recorded according to a displacement signal of the displacement detection device. The lifting zero position is judged by collecting the actual output torque of the engine control unit, the actual lifting height of the rammer is obtained, the braking time point of automatic braking can be accurately judged, and the automatic braking device is low in cost and easy to maintain.
Description
Technical Field
The invention relates to the technical field of dynamic compactor brake control, in particular to an automatic brake method and system of a dynamic compactor.
Background
Along with the wide application of the deep dynamic compaction method in the hole, the unhooking dynamic compactor is used more and more, and the unhooking dynamic compactor needs to be automatically braked after a rammer falls down and tamps the ground. The key of automatic braking is the braking action time point, and early braking can cause ramming energy loss and even accidents; too late braking can cause that the rope of wire rope play rope is too much after the braking causes the rope messy, influences the availability factor and damages wire rope. The automatic braking system of the unhooking dynamic compaction machine needs to measure the actual lifting height of the rammer when the automatic braking system executes braking action at the optimal time point, and the actual lifting height of the rammer needs to be accurately detected because the sinking amount of the rammer rammed on the ground at each time cannot be determined, namely the moment when the zero lifting position of the rammer is judged, namely the moment when the rammer leaves the ground. Due to the gravity acceleration, the lifting heights of the rammers are different, the tail speeds of the rammers when the rammers fall to the ground are different, and the rope outlet amount cannot be kept stable.
Meanwhile, the unhooking-free dynamic compaction machine is high in working efficiency, frequent in braking and easy to wear a brake pad, and the rope outlet amount of a steel wire rope after braking is prolonged after the brake pad is worn, so that the use efficiency is influenced. The brake block needs to be frequently replaced to keep stable and proper rope outlet amount, and the use cost is increased. Meanwhile, the speed of the rammer falling to the ground is high, and huge impact is generated after automatic braking, so that the steel wire rope shakes violently and is easy to damage.
Disclosure of Invention
In view of the above, a first object of the present invention is to provide an automatic braking system of a dynamic compaction machine, so as to solve the problem that the moment when the zero position of the existing rammer is lifted cannot be determined, so that the braking action time point cannot be determined. The second purpose of the invention is to provide an automatic braking method of the dynamic compaction machine.
In order to achieve the first object, the invention provides the following technical scheme:
an automatic braking system of a dynamic compaction machine, comprising:
the pressure detection device is arranged on the clutch and used for detecting the pressure value of the clutch;
the displacement detection device is arranged on the main winch of the dynamic compactor and is used for detecting the displacement of the main winch;
the main control device is connected with the engine control unit to obtain the actual output torque of the engine, and when the pressure value of the clutch of the pressure detection device is greater than or equal to a first preset pressure value, the main control device judges whether the increase rate of the actual output torque of the engine in a preset time period is greater than a preset increase rate value, if so, the current moment is used as a lifting zero position of the lifting height of the rammer to be zero, and the actual lifting height of the rammer is recorded according to the displacement signal of the displacement detection device.
Preferably, the master control device is further configured to:
when the actual lifting height of the rammer is equal to the preset height, controlling the clutch to act and drop the rammer, and respectively recording the dropping distance of the rammer and the rope outlet amount of the steel wire rope of the main winch according to the detection signal of the displacement detection device;
when the falling distance of the rammer is equal to the actual lifting height of the rammer, controlling the steel wire rope of the main winch to continuously fall;
and braking when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance.
Preferably, the master control device is specifically configured to:
when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance, outputting a current signal according to a preset current signal change curve to control the braking pressure of a braking device to decelerate;
and when the rope outlet quantity of the steel wire rope of the main winch is equal to the construction preset rope outlet quantity, controlling the current signal to output and control the brake device to lock according to the maximum value of the preset current signal change curve.
Preferably, the master control device is further configured to:
when the rope outlet amount of the steel wire rope of the main winch is equal to the construction preset rope outlet amount, controlling the current signal to output brake locking according to the maximum value of the change curve of the preset current signal, recording the actual rope outlet amount of the steel wire rope of the current main winch, and when a first deviation value between the actual rope outlet amount of the steel wire rope of the main winch and the construction preset rope outlet amount is not zero, setting the next preset delay brake distance as the difference value between the preset delay brake distance and the first deviation value.
Preferably, the system further comprises:
the brake device is connected with the main control device;
the brake device comprises an electro-hydraulic proportional valve connected with the main control device through a cable and a disc brake connected with the electro-hydraulic proportional valve.
Preferably, the displacement detecting means includes:
the device comprises a displacement detection plate arranged on a main winch of the dynamic compaction machine and a pulse sensor arranged on a fixed support of the main winch, wherein the pulse sensor is used for reading the rotation state of the displacement detection plate and sending a pulse signal to the main control device.
The invention provides an automatic braking method of a dynamic compaction machine, which comprises the following steps:
acquiring actual output torque of an engine;
acquiring a pressure value of the clutch;
and when the pressure value of the clutch is greater than or equal to a first preset pressure value, judging whether the increase rate of the actual output torque of the engine in a preset time period is greater than a preset increase rate value, if so, taking the current moment as a zero lifting position of the lifting height of the rammer to be zero, and recording the actual lifting height of the rammer according to a displacement signal of the displacement detection device.
Preferably, the method further comprises:
when the actual lifting height of the rammer is equal to the preset height, controlling the clutch to act the falling of the rammer and respectively recording the falling distance of the rammer and the rope outlet amount of the steel wire rope of the main winch;
when the falling distance of the rammer is equal to the actual lifting height of the rammer, controlling the steel wire rope of the main winch to continuously fall;
and braking when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance.
Preferably, the braking is performed when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance, and the braking method specifically comprises the following steps:
when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance, outputting a current signal according to a preset current signal change curve to control the braking pressure of a braking device to decelerate;
and when the rope outlet quantity of the steel wire rope of the main winch is equal to the construction preset rope outlet quantity, controlling the current signal to output and control the brake device to lock according to the maximum value of the preset current signal change curve.
Preferably, when the rope outlet amount of the steel wire rope of the main winch is equal to a construction preset rope outlet amount, the current signal is controlled to be output at the maximum value of the preset current signal change curve to control the brake device to be locked, and the method further includes:
recording the actual rope outlet amount of the current main winch, and when a first deviation value between the actual rope outlet amount of the main winch and the construction preset rope outlet amount is not zero, setting the next preset delay braking distance as the difference value between the preset delay braking distance and the first deviation value.
The invention provides an automatic braking system of a dynamic compaction machine, which comprises: the pressure detection device is arranged on the clutch and used for detecting the pressure value of the clutch; the displacement detection device is arranged on the main winch of the dynamic compactor and is used for detecting the displacement of the main winch; the main control device is connected with the engine control unit to obtain actual output torque of the engine, and when the pressure value of a clutch of the pressure detection device is larger than or equal to a first preset pressure value, the main control device judges whether the increase rate of the actual output torque of the engine in a preset time period is larger than a preset value, if so, the current moment is used as a lifting zero position of the rammer with zero lifting height, and the actual lifting height of the rammer is recorded according to a displacement signal of the displacement detection device.
When the pressure value of the clutch is greater than or equal to the first preset pressure value, the winch starts to rotate, whether the increase rate of the actual output torque of the engine in a preset time period is greater than a preset value or not is judged, if yes, the current moment is used as a lifting zero position of the lifting height of the rammer to be zero, and the actual lifting height of the rammer is recorded according to a displacement signal of the displacement detection device. The system judges the lifting zero position by acquiring the actual output torque of the engine control unit to obtain the actual lifting height of the rammer, so that the braking time point of automatic braking can be accurately judged, and the system is low in cost and easy to maintain.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an automatic braking system of a dynamic compaction machine according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an automatic braking method of the dynamic compaction machine according to the embodiment of the invention.
The drawings are numbered as follows:
the device comprises an engine control unit 1, a pulse sensor 2, an electro-hydraulic proportional valve 3, an indicator lamp 4, a main control device 5 and a pressure sensor 6.
Detailed Description
The embodiment of the invention discloses an automatic braking system of a dynamic compaction machine, which aims to solve the problems that the moment when the zero position of an existing rammer is lifted cannot be determined, and the braking action time point cannot be determined.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an automatic braking system of a dynamic compaction machine according to an embodiment of the present invention.
In a specific embodiment, the invention provides an automatic braking system of a dynamic compactor, which comprises:
the pressure detection device is arranged on the clutch and used for detecting the pressure value of the clutch;
pressure detection device generally sets up to pressure sensor 6, and pressure sensor 6 sets up on the oil circuit of clutch, preferably detachable fixed connection, and operating personnel operates the lifting handle and makes interior bloated clutch be in the combined state, and main control unit 5 reads interior bloated clutch pressure value through pressure detection device, and when clutch pressure value more than or equal to first preset pressure value, the hoist began corotation.
The displacement detection device is arranged on the main winch of the dynamic compactor and is used for detecting the displacement of the main winch;
the displacement detection device can be provided with an encoder or other sensors to measure the rotary displacement of the main winch, and the specific structural form of the displacement detection device can be set according to actual needs.
The main control device 5 is connected with the pressure detection device and the displacement detection device respectively, the main control device 5 is connected with the engine control unit 1 to obtain actual output torque of the engine, when the pressure value of a clutch of the pressure detection device is larger than or equal to a first preset pressure value, the main control device 5 judges whether the increase rate of the actual output torque of the engine in a preset time period is larger than a preset increase rate value, if yes, the current moment is used as a lifting zero position of the rammer with zero lifting height, and the actual lifting height of the rammer is recorded according to a displacement signal of the displacement detection device.
The master control device 5 may be specifically configured as a master control device such as a master control chip or an integrated instrument, the master control device 5 is connected to the pressure detection device and the displacement detection device through cables, and the master control device 5 is connected to the engine control unit 1 through a CAN bus. The first preset pressure value may be set according to a pre-calculation, and similarly, the preset value of the increase rate of the actual output torque of the engine is also preset, it is understood that the preset time period is generally within 1 second, such as 0.3-0.8 milliseconds, so as to improve the calculation accuracy, and in one embodiment, the increase rate within the fifth second is 50%, and then the time of the fifth second is taken as the time corresponding to the zero lifting position where the lifting height of the ram is zero.
The specific working process is as follows: the rammer is on ground, operating personnel operates the lifting handle to make the internal expansion clutch be in a combined state, main control unit 5 reads the internal expansion clutch pressure value through pressure sensor 6 and reaches a first preset pressure value, namely the hoisting lifting set value, at the moment, the hoisting starts corotation, main control unit 5 records the hoisting rotation displacement through the displacement detection device, when the hoisting rotates to eliminate redundant rope discharge amount, the rammer is lifted, at the moment, the engine load is increased instantaneously due to the gravity of the rammer, the output torque is increased for keeping the rotating speed constant, therefore, the increase rate of the actual output torque of the engine in a preset time period is larger than the increase rate preset value, the current moment is used as the lifting zero position of the rammer with zero lifting height, and the actual lifting height of the rammer is recorded. The main control device 5 is connected with the engine control unit 1 through a CAN bus to collect the actual output torque of the engine, and lights a zero indicator lamp 4 to prompt an operator, and if the actual height of the system fault rammer is not at the zero position, the operator CAN stop the machine for detection, so that the operation safety is improved.
When the pressure value of the clutch is greater than or equal to the first preset pressure value, the winch starts to rotate, whether the increase rate of the actual output torque of the engine in a preset time period is greater than a preset value or not is judged, if yes, the current moment is used as a lifting zero position with the lifting height of the rammer being zero, and the actual lifting height of the rammer is recorded according to a displacement signal of the displacement detection device. The system judges the lifting zero position by acquiring the actual output torque of the engine control unit 1 to obtain the actual lifting height of the rammer, so that the braking time point of automatic braking can be accurately judged, and the system is low in cost and easy to maintain.
Specifically, the main control device 5 is further configured to:
when the actual lifting height of the rammer is equal to the preset height, controlling the clutch to act and drop the rammer, and respectively recording the dropping distance of the rammer and the rope outlet amount of the steel wire rope of the main winch according to a detection signal of the displacement detection device;
when the falling distance of the rammer is equal to the actual lifting height of the rammer, controlling the steel wire rope of the main winch to continuously fall;
and braking when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance.
In the process that the rammer is separated from the ground and continuously rises, the actual lifting height H1 of the rammer is recorded, when the actual lifting height H1 of the rammer is equal to the preset height, the output signal lights the height indicator lamp 4, the expanding clutch in the lifting handle is loosened to be disengaged, the rammer starts to fall, the signal of the pressure detection device is zero at the moment, the rotation displacement of the winch is judged to be the falling distance of the rammer, the falling distance H2 of the rammer and the rope output amount of the steel wire rope of the main winch are recorded according to the detection signal of the displacement detection device, when H1-H2 is 0, the rammer is judged to reach the zero position, the safety is improved for not losing kinetic energy, the steel wire rope continuously falls, the displacement after the zero position is set to be the surplus rope output amount H3-H2-1, namely the difference between the rope output amount of the steel wire rope of the main winch and the actual lifting height of the rammer, when the displacement is equal to the preset extension braking distance L.
Further, the main control device 5 is specifically configured to:
when the difference between the rope outlet quantity of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to the preset delay braking distance, outputting a current signal according to a preset current signal change curve to control the braking pressure of a braking device to decelerate;
when the rope outlet quantity of the steel wire rope of the main winch is equal to the construction preset rope outlet quantity, the control current signal is output according to the maximum value of the preset current signal change curve to control the brake device to be locked.
The current signal change curve is preset through the setting so that the braking process is relaxed, the service life of the steel wire rope is prolonged, the braking process is divided into deceleration and locking, the rope outlet quantity is preset during construction and can be set as required, and therefore the braking process is relaxed, the braking impact is reduced, the service life of the steel wire rope is prolonged, and the driving experience is improved.
In one embodiment, the master control device 5 is further configured to:
when the rope outlet amount of the steel wire rope of the main winch is equal to the construction preset rope outlet amount, the current signal is controlled to output brake locking according to the maximum value of the change curve of the preset current signal, the actual rope outlet amount of the steel wire rope of the current main winch is recorded, and when a first deviation value between the actual rope outlet amount of the steel wire rope of the main winch and the construction preset rope outlet amount is not zero, the next preset delay brake distance is a difference value between the preset delay brake distance and the first deviation value.
The system completes automatic braking, after the main winch stops rotating, the actual rope outlet amount L3 of the steel wire rope of the current main winch is recorded, due to abrasion of a brake pad and response time of a hydraulic system, deviation possibly exists between the actual rope outlet amount L3 of the steel wire rope and a construction preset rope outlet amount, when a first deviation value of the actual rope outlet amount L of the steel wire rope and the construction preset rope outlet amount is equal to zero, the main control device 5 does not conduct processing, the system still controls braking according to the last preset delay braking distance, when the first deviation value is not zero, the system conducts next braking, the control device adjusts the next preset delay braking distance to be a difference value between the preset delay braking distance and the first deviation value, the operation is circulated in sequence, and through comparison of the actual braking distance and a target braking distance, the system automatically adjusts a signal output time point, so that the braking distance is kept stable, and the service.
The system actually lifts the height and automatically adjusts the braking distance through the rammer, and simultaneously presets a delayed braking distance self-checking control mode to enable the rope outlet amount to be kept stable, so that the service life of the brake pad is prolonged, the maintenance cost is reduced, the purpose of moderating the braking process is achieved through the change curve of the braking signal, and the service life of the steel wire rope is prolonged.
Further, the system further comprises:
a brake device connected with the main control device 5;
the brake device comprises an electro-hydraulic proportional valve 3 connected with the main control device 5 through a cable and a disc brake connected with the electro-hydraulic proportional valve 3.
Wherein the structure of dish brake and the position that sets up on dynamic compactor can set up according to prior art, realize automatic braking through electric-hydraulic proportional valve 3, and master control set 5 controls brake pressure through presetting current signal variation curve, according to the position control brake signal output curve of ram.
Specifically, the displacement detecting device includes:
the device comprises a displacement detection plate arranged on a main winch of the dynamic compaction machine and a pulse sensor 2 arranged on a fixed support of the main winch, wherein the pulse sensor 2 is used for reading the rotation state of the displacement detection plate and sending a pulse signal to a main control device 5.
And sending a pulse signal to the main control device 5 through a cable to calculate the displacement of the rammer.
The displacement detection plate is detachably and fixedly connected with the main winch of the dynamic compaction machine, for example, the displacement detection plate is fixed through a screw. The pulse sensor 2 may also be provided as another type of sensor.
The system compares the actual value of the braking distance with the target value through closed-loop detection, and adjusts the automatic braking time point to keep the braking distance stable, and the system does not need to additionally install a sensor and directly realizes zero calibration in a mode of reading the actual output torque of the engine, so that the cost is low and the maintenance is easy; by setting the relation between the actual lifting height of the rammer and the braking distance, the system automatically adjusts the braking distance according to the height of the rammer in the working process, so that the use is convenient, and the working efficiency is improved; the system brake adopts the proportional solenoid valve, sets for the relation of actual play rope volume and instrument electric current, divide into two stages of speed reduction and locking with the braking process, makes the braking process alleviate and reduces the brake and strike, increases wire rope life, improves and drives experience. In addition, the unhooking-free dynamic compaction machine has high automatic braking frequency, the brake pad is easy to wear, the mechanical gap of the brake is increased, the rope outlet amount of the brake steel wire rope is unstable, the brake pad needs to be frequently replaced to maintain the stable rope outlet amount, the maintenance cost is high, and the construction efficiency is low; the invention keeps the rope outlet quantity stable by automatically detecting the actual rope outlet quantity and automatically adjusting the braking time point, prolongs the service life of the brake pad and improves the construction efficiency.
Referring to fig. 2 based on the above system embodiment, fig. 2 is a schematic flow chart of an automatic braking method of a dynamic compactor according to an embodiment of the present invention. The invention also provides a corresponding method embodiment, and the automatic braking method of the dynamic compaction machine comprises the following steps:
s11: acquiring actual output torque of an engine;
s12: acquiring a pressure value of the clutch;
s13: when the pressure value of the clutch is larger than or equal to the first preset pressure value, whether the increase rate of the actual output torque of the engine in a preset time period is larger than a preset increase rate value is judged, if yes, the current moment is used as a lifting zero position of the rammer with zero lifting height, and the actual lifting height of the rammer is recorded according to a displacement signal of the displacement detection device.
When the pressure value of the clutch is greater than or equal to the first preset pressure value, the winch starts to rotate, whether the increase rate of the actual output torque of the engine in a preset time period is greater than a preset value or not is judged, if yes, the current moment is used as a lifting zero position of the lifting height of the rammer to be zero, and the actual lifting height of the rammer is recorded according to a displacement signal of the displacement detection device. The system judges the lifting zero position by acquiring the actual output torque of the engine control unit to obtain the actual lifting height of the rammer, so that the braking time point of automatic braking can be accurately judged, and the system is low in cost and easy to maintain.
In one embodiment, the method further comprises:
when the actual lifting height of the rammer is equal to the preset height, controlling the clutch to act the falling of the rammer and respectively recording the falling distance of the rammer and the rope outlet amount of the steel wire rope of the main winch;
when the falling distance of the rammer is equal to the actual lifting height of the rammer, controlling the steel wire rope of the main winch to continuously fall;
and braking when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance.
Specifically, brake when the difference between the wire rope play amount of the main winch and the actual hoisting height of the rammer equals to the preset delay brake distance, specifically include:
when the difference between the rope outlet quantity of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to the preset delay braking distance, outputting a current signal according to a preset current signal change curve to control the braking pressure of a braking device to decelerate;
when the rope outlet quantity of the steel wire rope of the main winch is equal to the construction preset rope outlet quantity, the control current signal is output according to the maximum value of the preset current signal change curve to control the brake device to be locked.
Preferably, when the rope outlet amount of the steel wire rope of the main winch is equal to the construction preset rope outlet amount, the control current signal is output at the maximum value of the preset current signal change curve to control the brake device to be locked, and the method further comprises the following steps:
and recording the actual rope outlet amount of the steel wire rope of the current main winch, and when the first deviation value between the actual rope outlet amount of the steel wire rope of the main winch and the construction preset rope outlet amount is not zero, the next preset delay braking distance is the difference value between the preset delay braking distance and the first deviation value.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a dynamic compactor automatic braking system which characterized in that includes:
the pressure detection device is arranged on the clutch and used for detecting the pressure value of the clutch;
the displacement detection device is arranged on the main winch of the dynamic compactor and is used for detecting the displacement of the main winch;
the main control device is connected with the engine control unit to obtain the actual output torque of the engine, and when the pressure value of the clutch of the pressure detection device is greater than or equal to a first preset pressure value, the main control device judges whether the increase rate of the actual output torque of the engine in a preset time period is greater than a preset increase rate value, if so, the current moment is used as a lifting zero position of the lifting height of the rammer to be zero, and the actual lifting height of the rammer is recorded according to the displacement signal of the displacement detection device.
2. The automatic braking system of the dynamic compaction machine according to claim 1, wherein the master control device is further configured to:
when the actual lifting height of the rammer is equal to the preset height, controlling the clutch to act and drop the rammer, and respectively recording the dropping distance of the rammer and the rope outlet amount of the steel wire rope of the main winch according to the detection signal of the displacement detection device;
when the falling distance of the rammer is equal to the actual lifting height of the rammer, controlling the steel wire rope of the main winch to continuously fall;
and braking when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance.
3. The automatic braking system of the dynamic compaction machine according to claim 2, wherein the main control device is specifically configured to:
when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance, outputting a current signal according to a preset current signal change curve to control the braking pressure of a braking device to decelerate;
and when the rope outlet quantity of the steel wire rope of the main winch is equal to the construction preset rope outlet quantity, controlling the current signal to output and control the brake device to lock according to the maximum value of the preset current signal change curve.
4. The automatic braking system of the dynamic compaction machine according to claim 3, wherein the master control device is further configured to:
when the rope outlet amount of the steel wire rope of the main winch is equal to the construction preset rope outlet amount, controlling the current signal to output brake locking according to the maximum value of the change curve of the preset current signal, recording the actual rope outlet amount of the steel wire rope of the current main winch, and when a first deviation value between the actual rope outlet amount of the steel wire rope of the main winch and the construction preset rope outlet amount is not zero, setting the next preset delay brake distance as the difference value between the preset delay brake distance and the first deviation value.
5. The dynamic compactor automatic braking system of claim 3, wherein the system further comprises:
the brake device is connected with the main control device;
the brake device comprises an electro-hydraulic proportional valve connected with the main control device through a cable and a disc brake connected with the electro-hydraulic proportional valve.
6. The automatic braking system of a dynamic compactor according to claim 3, wherein the displacement detecting means comprises:
the device comprises a displacement detection plate arranged on a main winch of the dynamic compaction machine and a pulse sensor arranged on a fixed support of the main winch, wherein the pulse sensor is used for reading the rotation state of the displacement detection plate and sending a pulse signal to the main control device.
7. An automatic braking method of a dynamic compaction machine is characterized by comprising the following steps:
acquiring actual output torque of an engine;
acquiring a pressure value of the clutch;
and when the pressure value of the clutch is greater than or equal to a first preset pressure value, judging whether the increase rate of the actual output torque of the engine in a preset time period is greater than a preset increase rate value, if so, taking the current moment as a zero lifting position of the lifting height of the rammer to be zero, and recording the actual lifting height of the rammer according to a displacement signal of the displacement detection device.
8. The automatic braking method of the dynamic compaction machine according to claim 7, further comprising:
when the actual lifting height of the rammer is equal to the preset height, controlling the clutch to act the falling of the rammer and respectively recording the falling distance of the rammer and the rope outlet amount of the steel wire rope of the main winch;
when the falling distance of the rammer is equal to the actual lifting height of the rammer, controlling the steel wire rope of the main winch to continuously fall;
and braking when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance.
9. The automatic braking method of the dynamic compaction machine according to claim 8, wherein the braking is performed when the difference between the rope outgoing amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance, and specifically comprises:
when the difference between the rope outlet amount of the steel wire rope of the main winch and the actual lifting height of the rammer is equal to a preset delay braking distance, outputting a current signal according to a preset current signal change curve to control the braking pressure of a braking device to decelerate;
and when the rope outlet quantity of the steel wire rope of the main winch is equal to the construction preset rope outlet quantity, controlling the current signal to output and control the brake device to lock according to the maximum value of the preset current signal change curve.
10. The automatic braking method of the dynamic compaction machine according to claim 8, wherein when the rope outlet amount of the steel wire rope of the main winch is equal to a construction preset rope outlet amount, after the current signal is controlled to be output at the maximum value of the change curve of the preset current signal to control the braking device to be locked, the method further comprises:
recording the actual rope outlet amount of the current main winch, and when a first deviation value between the actual rope outlet amount of the main winch and the construction preset rope outlet amount is not zero, setting the next preset delay braking distance as the difference value between the preset delay braking distance and the first deviation value.
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