CN113581178A - Anti-slip driving method and system for tyre roller and tyre roller - Google Patents

Anti-slip driving method and system for tyre roller and tyre roller Download PDF

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Publication number
CN113581178A
CN113581178A CN202110853842.1A CN202110853842A CN113581178A CN 113581178 A CN113581178 A CN 113581178A CN 202110853842 A CN202110853842 A CN 202110853842A CN 113581178 A CN113581178 A CN 113581178A
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CN
China
Prior art keywords
driving
wheel set
roller
driving motor
slip
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Pending
Application number
CN202110853842.1A
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Chinese (zh)
Inventor
张世创
江奎峰
唐效贵
王双
王厚栋
罗希年
陈欢
肖洋
张俊娴
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Xuzhou XCMG Road Construction Machinery Co Ltd
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Xuzhou XCMG Road Construction Machinery Co Ltd
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Application filed by Xuzhou XCMG Road Construction Machinery Co Ltd filed Critical Xuzhou XCMG Road Construction Machinery Co Ltd
Priority to CN202110853842.1A priority Critical patent/CN113581178A/en
Publication of CN113581178A publication Critical patent/CN113581178A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • 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
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/17—Construction vehicles, e.g. graders, excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/09—Other types of propulsion units, e.g. fluid motors, or type not specified
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/09—Other types of propulsion units, e.g. fluid motors, or type not specified

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The invention discloses an anti-slip driving method and an anti-slip driving system for a pneumatic tyre roller and the pneumatic tyre roller in the technical field of pneumatic tyre rollers, wherein the anti-slip driving method for the pneumatic tyre roller comprises the following steps: collecting the rotating speed value of each driving wheel set and the pressure value of hydraulic oil output by a driving pump; respectively comparing the rotating speed value of each driving wheel set with the vehicle speed, and judging the driving wheel set with the rotating speed value greater than the vehicle speed as a slipping wheel set; determining whether the pneumatic tire roller is in a downhill working condition or not through the pressure value of hydraulic oil output by the driving pump; when the tyre roller is in a non-downhill working condition, the anti-slip mode is started for changing the displacement of the driving motor for driving the driving wheel set and the slipping wheel set. The invention can automatically judge whether the skid phenomenon occurs or not and automatically adjust the displacement of the driving motor to enable the tyre roller to get rid of the skid working condition.

Description

Anti-slip driving method and system for tyre roller and tyre roller
Technical Field
The invention belongs to the technical field of a pneumatic tyre roller, and particularly relates to an anti-slip driving method and system of a pneumatic tyre roller and the pneumatic tyre roller.
Background
At present, the tire road roller is characterized in that front wheels and rear wheels are composed of a plurality of pneumatic tires with equal intervals, the front wheels are driven wheels, steering can be achieved, and the rear wheels can drive the road roller to move. The pneumatic tyre roller is mainly used for compacting asphalt concrete road surface, and the kneading action of the pneumatic tyre on the ground is different from that of a steel wheel roller. In the prior art, due to the difference of compactness of road materials and the difference of structural forms of the pneumatic tyre roller, the pneumatic tyre roller is easy to slip in the working process, and the climbing capability and the braking performance of the whole machine are influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an anti-slip driving method and system for a pneumatic tyre roller and the pneumatic tyre roller, which can automatically judge whether a slip phenomenon occurs and automatically adjust the displacement of a driving motor to enable the pneumatic tyre roller to get rid of the slip working condition.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, an anti-slip driving method for a pneumatic tyre roller is provided, which comprises the following steps: collecting the rotating speed value of each driving wheel set and the pressure value of hydraulic oil output by a driving pump; respectively comparing the rotating speed value of each driving wheel set with the vehicle speed, and judging the driving wheel set with the rotating speed value greater than the vehicle speed as a slipping wheel set; determining whether the pneumatic tire roller is in a downhill working condition or not through the pressure value of hydraulic oil output by the driving pump; when the tyre roller is in a non-downhill working condition, the anti-slip mode is started for changing the displacement of the driving motor for driving the driving wheel set and the slipping wheel set.
Furthermore, the pressure value of the hydraulic oil output by the driving pump comprises a pressure value of an oil conveying port A and a pressure value of an oil conveying port B of the driving pump.
Further, the method for determining whether the pneumatic tyre roller is in the downhill working condition is as follows: when the pneumatic tyre roller moves forward and the pressure value of the oil delivery port A of the driving pump is lower than that of the oil delivery port B, the pneumatic tyre roller is in a downhill working condition.
Further, in the anti-slip mode, a first current value of an electromagnetic valve on a driving motor of the driving wheel set and a second current value of an electromagnetic valve on the driving motor of the slipping wheel set are respectively adjusted and controlled, so that the first current value is smaller than the second current value; and controlling the displacement of the driving motor of the driving wheel set to be larger than that of the driving motor of the slipping wheel set.
In a second aspect, there is provided an anti-skid drive system for a pneumatic tyre roller, comprising: the controller is electrically connected with the drive pump, the first drive motor and the second drive motor respectively; the driving pump respectively conveys hydraulic oil for driving the first driving motor and the second driving motor to the first driving motor and the second driving motor; the first driving motor is in transmission connection with a first driving axle, and the first driving axle is in transmission connection with a first driving wheel set; the second driving motor is in transmission connection with a second driving axle, and the second driving axle is in transmission connection with a second driving wheel set; the first speed sensor is arranged on the first driving motor and used for acquiring the rotating speed value of the first driving wheel set and transmitting the rotating speed value to the controller; the second speed sensor is arranged on the second driving motor and used for acquiring the rotating speed value of the second driving wheel set and transmitting the rotating speed value to the controller; the pressure sensor is arranged on the driving pump and used for collecting the pressure value of hydraulic oil output by the driving pump and transmitting the pressure value to the controller; the controller is used for respectively comparing the rotating speed value of the first driving wheel set and the rotating speed value of the second driving wheel set with the vehicle speed and judging the driving wheel set with the rotating speed value larger than the vehicle speed as a slipping wheel set; the device is used for determining whether the pneumatic tire roller is in a downhill working condition or not through the pressure value of hydraulic oil output by the driving pump; the anti-slip control method is used for starting the anti-slip mode when the pneumatic tyre roller is in a non-downhill working condition, and changing the displacement of the driving motor for driving the driving wheel set and the slipping wheel set.
Further, the driving pump comprises an oil delivery port A and an oil delivery port B, the oil delivery port A is respectively communicated with first oil delivery ports of the first driving motor and the second driving motor, and the oil delivery port B is respectively communicated with second oil delivery ports of the first driving motor and the second driving motor.
Further, the first driving motor comprises a first electromagnetic valve, and the controller controls the opening degree of the first electromagnetic valve by adjusting the current value of the first electromagnetic valve; the second driving motor comprises a second electromagnetic valve, and the controller controls the opening of the second electromagnetic valve by adjusting the current value of the second electromagnetic valve.
Furthermore, the first driving wheel set comprises a fifth driving wheel, and the fifth driving wheel is in transmission connection with the first driving wheel set through a transmission shaft.
Furthermore, the electric control device also comprises an electric control handle which is electrically connected with the controller and used for inputting control instructions to the controller.
In a third aspect, a tyre roller is provided, the tyre roller is provided with the anti-slip driving system of the tyre roller in the second aspect.
Compared with the prior art, the invention has the following beneficial effects:
(1) the method judges whether the tire road roller slips or not through the rotating speed of each driving wheel set, and determines whether the tire road roller is in a downhill working condition or not through the pressure value of hydraulic oil output by a driving pump; when the pneumatic tyre roller is in a non-downhill working condition, starting an anti-slip mode for changing the displacement of a driving motor for driving a driving wheel set and a slipping wheel set so as to enable the pneumatic tyre roller to get rid of the slipping working condition;
(2) the invention provides a driving system which is driven by 5 rear wheels and avoids skidding, which can ensure the larger compaction width of the whole machine, can also ensure the adhesive force of the whole machine, ensures the climbing capability and the braking performance of the whole machine, and can avoid skidding of wheel sets, and the power transmission technical scheme is initiated in the industry.
Drawings
Fig. 1 is a schematic system structure diagram of an anti-slip driving system of a pneumatic tyre roller according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
an anti-slip driving method for a pneumatic tyre roller comprises the following steps: collecting the rotating speed value of each driving wheel set and the pressure value of hydraulic oil output by a driving pump; respectively comparing the rotating speed value of each driving wheel set with the vehicle speed, and judging the driving wheel set with the rotating speed value greater than the vehicle speed as a slipping wheel set; determining whether the pneumatic tire roller is in a downhill working condition or not through the pressure value of hydraulic oil output by the driving pump; when the tyre roller is in a non-downhill working condition, the anti-slip mode is started for changing the displacement of the driving motor for driving the driving wheel set and the slipping wheel set.
In this embodiment, the pressure value of the hydraulic oil output by the driving pump includes a pressure value of an oil output port a and a pressure value of an oil output port B of the driving pump. When the pneumatic tyre roller moves forward on a flat road surface, an oil delivery port A of a driving pump is in a high-pressure state, and an oil delivery port B of the driving pump is in a low-pressure state; when the pneumatic tyre roller retreats on a flat road surface, an oil delivery port A of a driving pump is in a low-pressure state, and an oil delivery port B is in a high-pressure state; when the tyre roller is in a downhill advancing state, an oil delivery port A of the driving pump is in a low-pressure state, and an oil delivery port B is in a high-pressure state;
the method for determining whether the pneumatic tyre roller is in the downhill working condition comprises the following steps: when the pneumatic tyre roller moves forward, and the pressure value of the oil delivery port A of the driving pump is lower than that of the oil delivery port B, the speed directions measured by the speed sensors on the two driving motors are the forward direction of the pneumatic tyre roller, and the pneumatic tyre roller is in a downhill working condition at the moment.
Under the anti-slip mode, respectively adjusting a first current value of an electromagnetic valve on a driving motor for controlling the driving wheel set and a second current value of the electromagnetic valve on the driving motor for controlling the slip wheel set, so that the first current value is smaller than the second current value; and controlling the displacement of the driving motor of the driving wheel set to be larger than that of the driving motor of the slipping wheel set.
Example two:
based on the anti-slip driving method of the pneumatic tyre roller, as shown in fig. 1, the anti-slip driving system of the pneumatic tyre roller comprises a controller 3, wherein the controller 3 is electrically connected with a driving pump 6, a first driving motor 8-1 and a second driving motor 8-2 respectively; the drive pump 6 supplies hydraulic oil for driving the first drive motor 8-1 and the second drive motor 8-2 to the first drive motor 8-1 and the second drive motor 8-2, respectively; the first driving motor 8-1 is in transmission connection with a first driving axle 9-1, and the first driving axle 9-1 is in transmission connection with a first driving wheel set; the second driving motor 8-2 is in transmission connection with a second driving axle 9-2, and the second driving axle 9-2 is in transmission connection with a second driving wheel set. In the figure, the front wheels are used for steering and include a first driven wheel 1-1, a second driven wheel 1-2, a third driven wheel 1-3, and a fourth driven wheel 1-4.
The first driving wheel set comprises a first driving wheel 12-1 and a second driving wheel 12-2 which are directly driven by a first driving axle 9-1, and a fifth driving wheel 13 is in transmission connection with the first driving wheel set through a transmission shaft 11; hereinafter referred to as a three-wheel set, 3 wheels of the three-wheel set can be considered to be rigidly connected and move synchronously.
The second driving wheel group comprises a third driving wheel 12-3 and a fourth driving wheel 12-4 which are directly driven by a second driving axle 9-2, hereinafter referred to as two wheel groups, and 2 wheels of the two wheel groups can be considered to be rigidly connected and move synchronously.
And the first speed sensor 10-1 is arranged on the first driving motor 8-1 and used for acquiring the rotating speed value of the first driving wheel set and transmitting the rotating speed value to the controller 3.
And the second speed sensor 10-2 is arranged on the second driving motor 8-2 and used for acquiring the rotating speed value of the second driving wheel set and transmitting the rotating speed value to the controller 3.
The pressure sensor 5 is arranged on the driving pump 6 and used for collecting the pressure value of the hydraulic oil output by the driving pump 6 and transmitting the pressure value to the controller;
the controller 3 is used for respectively comparing the rotating speed value of the first driving wheel set and the rotating speed value of the second driving wheel set with the vehicle speed and judging the driving wheel set with the rotating speed value larger than the vehicle speed as a slipping wheel set; the pressure value of the hydraulic oil output by the driving pump 6 is used for determining whether the pneumatic tyre roller is in a downhill working condition; the anti-slip control method is used for starting the anti-slip mode when the pneumatic tyre roller is in a non-downhill working condition, and changing the displacement of the driving motor for driving the driving wheel set and the slipping wheel set.
The drive pump 6 includes an oil delivery port a and an oil delivery port B, the oil delivery port a is communicated with first oil delivery ports of the first drive motor 8-1 and the second drive motor 8-2, respectively, and the oil delivery port B is communicated with second oil delivery ports of the first drive motor 8-1 and the second drive motor 8-2, respectively.
The first driving motor 8-1 includes a first solenoid valve, and the controller 3 controls the opening degree of the first solenoid valve by adjusting a current value of the first solenoid valve.
The second driving motor 8-2 includes a second electromagnetic valve, and the controller 3 controls the opening degree of the second electromagnetic valve by adjusting a current value of the second electromagnetic valve.
When the road roller normally runs on a flat road surface with better adhesion conditions, the 5 driving wheels do not slip, namely the two wheel sets and the three wheel sets synchronously rotate;
the electric control handle 2 outputs an electric signal to the controller 3 to control the running speed and the running direction of the road roller.
The controller 3 receives data information from the electric control handle 2, controls the displacement and the rotating direction of the driving pump 6 by calculating data information output to the driving pump 6, and controls the displacement of the first driving motor 8-1 and the second driving motor 8-2 by outputting data information to the first driving motor 8-1 and the second driving motor 8-2.
The controller 3 simultaneously receives data information of a first speed sensor 10-1 on the first driving motor 8-1 and a second speed sensor 10-2 on the second driving motor 8-2, and collects parameters such as the rotating speed, the rotating direction and the like of the motors, and because the two wheel sets and the three wheel sets rotate synchronously at the moment, the controller judges that the road roller does not skid through calculation of the rotating speed and the direction parameters of the first speed sensor 10-1 and the second speed sensor 10-2. At this time, the controller 3 outputs the same data signal to the first drive motor 8-1 and the second drive motor 8-2 so that the first drive motor 8-1 and the second drive motor 8-2 have the same displacement.
And the controller 3 simultaneously receives data of the pressure sensor 5 of the driving pump, combines the data of the pressure sensor 5 with data of the first speed sensor 10-1 and the second speed sensor 10-2, and judges whether the road roller is in a downhill working condition or not through calculation.
In addition, the controller 3 has other control functions required by the road roller.
The electrical lines 4 are responsible for transmitting data signals between the electrical components.
The pressure sensor 5 is assembled on the driving pump and is responsible for collecting and transmitting pressure signals of the hydraulic system.
The drive pump 6 is connected to the engine, converts mechanical energy of the engine into hydraulic energy, and outputs power to the drive motor through a hydraulic line 7. The driving pump 6 can change the rotating direction according to the data information of the controller 3, and can also realize the stepless regulation of the displacement.
The hydraulic line 7 is responsible for the delivery of hydraulic oil.
The first driving motor 8-1 is connected with the first driving axle 9-1, the second driving motor 8-2 is connected with the second driving axle 9-2, receives hydraulic energy of the driving pump 6, and outputs power to the first driving axle 9-1 and the second driving axle 9-2. At this time, the first and second drive motors 8-1 and 8-2 receive the same data signal output by the controller 3, so that the first and second drive motors 8-1 and 8-2 have the same displacement.
Since the first drive motor 8-1 and the second drive motor 8-2 are connected in parallel, the same pressure is provided and the same amount of torque is output.
Because the first driving motor 8-1 and the second driving motor 8-2 are connected in parallel, at the moment, the two wheel sets and the three wheel sets of the road roller synchronously rotate, and the flow of the hydraulic system is automatically distributed, so that the first driving motor 8-1 and the second driving motor 8-2 have the same flow and the same rotating speed.
The second drive axle 9-2 is connected with the second drive motor 8-2, the third drive wheel 12-3 and the fourth drive wheel 12-4, receives the torque of the second drive motor 8-2, outputs power to the third drive wheel 12-3 and the fourth drive wheel 12-4 through self speed reduction and torque increase functions, and drives the road roller to move.
The first drive axle 9-1 is connected with the first drive motor 8-1, the first drive wheel 12-1 and the second drive wheel 12-2, and is also connected with the transmission shaft 11 to receive the torque of the first drive motor 8-1, output the power to the first drive wheel 12-1 and the second drive wheel 12-2 through the self speed reduction and torque increase effects, and output part of the power to the transmission shaft 11 to drive the road roller to move.
The first speed sensor 10-1 is assembled on the first driving motor 8-1, and the second speed sensor 10-2 is assembled on the second driving motor 8-2, and is respectively responsible for acquiring and transmitting the rotating speed and direction signals of the first driving motor 8-1 and the second driving motor 8-2 and transmitting the signals to the controller 3.
The transmission shaft 11 is connected with the first driving axle 9-1 and the fifth driving wheel 13, and transmits the power of the first driving axle 9-1 to the fifth driving wheel 13.
At this time, since the output torques of the first driving motor 8-1 and the second driving motor 8-2 are the same, and the output torques of the first driving axle 9-1 and the second driving axle 9-2 are the same, it can be approximately considered that the output torques of the third driving wheel 12-3 and the fourth driving wheel 12-4 are 1/2 of the output torque of the second driving axle 9-2; the output torque of the first driving wheel 12-1, the second driving wheel 12-2 and the fifth driving wheel 13 is 1/3 of the output torque of the first driving axle 9-1. The output torques of the 5 driving wheels are unequal but are smaller than the respective maximum adhesion torques.
When speed regulation is needed, the position of the electric control handle 2 is moved, and the electric control handle 2 outputs speed regulation information to the controller 3.
The controller 3 outputs data to the drive pump 6 and the first and second drive motors 8-1 and 8-2, respectively, by calculation.
The driving pump 6 receives data information from the controller 3, changes the rotation direction through the action of the electromagnetic valve and controls the running direction of the road roller; the vehicle speed is changed by changing the displacement, the displacement is larger and faster, and the displacement can be adjusted in a stepless manner according to the data information of the controller 3.
The first and second drive motors 8-1 and 8-2 receive data information from the controller 3, and the vehicle speed is changed by changing the displacement, and the larger the displacement, the smaller the rotation speed, and the slower the vehicle speed, and the larger the motor output torque. The displacement is steplessly adjustable according to data information of the controller 3.
When the road roller runs on a road surface with poor adhesion conditions, the two wheel sets and the three wheel sets may rotate asynchronously, taking the two wheel sets to slip as an example, the rotating speed of the two wheel sets consisting of the third driving wheel 12-3 and the fourth driving wheel 12-4 driven by the second driving axle 9-2 is higher than that of the three wheel sets consisting of the first driving wheel 12-1, the second driving wheel 12-2 and the fifth driving wheel 13 driven by the first driving axle 9-1.
The reason for the slippage of the two wheel sets is that the road adhesion force for driving the third driving wheel 12-3 and the fourth driving wheel 12-4 is smaller than the driving force, at the moment, the rotating speed of the two wheel sets is higher than the vehicle speed, and the load is lower than the normal value.
The second drive axle 9-2 is rigidly connected with the third driving wheel 12-3 and the fourth driving wheel 12-4, so that the rotating speed of the second drive axle 9-2 is higher than the vehicle speed, and the load is lower than the normal value.
The second driving motor 8-2 outputs torque to the second driving axle 9-2, so that the rotating speed of the second driving motor 8-2 is higher than the vehicle speed, and the load is lower than the normal value.
Since the pressure depends on the load, the second drive motor 8-2 is loaded below normal, and the second drive motor 8-2 is pressurized below normal.
Since the first drive motor 8-1 is connected in parallel with the second drive motor 8-2, the same pressure is applied and the same amount of torque is output. The first drive motor 8-1 is reduced in pressure and reduced in output torque.
The first drive motor 8-1 outputs a torque to the first transaxle 9-1, and the first transaxle 9-1 outputs a torque that decreases.
The first driving axle 9-1 drives a three-wheel set consisting of a first driving wheel 12-1, a second driving wheel 12-2 and a fifth driving wheel 13, so that the output torques of the first driving wheel 12-1, the second driving wheel 12-2 and the fifth driving wheel 13 are reduced.
At the moment, because the output torques of the two wheel sets and the three wheel sets are reduced, the whole driving force of the tyre roller is reduced along with the reduction of the output torques, and the whole driving force is smaller than the running resistance of the tyre roller. The running speed of the tyre roller is obviously reduced, and the speed can be reduced to zero in an extreme case.
The two wheel sets slip, and the rotating speed is higher than a normal value; the three wheel sets do not slip, and the speed is synchronous with the speed of the tire road roller.
Namely, the rotating speed of the second driving motor 8-2 of the two wheel sets is higher than the vehicle speed, and the rotating speed of the first driving motor 8-1 of the three wheel sets is equal to the vehicle speed.
The first speed sensor 10-1 is assembled on the first driving motor 8-1, and the second speed sensor 10-2 is assembled on the second driving motor 8-2, and is respectively responsible for acquiring and transmitting the rotating speed and direction signals of the two driving motors and transmitting the signals to the controller 3.
The controller 3 receives the rotating speed and direction signals of the first speed sensor 10-1 and the second speed sensor 10-2, judges the occurrence of the skidding phenomenon of the two wheel sets through calculation, and starts the anti-skidding function.
The controller 3 outputs data information to the first driving motor 8-1 and the second driving motor 8-2, so that the first driving motor 8-1 of the three-wheel set without slipping keeps large displacement, and the second driving motor 8-2 of the two-wheel set with slipping is adjusted to be small displacement.
The first and second drive motors 8-1 and 8-2 receive data information from the controller 3, and the displacement is steplessly adjustable according to the data information of the controller 3. At the moment, the first driving motor 8-1 of the three wheel sets is adjusted to be large in displacement, and the second driving motor 8-2 of the two wheel sets is adjusted to be small in displacement in a stepless mode.
As the two wheel sets slip, the load is not changed, and the second drive motor 8-2 is adjusted to a small displacement, resulting in a pressure rise in the second drive motor 8-2.
Since the first drive motor 8-1 is connected in parallel with the second drive motor 8-2 with the same pressure, the first drive motor 8-1 is pressurized and the output torque is increased.
The first driving motor 8-1 outputs torque to the first driving axle 9-1, and the first driving axle 9-1 drives a three-wheel set consisting of a first driving wheel 12-1, a second driving wheel 12-2 and a fifth driving wheel 13 to increase the output torque.
At the moment, the driving force of the whole machine is increased.
Because the displacement of the second driving motor 8-2 can be adjusted in a stepless way and the pressure is continuously increased, the pressure of the first driving motor 8-1 is continuously increased, the output torque is continuously increased, and the driving force of the whole machine is continuously increased. Until the road roller is helped to move out of the slipping area, the slipping phenomenon disappears.
The controller 3 receives the rotating speed and direction signals of the first speed sensor 10-1 and the second speed sensor 10-2, judges that the slipping phenomenon of the two wheel sets disappears through calculation, and stops the anti-slipping function.
The controller 3 may determine the magnitude of the displacement reduction of the second drive motor 8-2 for the two wheel sets slipping by calculation based on the information on the rotational speeds of the first speed sensor 10-1 and the second speed sensor 10-2 at the time of the anti-slip control, the greater the speed difference, the greater the magnitude of the displacement reduction of the second drive motor 8-2. When the displacement of the second driving motor 8-2 is zero at the minimum, namely two wheel sets are changed into driven wheels, and the power of the driving pump 6 is completely output to the first driving motor 8-1 of the three wheel sets.
When the controller 3 is used for anti-slip control, the displacement of the driving pump 6 can be controlled, the rotating speeds of the first driving motor 8-1 and the second driving motor 8-2 are reduced, and the purpose of reducing power loss is achieved.
And when the controller 3 is used for anti-slip control, the data of the pressure sensor 5 and the data of the first speed sensor 10-1 and the second speed sensor 10-2 are combined, and whether the road roller is in a downhill working condition or not is judged through calculation. If the downhill working condition is slippery, the control strategy is that the first driving motor 8-1 and the second driving motor 8-2 are adjusted to be large displacement, so that the driving safety of the whole machine is ensured.
In the embodiment, whether the tire road roller slips or not is judged according to the rotating speed of each driving wheel set, and whether the tire road roller is in a downhill working condition or not is determined according to the pressure value of hydraulic oil output by a driving pump; when the pneumatic tyre roller is in a non-downhill working condition, starting an anti-slip mode for changing the displacement of a driving motor for driving a driving wheel set and a slipping wheel set so as to enable the pneumatic tyre roller to get rid of the slipping working condition; the embodiment provides a driving system driven by 5 rear wheels and avoiding skidding, which can ensure the larger compaction width of the whole machine, can also ensure the adhesion force of the whole machine, ensures the climbing capacity and the braking performance of the whole machine, and can avoid skidding of wheel sets.
Example three:
based on the anti-slip driving system of the pneumatic tyre roller in the first embodiment, the embodiment provides the pneumatic tyre roller, and the pneumatic tyre roller is configured with the anti-slip driving system of the pneumatic tyre roller in the second embodiment.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (10)

1. An anti-slip driving method of a pneumatic tyre roller is characterized by comprising the following steps:
collecting the rotating speed value of each driving wheel set and the pressure value of hydraulic oil output by a driving pump;
respectively comparing the rotating speed value of each driving wheel set with the vehicle speed, and judging the driving wheel set with the rotating speed value greater than the vehicle speed as a slipping wheel set;
determining whether the pneumatic tire roller is in a downhill working condition or not through the pressure value of hydraulic oil output by the driving pump;
when the tyre roller is in a non-downhill working condition, the anti-slip mode is started for changing the displacement of the driving motor for driving the driving wheel set and the slipping wheel set.
2. The anti-slip driving method for the pneumatic tire roller as claimed in claim 1, wherein the pressure value of the hydraulic oil output by the driving pump comprises a pressure value of an oil output port A and a pressure value of an oil output port B of the driving pump.
3. A method of anti-skid driving of a tyre roller as claimed in claim 1, wherein the method of determining whether the tyre roller is in a downhill mode is: when the pneumatic tyre roller moves forward and the pressure value of the oil delivery port A of the driving pump is lower than that of the oil delivery port B, the pneumatic tyre roller is in a downhill working condition.
4. The anti-slip driving method for the pneumatic roller according to claim 1, wherein in the anti-slip mode, a first current value for controlling the solenoid valve of the driving motor of the driving wheel set and a second current value for controlling the solenoid valve of the driving motor of the slipping wheel set are respectively adjusted so that the first current value is smaller than the second current value; and controlling the displacement of the driving motor of the driving wheel set to be larger than that of the driving motor of the slipping wheel set.
5. The utility model provides a skid-proof driving system of pneumatic tyre roller, characterized by includes: the controller is electrically connected with the drive pump, the first drive motor and the second drive motor respectively; the driving pump respectively conveys hydraulic oil for driving the first driving motor and the second driving motor to the first driving motor and the second driving motor; the first driving motor is in transmission connection with a first driving axle, and the first driving axle is in transmission connection with a first driving wheel set; the second driving motor is in transmission connection with a second driving axle, and the second driving axle is in transmission connection with a second driving wheel set;
the first speed sensor is arranged on the first driving motor and used for acquiring the rotating speed value of the first driving wheel set and transmitting the rotating speed value to the controller;
the second speed sensor is arranged on the second driving motor and used for acquiring the rotating speed value of the second driving wheel set and transmitting the rotating speed value to the controller;
the pressure sensor is arranged on the driving pump and used for collecting the pressure value of hydraulic oil output by the driving pump and transmitting the pressure value to the controller;
the controller is used for respectively comparing the rotating speed value of the first driving wheel set and the rotating speed value of the second driving wheel set with the vehicle speed and judging the driving wheel set with the rotating speed value larger than the vehicle speed as a slipping wheel set;
the device is used for determining whether the pneumatic tire roller is in a downhill working condition or not through the pressure value of hydraulic oil output by the driving pump;
the anti-slip control method is used for starting the anti-slip mode when the pneumatic tyre roller is in a non-downhill working condition, and changing the displacement of the driving motor for driving the driving wheel set and the slipping wheel set.
6. The anti-skid driving system of a pneumatic roller as claimed in claim 5, wherein the driving pump comprises an oil delivery port A and an oil delivery port B, the oil delivery port A is respectively communicated with the first oil delivery ports of the first driving motor and the second driving motor, and the oil delivery port B is respectively communicated with the second oil delivery ports of the first driving motor and the second driving motor.
7. The anti-slip drive system for a pneumatic roller as claimed in claim 5, wherein the first drive motor comprises a first solenoid valve, and the controller controls the opening degree of the first solenoid valve by adjusting the current value of the first solenoid valve;
the second driving motor comprises a second electromagnetic valve, and the controller controls the opening of the second electromagnetic valve by adjusting the current value of the second electromagnetic valve.
8. The anti-slip drive system of a pneumatic roller as claimed in claim 5, wherein the first drive wheel set comprises a fifth drive wheel, and the fifth drive wheel is in transmission connection with the first drive wheel set through a transmission shaft.
9. The anti-slip driving system of the pneumatic roller as claimed in claim 5, further comprising an electric control handle electrically connected to the controller for inputting control commands to the controller.
10. A tyre roller, characterized in that it is equipped with an anti-skid drive system according to claim 5.
CN202110853842.1A 2021-07-28 2021-07-28 Anti-slip driving method and system for tyre roller and tyre roller Pending CN113581178A (en)

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CN103569106A (en) * 2013-11-08 2014-02-12 中联重科股份有限公司 Crawler anti-slip control method and device and milling machine
CN109972477A (en) * 2018-11-28 2019-07-05 徐工集团工程机械股份有限公司 A kind of three wheel group structure of rubber-tyred roller
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