CN113931038B - Material clamping control method and device of material conveying system of spreading machine and spreading machine - Google Patents
Material clamping control method and device of material conveying system of spreading machine and spreading machine Download PDFInfo
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- CN113931038B CN113931038B CN202111217748.3A CN202111217748A CN113931038B CN 113931038 B CN113931038 B CN 113931038B CN 202111217748 A CN202111217748 A CN 202111217748A CN 113931038 B CN113931038 B CN 113931038B
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- material conveying
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- conveying motor
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- 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
- E01C19/12—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 distributing granular or liquid materials
- E01C19/18—Devices for distributing road-metals mixed with binders, e.g. cement, bitumen, without consolidating or ironing effect
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- 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
- E01C19/12—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 distributing granular or liquid materials
- E01C19/20—Apparatus for distributing, e.g. spreading, granular or pulverulent materials, e.g. sand, gravel, salt, dry binders
- E01C2019/2055—Details not otherwise provided for
- E01C2019/207—Feeding the distribution means
Abstract
The invention provides a material clamping control method and device of a material conveying system of a paver and the paver, wherein the method comprises the following steps: in the normal material conveying mode, the material conveying motor rotates forwards, the forward rotation torque of the material conveying motor is determined to be larger than the forward rotation limited torque, and the material conveying motor is switched to a material clamping working condition mode from the normal material conveying mode; the material clamping working condition mode comprises the following steps: a motor reverse rotation material clamping control step, namely controlling the material conveying motor to reversely rotate, and turning to the next step when the reverse rotation torque of the material conveying motor is determined to be less than or equal to the reverse rotation limited torque and reaches the preset reverse rotation holding time or the reverse rotation torque of the material conveying motor is greater than the reverse rotation limited torque; the positive rotation material clamping control step of the motor: a material conveying motor rotates forwards, and if the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, the material is clamped by rotating the motor in the reverse rotation direction; if the forward rotation torque of the material conveying motor is smaller than or equal to the forward rotation limiting torque and the preset forward rotation holding time is reached, the material conveying motor is switched from the material clamping working condition mode to the normal material conveying mode. The invention can automatically solve the problem of material blockage.
Description
Technical Field
The invention relates to the technical field of electromechanical control, in particular to a material clamping control method and device for a material conveying system of a paver and the paver.
Background
The paver mainly comprises a power system, a traveling system, a hopper device, a material conveying system, a material distributing system, a machine frame, an ironing device, a leveling system, a heating system, a roof, a large arm, a hydraulic system, an electrical system, an operating system and the like. Wherein, defeated material system includes the scraper blade, divides the material system to include spiral tripper.
In the process of paving, a paver needs to convey a paved material to a spiral distributor through a scraper which is a key device in the conveying process. If the scraper blade has a material blockage, the scraper blade can be stopped, and the paving material cannot be conveyed to the spiral distributor, so that the material conveying efficiency is influenced.
At present, when the scraper blade takes place the card material, the defeated material motor reversal of control usually keeps predetermineeing for a long time, but among the prior art, the maximum operating pressure when not detecting the reversal, just mechanical reversal and keep predetermineeing the time, if reversal operating pressure is too big, the reversal is forced and is predetermineeing the time, probably leads to the system trouble, can exert too big operating pressure for defeated material motor promptly in the reversal process, easily causes defeated material system trouble.
Disclosure of Invention
The invention provides a material clamping control method and device for a material conveying system of a spreading machine and the spreading machine, which are used for solving or improving the defect that the material conveying system is easy to break down as overlarge working pressure is possibly applied to a material conveying motor in the reverse rotation process in the prior art.
The invention provides a material clamping control method of a material conveying system of a paver, which comprises the following steps:
in the normal material conveying mode, under the condition that a material conveying motor rotates forwards, determining that the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, and controlling the material conveying motor to be switched to a material clamping working condition mode from the normal material conveying mode;
the material clamping working condition mode comprises the following steps:
the motor reverse rotation material clamping control step: controlling the material conveying motor to reversely rotate, and turning to the next step when the reverse rotation torque of the material conveying motor is determined to be less than or equal to the reverse rotation limited torque and reaches the preset reverse rotation holding time or the reverse rotation torque of the material conveying motor is determined to be greater than the reverse rotation limited torque;
the positive rotation material clamping control step of the motor: the material conveying motor is controlled to rotate forwards,
if the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, the material is clamped by the reverse rotation of the rotating motor;
and if the forward rotation torque of the material conveying motor is less than or equal to the forward rotation limiting torque and reaches the preset forward rotation holding time, controlling the material conveying motor to be switched from the material clamping working condition mode to the normal material conveying mode.
According to the material jamming control method of the material conveying system of the spreading machine, provided by the invention, the material jamming working condition mode further comprises the following steps:
and a reverse rotation number detection step: detecting the accumulated reverse rotation times of the material conveying motor in the current material clamping working condition mode, if the accumulated reverse rotation times of the material conveying motor is smaller than or equal to the preset times, rotating the motor to rotate forwards to clamp the materials, and if the accumulated reverse rotation times of the material conveying motor is larger than the preset times, closing the material conveying motor;
the reverse rotation number detection step is positioned before the motor forward rotation material clamping control step.
According to the material jamming control method of the material conveying system of the spreading machine, the reverse rotation frequency detection step is located between the motor forward rotation material jamming control step and the motor reverse rotation material jamming control step, or the reverse rotation frequency detection step is located before the motor reverse rotation material jamming control step.
According to the material jamming control method of the material conveying system of the spreading machine provided by the invention,
in the step of detecting the number of inversions, the method further includes:
and if the accumulated reverse rotation times of the material conveying motor are greater than the preset times, fault prompt is also carried out.
The material jamming control method of the material conveying system of the paver further comprises the following steps:
in a normal material conveying mode, under the condition that a material conveying motor rotates forwards, determining that the forward rotation torque of the material conveying motor is smaller than or equal to the forward rotation limited torque and the material level of a material distribution system of the paver is larger than a first preset material level, and controlling the material conveying motor to be switched from the normal material conveying mode to a shutdown mode;
in a shutdown mode, the material conveying motor is closed, and when the material level of the material distribution system is smaller than a second preset material level, the material conveying motor is controlled to be switched from the shutdown mode to a normal material conveying mode;
wherein the first preset material level is greater than the second preset material level.
The material jamming control method of the material conveying system of the paver further comprises the following steps:
and in the normal material conveying mode, if a stop command is received, the material conveying motor is closed.
The invention also provides a material clamping control device of a material conveying system of the paver, which comprises the following components:
the device comprises a vehicle control unit, a motor controller, a material conveying motor, a material level sensor and a material distribution control mechanism;
the motor controller, the material level sensor and the material distribution control mechanism are respectively connected with the whole vehicle controller, and the motor controller is connected with the material conveying motor.
The present invention also provides a paver comprising: the material clamping control device is described above.
The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the material jamming control method of the material conveying system of the paver.
The invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method for controlling a jamming of a conveying system of a paver as described in any one of the above.
The invention also provides a computer program product comprising a computer program which, when being executed by a processor, carries out the steps of the method for controlling material jamming in a material delivery system of a paver as described in any one of the preceding claims.
According to the material clamping control method and device for the material conveying system of the spreading machine and the spreading machine, the material conveying motor is controlled to switch between forward rotation and reverse rotation based on the corresponding forward rotation torque, reverse rotation torque and reverse rotation holding time of the material conveying motor in the normal material conveying mode and the material clamping working condition mode, so that the material clamping problem can be automatically processed; in addition, when the motor is controlled to reversely rotate, the reverse rotation torque of the material conveying motor is determined to be smaller than or equal to the reverse rotation limited torque and reaches the preset reverse rotation holding time or is larger than the reverse rotation limited torque, and the next step is carried out, so that the problem that the motor working pressure is overlarge and the material conveying system is broken down due to the fact that the motor continuously reverses for too long time or the motor reversely rotates for too large torque in the reverse rotation process can be solved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a material jamming control method of a material conveying system of a paver provided in the invention;
fig. 2 is a schematic structural diagram of a material jamming control device of a material conveying system of a paver provided in the invention;
fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
At present, when the card material takes place for the scraper blade at the paver, control defeated material motor reversal usually and keep predetermineeing for a long time, but among the prior art, the biggest operating pressure when not detecting the reversal, just mechanical reversal and keep predetermineeing the time, if reversal operating pressure is too big, the preset time of reversal is forced to carry out, probably leads to the system trouble, can exert too big operating pressure for defeated material motor promptly in the reversal process, easily causes defeated material system trouble.
Accordingly, the invention provides a material clamping control method of a material conveying system of a paver. Fig. 1 is a schematic flow chart of a material jamming control method for a material conveying system of a paving machine, as shown in fig. 1, the method includes:
in the normal material conveying mode, under the condition that the material conveying motor rotates forwards, determining that the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, and controlling the material conveying motor to be switched to a material clamping working condition mode from the normal material conveying mode;
the material clamping working condition mode comprises the following steps:
the motor reverse rotation material clamping control step: controlling the material conveying motor to reversely rotate, and turning to the next step when the reverse torque of the material conveying motor is determined to be less than or equal to the reverse limited torque and reaches the preset reverse keeping time or the reverse torque of the material conveying motor is determined to be greater than the reverse limited torque;
the positive rotation material clamping control step of the motor: the material conveying motor is controlled to rotate forwards,
if the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, the material clamping control step of the reverse rotation of the material conveying motor is carried out;
and if the forward rotation torque of the material conveying motor is less than or equal to the forward rotation limited torque and reaches the preset forward rotation holding time, controlling the material conveying motor to be switched from the material clamping working condition mode to the normal material conveying mode.
Specifically, under the condition that the paver normally conveys materials, the material conveying motor is in a forward rotation state, and the scraper can be driven to rotate forward at the moment, so that the scraper can convey the materials to be conveyed to the spiral distributor, and the spiral distributor conveys the materials to be conveyed to a target position.
Under the condition that the material conveying motor rotates forwards, when the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, the material blocking phenomenon of a scraper of the spreading machine is indicated, and at the moment, if the material conveying motor keeps rotating forwards continuously, the scraper stops due to the material blocking phenomenon of the scraper, and the material to be conveyed cannot be conveyed to the spiral distributor.
In order to eliminate the material jamming phenomenon of the scraper, the embodiment of the invention controls the material conveying motor to be switched from the normal material conveying mode to the material jamming working condition mode when the forward rotation torque of the material conveying motor is determined to be larger than the forward rotation limited torque, so that the scraper can be driven to rotate reversely to eliminate the material jamming phenomenon.
Wherein, the process of controlling the material conveying motor to rotate reversely can be carried out by adopting the following two modes: (1) firstly, the material conveying motor is controlled to stop, and the material conveying motor is started to rotate reversely after the rotating speed of the material conveying motor is reduced to 0. (2) Directly switches the material conveying motor from positive rotation to negative rotation.
When the normal material conveying mode of the material conveying motor is controlled to be switched to the material clamping working condition mode, firstly, a motor reverse rotation material clamping control step is executed, namely, the material conveying motor is controlled to reversely rotate, the reverse rotation torque of the material conveying motor is obtained in real time, when the reverse rotation torque is smaller than or equal to a reverse rotation limited torque and reaches a preset reverse rotation holding time or the reverse rotation torque of the material conveying motor is larger than the reverse rotation limited torque, a next step is executed, fault alarm can be carried out in the next step, the accumulated reverse rotation times of the material conveying motor can also be detected, and whether the accumulated reverse rotation times exceed the preset times or not is judged.
When the accumulated reverse rotation times of the material conveying motor are less than or equal to the preset times, the step of controlling the forward rotation and material clamping of the motor can be executed, namely the material conveying motor is controlled to rotate forward, and in the process of forward rotation of the material conveying motor, if the torque of the forward rotation is greater than the limited torque of the forward rotation, the step of controlling the reverse rotation and material clamping of the motor is executed; if the forward rotation torque of the material conveying motor is smaller than or equal to the forward rotation limiting torque and reaches the preset forward rotation holding time, the material clamping phenomenon is possibly eliminated, at the moment, the material conveying motor can be recovered to the normal material conveying mode, and the material conveying motor is controlled to be switched from the material clamping working condition mode to the normal material conveying mode.
It is understood that the forward rotation limiting torque, the reverse rotation limiting torque, and the reverse rotation holding time may be specifically set according to actual situations, and are not specifically limited in this embodiment of the present invention.
It should be noted that if the time for the material conveying motor to continuously rotate reversely is too long, the reverse rotation torque of the material conveying motor may be too large, and further, too large working pressure may be applied to the material conveying motor, so that the reverse rotation holding time of the material conveying motor needs to be controlled here.
In addition, because the original factory configuration of the material conveying motor is provided with the data acquisition module, the forward rotation torque and the reverse rotation torque can be acquired through the data acquisition module without additionally increasing a corresponding sensor to acquire the forward rotation torque and the reverse rotation torque, and the material conveying control cost is reduced.
The material clamping control method of the material conveying system of the paver, provided by the embodiment of the invention, controls the material conveying motor to switch between forward rotation and reverse rotation based on the forward rotation torque, the reverse rotation torque and the reverse rotation holding time of the material conveying motor in the normal material conveying mode and the material clamping working condition mode, so that the material clamping problem can be automatically processed; in addition, when the motor is controlled to rotate reversely, the reverse rotation torque of the material conveying motor is determined to be smaller than or equal to the reverse rotation limited torque and reaches the preset reverse rotation holding time or is larger than the reverse rotation limited torque, and the next step is carried out, so that the problem that the motor working pressure is too large and the material conveying system is broken down due to too long continuous reverse rotation time of the motor or too large reverse rotation torque of the motor in the reverse rotation process can be solved.
Based on above-mentioned embodiment, card material operating mode still includes:
and a step of detecting the number of inversion times: detecting the accumulated reverse rotation times of a material conveying motor in the current material clamping working condition mode, if the accumulated reverse rotation times of the material conveying motor is less than or equal to the preset times, rotating the motor to rotate forward to clamp the materials, and if the accumulated reverse rotation times of the material conveying motor is greater than the preset times, closing the material conveying motor;
the reverse rotation frequency detection step is positioned before the motor forward rotation material clamping control step.
Specifically, when the reverse rotation torque of the material conveying motor is determined to be smaller than or equal to the reverse rotation limited torque and reaches preset reverse rotation holding time or the reverse rotation torque of the material conveying motor is determined to be larger than the reverse rotation limited torque, the accumulated reverse rotation times of the material conveying motor in the current material clamping working condition mode are detected, and if the accumulated reverse rotation times of the material conveying motor is smaller than or equal to the preset times, the material conveying motor is switched from reverse rotation to forward rotation after the preset reverse rotation holding time is reached, namely the motor forward rotation material clamping control step is executed.
It should be noted that, if the accumulated number of times of reverse rotation is less than or equal to the preset number of times, it indicates that the material jamming phenomenon can be eliminated by alternating forward rotation and reverse rotation (i.e., executing the motor forward rotation material jamming control step and the motor reverse rotation material jamming control step). If the accumulated reverse rotation times are larger than the preset times, the phenomenon of material blocking cannot be eliminated through forward rotation and reverse rotation alternation at the moment, and if the forward rotation and the reverse rotation alternation are continuously carried out, a material conveying motor can be burnt out, so that a material conveying system is in failure, and at the moment, the material conveying motor needs to be shut down.
For example, the reverse rotation holding time of the material conveying motor may be set to be 4s, the preset number of times is 4, the cumulative number of reverse rotations of the current material conveying motor is 1 time <4 times, and in the process of 4s of reverse rotation, if the reverse rotation torque is less than or equal to the reverse rotation limited torque, the material conveying motor may be switched to the forward rotation after the material conveying motor rotates in the reverse direction for 4 s.
After the material conveying motor is switched to the forward rotation, if the forward rotation torque is larger than the forward rotation limited torque, the material conveying motor is switched to the reverse rotation, at the moment, the accumulated reverse rotation frequency of the material conveying motor is added with 1, namely the accumulated reverse rotation frequency is 2 times less than 4 times, and if the reverse rotation torque is smaller than or equal to the reverse rotation limited torque, the material conveying motor can be switched to the forward rotation after the material conveying motor rotates reversely for 4 times.
In addition, under the condition that the forward rotation torque is smaller than or equal to the forward rotation limited torque, the normal conveying state is indicated, and the accumulated reverse rotation times are reset to be 0 at the moment. If the accumulated reverse rotation times are reset to be 0, the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque again, the material conveying motor needs to be switched to reverse rotation at the moment, the reverse rotation torque is obtained, if the reverse rotation torque is smaller than or equal to the reverse rotation limited torque, the material conveying motor is switched to forward rotation after the reverse rotation of the material conveying motor reaches the preset reverse rotation holding time, and the accumulated reverse rotation times are 0+1=1 times at the moment.
Therefore, when the motor rotates reversely, the reverse rotation time of the material conveying motor is controlled to be the reverse rotation holding time, so that damage to a material conveying system caused by overlong reverse rotation holding time is avoided, and meanwhile, in the reverse rotation process of the material conveying motor, the accumulated reverse rotation times are controlled, and the problem that the material conveying motor is damaged caused by overhigh accumulated reverse rotation times is avoided.
In addition, in the process of the reverse rotation of the material conveying motor, when the reverse rotation torque is larger than the reverse rotation limited torque, if the reverse rotation is continued, the working pressure of the material conveying motor is possibly too large, so that a fault is generated, in this case, the material conveying motor does not need to be immediately closed until the material conveying motor reaches the reverse rotation holding time, the material conveying motor is prevented from continuously working under the larger working pressure, and fault prompt is performed, so that related personnel can timely know the fault and perform fault processing. The reverse rotation limiting torque may be specifically set according to actual conditions, and the embodiment of the present invention is not particularly limited in this respect.
In addition, in the process of the reverse rotation of the material conveying motor, when the accumulated reverse rotation times are larger than the preset times, the phenomenon of material clamping cannot be eliminated through the forward rotation and reverse rotation alternation at the moment, and if the forward rotation and reverse rotation alternation is continuously carried out, the material conveying motor can be burnt out, so that the fault of a material conveying system is caused. Under the condition, the material conveying motor also needs to be immediately closed and fault prompt is carried out, so that the problem that the material conveying motor is damaged due to multiple forward rotation and reverse rotation, and further the fault of a material conveying system is caused is solved.
Therefore, the feeding motor state based on the reverse torque and the reverse accumulated times can avoid the problem of failure of a feeding system caused by overlarge working pressure of the feeding motor or frequent positive and negative rotation.
Based on any embodiment, the reverse rotation frequency detection step is positioned between the motor forward rotation material clamping control step and the motor reverse rotation material clamping control step, or the reverse rotation frequency detection step is positioned before the motor reverse rotation material clamping control step.
Specifically, when the reverse rotation number detection step is located between the motor forward rotation material clamping control step and the motor reverse rotation material clamping control step, when it is determined that the reverse rotation torque of the material conveying motor is smaller than or equal to a reverse rotation limited torque and reaches a preset reverse rotation holding time or the reverse rotation torque of the material conveying motor is larger than the reverse rotation limited torque, the accumulated reverse rotation number of the material conveying motor in the current material clamping working condition mode is detected, and if the accumulated reverse rotation number of the material conveying motor is smaller than or equal to the preset number, the motor forward rotation material clamping control step is executed.
And when the reverse rotation times detection step is positioned before the motor reverse rotation material clamping control step, executing the motor forward rotation material clamping control step when the accumulated reverse rotation times is detected to be less than or equal to the preset times, and closing the material conveying motor if the accumulated reverse rotation times is greater than the preset times.
Based on any one of the embodiments, in the step of detecting the number of inversions, the method further includes:
and if the accumulated reverse rotation times of the material conveying motor are greater than the preset times, fault prompt is also carried out.
Specifically, when the accumulated number of times of reverse rotation is greater than the preset number of times, it indicates that the material jamming phenomenon cannot be eliminated through forward rotation and reverse rotation alternation at the moment, and if the forward rotation and reverse rotation alternation are continuously performed, the material conveying motor may be burnt out, so that the fault of the material conveying system is caused. In this case, a fault prompt is required; the fault prompt may be a sound alarm prompt or a light prompt, which is not specifically limited in this embodiment of the present invention.
Based on any one of the above embodiments, the method further comprises:
in the normal material conveying mode, under the condition that a material conveying motor rotates forwards, determining that the forward rotation torque of the material conveying motor is smaller than or equal to the forward rotation limited torque and the material level of a material distribution system of the paver is larger than a first preset material level, and controlling the material conveying motor to be switched from the normal material conveying mode to a shutdown mode;
in the shutdown mode, the material conveying motor is turned off, and when the material level of the material distribution system is smaller than a second preset material level, the material conveying motor is controlled to be switched from the shutdown mode to a normal material conveying mode;
wherein the first preset material level is greater than the second preset material level.
Specifically, in the normal material conveying mode, the material conveying motor rotates forwards, and if the forward rotation torque is smaller than or equal to the forward rotation limited torque, the material jamming phenomenon does not exist currently. However, if the material level of the material distribution system of the paver is high at this time, a material jamming risk may be brought about.
In this case, embodiments of the present disclosure may require detecting the level of material in the material distribution system of the paving machine to determine if there is a risk of material jams. The higher the material level of the material distributing system of the paver, the greater the risk of subsequent material blockage.
When the risk of material blocking exists, if the material conveying motor continues to rotate forwards, the phenomenon of material blocking can be caused; when there is no risk of jamming, the material conveying motor can continue to keep rotating forward to carry out normal material conveying.
When the forward rotation torque of the material conveying motor is determined to be smaller than or equal to the forward rotation limited torque and the material level of a material distribution system of the paver is determined to be larger than a first preset material level, the material conveying motor needs to be turned off at the moment, and the material conveying motor is controlled to be switched from a normal material conveying mode to a shutdown mode.
In the shutdown mode, the material conveying motor is turned off, and the spiral distributor is in the open state in the process of conveying materials by positively rotating the material conveying motor, so that the spiral distributor can continuously convey the materials after the material conveying motor is turned off, and the material level of a material distributing system of the paver is reduced. When the material level of the material distribution system is smaller than a second preset material level, the material blocking risk is eliminated, and the material conveying motor is controlled to be switched from a shutdown mode to a normal material conveying mode, so that the forward rotation of the material conveying motor can be recovered.
It should be noted that, in the normal material conveying mode, under the condition that the material conveying motor rotates positively, it is determined that the forward rotation torque of the material conveying motor is smaller than or equal to the forward rotation limited torque and the material level of the material distribution system of the paver is greater than a first preset material level, and after the material conveying motor is controlled to be switched from the normal material conveying mode to the shutdown mode, if the current speed of the spiral material distributor is low, the material conveying speed is too low, that is, the material level descending speed of the material distribution system of the paver is smaller. In order to further improve the material conveying efficiency, after the material conveying motor is switched from the normal material conveying mode to the shutdown mode, the current speed of the spiral material distributor is increased to the target speed, so that the material conveying speed of the bolt material distributor can be increased, the material level of the material distributing system of the paver is quickly lowered, and the material clamping risk is eliminated until the material level of the material distributing system of the paver is smaller than a second preset material level, so that the material conveying motor can be controlled to be switched from the shutdown mode to the normal material conveying mode, and the forward rotation of the material conveying motor is recovered. The target speed may be specifically set according to an actual situation, which is not specifically limited in this embodiment of the present invention.
In addition, after the feeding motor is controlled to be switched from the shutdown mode to the normal feeding mode, the spiral distributor can continue to operate at the target speed and can also resume to operate at the initial speed, which is not specifically limited in the embodiment of the present invention. For example, if the spiral distributor is used for accelerating the conveying efficiency, the spiral distributor can continuously keep running at the target speed; if the spiral distributor is prevented from being in a high load due to the fact that the speed of the spiral distributor is too high and further causing system failure, the spiral distributor can be recovered to operate at the initial speed.
Based on any embodiment above, still include:
and in the normal material conveying mode, if a stop command is received, the material conveying motor is closed.
Specifically, in the normal material conveying mode, if a shutdown instruction is received, the material conveying is possibly finished, so that the material conveying motor can be turned off, and the problem of resource waste caused by continuous operation of the material conveying motor after the material conveying is finished is solved.
The material jamming control device of the material conveying system of the paver provided by the present invention is described below, and the material jamming control device of the material conveying system of the paver described below and the material jamming control method of the material conveying system of the paver described above may be referred to in correspondence.
Based on any one of the above embodiments, the present invention provides a material jamming control device for a material conveying system of a paving machine, as shown in fig. 2, the device includes:
the device comprises a vehicle control unit, a motor controller, a material conveying motor, a material level sensor and a material distribution control mechanism;
the motor controller, the material level sensor and the material distribution control mechanism are respectively connected with the whole vehicle controller, and the motor controller is connected with the material conveying motor.
Specifically, the material clamping control device of the material conveying system of the paver comprises a vehicle controller, a motor controller, a material conveying motor, a material level sensor and a material distribution control mechanism, wherein the motor controller, the material level sensor and the material distribution control mechanism are respectively connected with the vehicle controller, the motor controller is connected with the material conveying motor, and the vehicle controller is used for executing the material clamping control method of the material conveying system of the paver according to any one of the embodiments.
Meanwhile, the motor controller is used for receiving the instruction of the vehicle controller to control the material conveying motor to rotate forwards, rotate backwards or stop, the material level sensor is used for monitoring the material level of the material distributing system of the paver, and the material distributing control mechanism is used for receiving the material distributing instruction of the vehicle controller and distributing the material.
Based on any one of the embodiments, the invention provides a paver which comprises the material jamming control device, wherein the material jamming control device is used for executing the material jamming control method of the material conveying system of the paver according to any one of the embodiments, so that the paver can automatically handle the material jamming problem, and the material conveying efficiency is improved.
Fig. 3 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 3, the electronic device may include: a processor (processor) 310, a communication Interface (communication Interface) 320, a memory (memory) 330 and a communication bus 340, wherein the processor 310, the communication Interface 320 and the memory 330 communicate with each other via the communication bus 340. Processor 310 may invoke logic instructions in memory 330 to perform a method of stuck control of a conveyor system of a paving machine, the method comprising: in the normal material conveying mode, under the condition that a material conveying motor rotates forwards, determining that the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, and controlling the material conveying motor to be switched from the normal material conveying mode to a material clamping working condition mode; the material clamping working condition mode comprises the following steps: the motor reverse rotation material clamping control step: controlling the material conveying motor to reversely rotate, and turning to the next step when the reverse rotation torque of the material conveying motor is determined to be less than or equal to the reverse rotation limited torque and reaches the preset reverse rotation holding time or the reverse rotation torque of the material conveying motor is determined to be greater than the reverse rotation limited torque; the positive rotation material clamping control step of the motor: controlling the material conveying motor to rotate forwards, and if the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, controlling the material clamping by rotating the motor in a reverse rotation manner; and if the forward rotation torque of the material conveying motor is less than or equal to the forward rotation limiting torque and reaches the preset forward rotation holding time, controlling the material conveying motor to be switched from the material clamping working condition mode to the normal material conveying mode.
In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present disclosure also provides a computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer being capable of executing the method for controlling a material jam of a material conveying system of a paving machine, the method including: in the normal material conveying mode, under the condition that a material conveying motor rotates forwards, determining that the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, and controlling the material conveying motor to be switched from the normal material conveying mode to a material clamping working condition mode; the material clamping working condition mode comprises the following steps: the motor reverse rotation material clamping control step: controlling the material conveying motor to reversely rotate, and turning to the next step when the reverse rotation torque of the material conveying motor is determined to be less than or equal to the reverse rotation limited torque and reaches the preset reverse rotation holding time or the reverse rotation torque of the material conveying motor is determined to be greater than the reverse rotation limited torque; the motor corotation material clamping control step: controlling the material conveying motor to rotate forwards, and if the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, controlling the material clamping by rotating the motor in a reverse rotation manner; and if the forward rotation torque of the material conveying motor is less than or equal to the forward rotation limiting torque and reaches the preset forward rotation holding time, controlling the material conveying motor to be switched from the material clamping working condition mode to the normal material conveying mode.
In still another aspect, the present disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, is implemented to perform the method for controlling a material jam of a material conveying system of a paving machine provided in each of the above aspects, the method including: in the normal material conveying mode, under the condition that a material conveying motor rotates forwards, determining that the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, and controlling the material conveying motor to be switched to a material clamping working condition mode from the normal material conveying mode; the material clamping working condition mode comprises the following steps: the motor reverse rotation material clamping control step: controlling the material conveying motor to reversely rotate, and turning to the next step when the reverse rotation torque of the material conveying motor is determined to be less than or equal to the reverse rotation limited torque and reaches the preset reverse rotation holding time or the reverse rotation torque of the material conveying motor is determined to be greater than the reverse rotation limited torque; the positive rotation material clamping control step of the motor: controlling the material conveying motor to rotate forwards, and if the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, controlling the material clamping by rotating the motor in a reverse rotation manner; and if the forward rotation torque of the material conveying motor is smaller than or equal to the forward rotation limiting torque and reaches the preset forward rotation holding time, controlling the material conveying motor to be switched from the material clamping working condition mode to the normal material conveying mode.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A material clamping control method of a material conveying system of a paver is characterized by comprising the following steps:
in the normal material conveying mode, under the condition that a material conveying motor rotates forwards, determining that the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, and controlling the material conveying motor to be switched from the normal material conveying mode to a material clamping working condition mode;
the material clamping working condition mode comprises the following steps:
the motor reverse rotation material clamping control step: controlling the material conveying motor to reversely rotate, and turning to the next step when the reverse rotation torque of the material conveying motor is determined to be less than or equal to the reverse rotation limited torque and reaches the preset reverse rotation holding time or the reverse rotation torque of the material conveying motor is determined to be greater than the reverse rotation limited torque;
the positive rotation material clamping control step of the motor: the material conveying motor is controlled to rotate forwards,
if the forward rotation torque of the material conveying motor is larger than the forward rotation limited torque, the material clamping control step of the reverse rotation of the material conveying motor is carried out;
and if the forward rotation torque of the material conveying motor is less than or equal to the forward rotation limiting torque and reaches the preset forward rotation holding time, controlling the material conveying motor to be switched from the material clamping working condition mode to the normal material conveying mode.
2. The jamming control method of the conveying system of the spreading machine according to claim 1, wherein the jamming operating mode further comprises:
and a step of detecting the number of inversion times: detecting the accumulated reverse rotation times of the material conveying motor in the current material clamping working condition mode, if the accumulated reverse rotation times of the material conveying motor is smaller than or equal to the preset times, rotating the motor to rotate forwards to clamp the materials, and if the accumulated reverse rotation times of the material conveying motor is larger than the preset times, closing the material conveying motor;
the reverse rotation frequency detection step is positioned before the motor forward rotation material clamping control step.
3. The material jamming control method for the material conveying system of the spreading machine according to claim 2, wherein the reverse rotation number detection step is located between the motor forward rotation material jamming control step and the motor reverse rotation material jamming control step, or the reverse rotation number detection step is located before the motor reverse rotation material jamming control step.
4. The method as claimed in claim 2, wherein the step of detecting the number of inversions further comprises:
and if the accumulated reverse rotation times of the material conveying motor are greater than the preset times, fault prompt is also carried out.
5. The method as claimed in any one of claims 1 to 4, further comprising:
in a normal material conveying mode, under the condition that a material conveying motor rotates forwards, determining that the forward rotation torque of the material conveying motor is smaller than or equal to the forward rotation limited torque and the material level of a material distribution system of the paver is larger than a first preset material level, and controlling the material conveying motor to be switched from the normal material conveying mode to a shutdown mode;
in a shutdown mode, the material conveying motor is closed, and when the material level of the material distribution system is smaller than a second preset material level, the material conveying motor is controlled to be switched from the shutdown mode to a normal material conveying mode;
wherein the first preset material level is greater than the second preset material level.
6. The method as claimed in any one of claims 1 to 4, further comprising:
and in the normal material conveying mode, if a stop command is received, the material conveying motor is closed.
7. A jamming control apparatus for implementing a method of controlling jamming of a material conveying system of a paving machine according to any one of claims 1 to 6, comprising:
the device comprises a vehicle control unit, a motor controller, a material conveying motor, a material level sensor and a material distribution control mechanism;
the motor controller, the material level sensor and the material distribution control mechanism are respectively connected with the whole vehicle controller, and the motor controller is connected with the material conveying motor.
8. A paver, characterized by comprising: the jamming control device of claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the steps of the method for controlling the material jamming of a delivery system of a spreading machine according to any one of claims 1 to 6.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of a method for controlling a jamming of a conveying system of a paving machine according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111217748.3A CN113931038B (en) | 2021-10-19 | 2021-10-19 | Material clamping control method and device of material conveying system of spreading machine and spreading machine |
| PCT/CN2022/080586 WO2023065590A1 (en) | 2021-10-19 | 2022-03-14 | Material jamming control method and apparatus for material conveying system of paver, paver, device, medium, and program |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111217748.3A CN113931038B (en) | 2021-10-19 | 2021-10-19 | Material clamping control method and device of material conveying system of spreading machine and spreading machine |
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| CN113931038A CN113931038A (en) | 2022-01-14 |
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| CN113931038B (en) * | 2021-10-19 | 2023-01-13 | 湖南三一中益机械有限公司 | Material clamping control method and device of material conveying system of spreading machine and spreading machine |
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| CN113931038B (en) * | 2021-10-19 | 2023-01-13 | 湖南三一中益机械有限公司 | Material clamping control method and device of material conveying system of spreading machine and spreading machine |
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| WO2023065590A1 (en) | 2023-04-27 |
| CN113931038A (en) | 2022-01-14 |
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