JP4982225B2 - Vibration control device for vibration compaction vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration control device for a vibrating compaction vehicle enabling to automatically stop the vibration of a wheel while determining the slipping condition of the wheel. <P>SOLUTION: The vibration control device comprises a rotating speed detection part 2 for outputting signals S1, S2 for the rotating speeds of the front and rear wheels, and a rotating speed ratio computing means 3 for calculating data Da for the rotating speed ratio of the front/rear wheel. It determines the slipping condition of one of the front and rear wheels in accordance with a value for the data Da and stops the vibration of the wheel under vibration when determining slipping. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a vibration type compaction vehicle vibration control device that vibrates a wheel such as a roll to compact a ground.

FIG. 7 is a side view showing a compaction vehicle frequently used for compaction construction on rough terrain. (A) is a model equipped with a tire on the rear wheel and a smooth body roll on the front wheel, and (b) is a model of (a). A model in which a large-diameter tamping roll is mounted instead of the smooth drum roll is shown. Some compaction vehicles have a roll vibration device mounted in a roll (possibly in a tire), and an example of the vibration device is described in Patent Document 1.
Japanese Patent Laid-Open No. 7-150516

  If the front wheel or rear wheel slips on soft ground such as muddy during construction on rough terrain, if the wheel continues to vibrate as it is, the wheel will turn into muddy due to the vibration force, and escape from the muddy It becomes difficult. Further, in the wheel on the side that is removed from the mud, there is a problem that the same point is strongly tightened by vibration during the slip. Conventionally, when a slip occurs, the operator manually switches off the vibration switch. However, it is troublesome for the operator to perform such a switch operation separately when the slip occurs. It is also possible to forget to turn off the vibration switch.

  The present invention was devised to solve such a problem, and provides a vibration type compaction vehicle vibration control device that automatically stops vibration of a wheel after judging a slip state of the wheel. It is an object.

  In order to solve the above problems, the present invention provides a vibration control device for a vibration-type compacting vehicle that vibrates at least one of the front and rear wheels and compacts the ground, and detects each rotational speed of the front and rear wheels. And a rotation speed ratio calculating means for calculating the rotation speed ratio data Da of the front and rear wheels from the signals S1 and S2, and the front and rear wheels based on the value of the data Da. The vibration control device of the vibration type compaction vehicle is characterized in that when one of the slip states is determined and the slip is determined to be a slip, the vibration of the vibrating wheel is stopped.

  According to this vibration control device, when it is detected that the wheel is in a predetermined slip state and the vehicle is temporarily stopped, the vibration of the wheel is automatically stopped. Since the vibration is automatically stopped, the operator does not need to perform any operation related to the vibration stop.

In the present invention, the data Da calculated by the rotational speed ratio calculating means is selected from the data D1 within the range and the data D2 outside the set range T1, and the data D1. And the reference data generation means for generating the average value as reference data Ds, and the data Da ₁ of the front-rear wheel rotational speed ratio obtained from the current signals S1 and S2 are compared with the reference data Ds, and the data Da ₁ Slip determining means for determining that one of the front and rear wheels is slipping when deviating from the set range T2, and a control means for stopping the vibration of the vibrating wheel when the slip determining means determines slip. The vibration control device for a vibration-type compacting vehicle is provided.

According to this vibration control device, the following effects are exhibited.
(1) Since the reference data Ds as a reference for slip determination is automatically set in accordance with the rotation speed ratio of the front and rear wheels, the vibration control device of the same specification can cope with compacted vehicles having different rotation speed ratios of the front and rear wheels. . Thereby, the management man-hour of the product is reduced.
(2) Since the slip determination reference data Ds is automatically set, the problem of manual data input mistakes is solved.
(3) Since the slip determination reference data Ds is constantly updated in accordance with the current front / rear wheel speed ratio, the slip determination accuracy is maintained well.

  According to the present invention, when the wheel slips, the operator's manual operation for stopping the vibration of the wheel becomes unnecessary.

  The vibration control device according to the present invention is mainly mounted on a vibration type compaction vehicle for rough terrain that is easily muddy. The target vehicle is equipped with various rolling rolls such as tires and iron wheel rolls as front wheels and rear wheels, but the type and shape are not limited in the present invention. Moreover, the vibration device that generates vibration may be mounted on either the front wheel or the rear wheel, or may be mounted on both the front wheel and the rear wheel. FIG. 1 is a block diagram showing the configuration of a vibration control device according to the present invention, FIG. 2 is a side view showing an example of the layout of the vibration control device in a vibration compaction vehicle, and FIG. 3 is a flowchart of the control operation of the vibration control device.

In FIG. 1, a vibration control device 1 detects a rotational speed of a front wheel and a rear wheel, and outputs a rotational speed signal S1 of a front wheel and a rotational speed signal S2 of a rear wheel, and a signal S1. , S2 is input to calculate the rotation speed ratio calculation means 3 for calculating the rotation speed ratio data Da of the front and rear wheels, and the data Da is sorted into the data D1 within the range and the data D2 out of the set range T1. The rotation speed ratio selection means 4, the reference data generation means 5 that samples and averages the data D1 and generates the average value as the reference data Ds, and the rotation speed ratios of the front and rear wheels obtained from the current signals S1 and S2. The data Da ₁ is compared with the reference data Ds, and when the data Da ₁ is out of the set range T2, the slip determination means 6 determines that one of the front and rear wheels is slipping, and the slip determination means 6 determines that the slip is occurring. When And a control means 7 to stop the oscillation for the wheel in movement, the.

“Rotation speed detector 2”
Examples of the rotation speed detection unit 2 include known proximity sensors such as an optical sensor and a magnetic sensor typified by a rotary encoder. As shown in FIG. 2, these proximity sensors are respectively mounted on the front wheels and the rear wheels, but the mounting manner is not particularly limited as long as the rotation speeds of the front wheels and the rear wheels can be derived as a result. Examples include detecting the rotational speeds of the traveling motors M1 and M2, detecting the rotational speed of the gears of the reduction gear, and detecting a detected part that rotates integrally with the front and rear wheels. The proximity sensors for the front and rear wheels output signals S1 and S2, respectively.

"Rotational speed ratio calculation means 3"
The rotation speed ratio calculation means 3 receives the signals S1 and S2 from the rotation speed detection unit 2 at a predetermined sampling frequency, and calculates data Da of the rotation speed ratio of the front and rear wheels from both signals.

"Rotational speed ratio selection means 4"
The rotation speed ratio selection means 4 sorts the data Da into data D1 that falls within the set range T1 and data D2 that falls outside. The setting range T1 is set as follows, for example. The timing for starting the vibration control device 1 is almost at the start of compaction construction, and there is not much situation where the front and rear wheels slip suddenly at the start. Therefore, the data Da calculated soon after the vibration control device 1 is activated can be regarded as a normal front / rear wheel speed ratio that is not slipping. The width value itself of the setting range T1 is fixed in advance, and the lower limit threshold value and the upper limit threshold value are set so that the average value of the data Da calculated soon after the vibration control device 1 is started becomes the center of the setting range T1. Is set. Of course, immediately before the compaction work, the vehicle is tested on the ground where slip does not occur and the data Da is sampled in advance, and based on this, the upper threshold value and the lower threshold value of the initial set range T1 are obtained. May be set. Thereafter, during construction, the data D1 is periodically averaged and the set range T1 is constantly updated. That is, the data D1 within the set range T1 set in a predetermined travel (predetermined time) is averaged to become reference data Ds to be described later, and the set range T1 in the next predetermined travel (predetermined time) is centered on the reference data Ds. Decide. Thereafter, this is repeated. These data update cycles are determined as appropriate.

  For example, when the width value of the setting range T1 is fixed as 0.4 and the average value of the data Da calculated soon after the vibration control device 1 is activated is 1.20, the setting range T1 is 1 .20, the lower limit threshold is set to 1.00 and the upper limit threshold is set to 1.40, and the rotation speed ratio selecting means 4 sets the data Da to data D1 within 1.00 to 1.40. And other data D2. Assuming that the average value of the data D1 obtained at this time is 1.21, the setting range T1 in the next predetermined travel (predetermined time) has a lower limit threshold value of 1.01 centering on 1.21. The upper threshold value is set as 1.41. In another compacted vehicle, when the average value of the data Da calculated immediately after the vibration control device 1 is started is 1.10, the lower limit threshold value is 0.90 by the same processing. The upper threshold value is set to 1.30. Assuming that the average value of the data D1 obtained at this time is 1.09, the setting range T1 in the next predetermined travel (predetermined time) has a lower limit threshold value of 0.89 centering on 1.09. The upper threshold value is set as 1.29. Thus, if the lower limit threshold value and the upper limit threshold value of the setting range T1 are constantly updated, for example, a change occurs in the tire air pressure during long-time construction, and the effective diameter of the tire changes, and the front and rear wheels change. Even when the rotation speed ratio changes, a lower limit threshold and an upper limit threshold corresponding to the changed rotation speed ratio can be set.

  Moreover, when the value of the rotation speed ratio of each vibration type compaction vehicle to be mounted with the vibration control device 1 is not so different, the position of the setting range T1 may be fixed. For example, when the value of the vehicle with the smallest rotational speed ratio is 1.10 and the value of the vehicle with the largest rotational speed ratio is 1.20, the lower limit threshold value of the setting range T1 is 0.90, For example, the upper threshold value is fixed at 1.40.

  By deleting the abnormal rotation speed ratio mainly caused by the slip of the front and rear wheels through the setting range T1, the generation of data that does not include sudden factors such as slip is generated in the subsequent generation of the reference data Ds. it can.

"Reference data generation means 5"
The reference data generation means 5 averages the data D1 within the set range T1, and generates the average value as the reference data Ds. Here, when the data D2 exists in the rotation speed ratio selecting means 4, the reference data generating means 5 takes measures to substitute and average a predetermined reference value instead of the data D2. The predetermined reference value is a preset value, and examples include reference data Ds in the previous predetermined travel (predetermined time). For example, if the wheel slips and all the data Da is the data D2 in the rotation speed ratio selecting means 4, the reference data generating means 5 averages the reference data Ds in the previous predetermined travel (predetermined time) (that is, The reference data Ds itself in the previous predetermined travel (predetermined time)). As described above, “average data D1 within the setting range T1” in the reference data generation means 5 of the present invention includes the case where the data D2 is averaged taking into account the substituted reference value and the like. It shall be.

  In this embodiment, each data to be processed by the rotation speed ratio selection means 4 and the reference data generation means 5 is appropriately stored in the storage means 8, and between the rotation speed ratio selection means 4 and the reference data generation means 5. The exchange of data and the exchange of data between the reference data generation means 5 and the slip determination means 6 are performed via the storage means 8.

"Slip determination means 6"
The slip determination means 6 compares the current signal S1, S2 data Da ₁ of the rotational speed ratio of front and rear wheels calculated by the rotational speed ratio calculation means 3 from and the reference data Ds, out data Da ₁ is the set range T2 It is determined that one of the front and rear wheels is slipping. The setting range T2 is an allowable range for considering a non-slip if there is a slight slip, and is set appropriately around the reference data Ds. The width value itself of the setting range T2 is fixed in advance, and a lower limit threshold value and an upper limit threshold value are set around the reference data Ds. For example, when the width value of the setting range T2 is fixed as 0.4, and the value of the reference data Ds is 1.20, the setting range T2 is set to the lower limit threshold value centering on 1.20. Is set to 1.00, and the upper threshold value is set to 1.40. The width value of the setting range T2 and the width value of the setting range T1 are not necessarily the same value.

  When the slip determination means 6 determines that one of the front and rear wheels is slipping, a control signal V is output from the control signal output unit 9 to the control means 7. The above rotation speed ratio calculation means 3, rotation speed ratio selection means 4, reference data generation means 5, slip determination means 6, storage means 8, and control signal output unit 9 are configured as one control unit 10, and are shown in FIG. As shown, it is installed in the cab.

"Control means 7"
The control means 7 inputs the control signal V and automatically stops the vibration of the vibrating wheel. As an example of the control, there is control for stopping a vibration motor that rotates the excitation shaft. FIG. 4 is a hydraulic circuit diagram relating to a vibration system of a wheel (roll). Reference numeral Pv is a hydraulic pump, reference numeral Mv is a vibration motor that can rotate forward and backward depending on the difference in the flow direction of hydraulic oil, and reference numeral 13 is a switching valve. In the case of FIG. 4, the vibration device in the roll can be selected from either a low amplitude vibration or a high amplitude vibration depending on the rotation direction of the excitation shaft 21. As an example, when the excitation shaft 21 rotates in one direction, the displacement direction of the pair of movable eccentric weights 23 is reversed with respect to the fixed eccentric weight 22 and the excitation force acts in a direction that cancels each other and is low. When the excitation shaft 21 rotates in the other direction, the direction of displacement of the pair of movable eccentric weights 23 matches the fixed eccentric weight 22, and the excitation force is combined to increase the amplitude. The switching valve 13 shuts off the supply of hydraulic oil to the vibration motor Mv at the central position of the valve, and changes the flow direction of the hydraulic oil to the vibration motor Mv by switching the valve to the left and right. It is a valve.

In the slip determination means 6 of FIG. 1, if the data Da ₁ deviates from the upper limit threshold value of the setting range T2, and this is a case where the front wheel side slips, the control signal output unit 9 sends a control signal to the switching valve 13 (FIG. 4). By outputting V, the switching valve 13 located at either the left or right valve position in FIG. 4 is switched to the center position, the supply of hydraulic oil to the vibration motor Mv is shut off, and the vibration of the roll is stopped. Similarly, when the data Da ₁ deviates from the lower limit threshold value of the setting range T2 and the rear wheel slips in the slip determination means 6 of FIG. 1, the control signal output unit 9 similarly controls the switching valve 13 (FIG. 4). By outputting V, the switching valve 13 located at either the left or right valve position in FIG. 4 is switched to the center position, the supply of hydraulic oil to the vibration motor Mv is shut off, and the vibration of the roll is stopped. In this example, the switching valve 13 constitutes the control means 7.

The control operation of the vibration control device 1 will be described with reference to the flowchart of FIG. 3 and specific components will be described with reference to other drawings as appropriate. The activated vibration control device 1 detects the rotational speed of the front and rear wheels (step S101), calculates data Da of the rotational speed ratio of the front and rear wheels from the detected both rotational speeds (step S102), and this data Da is set. It is determined whether it is within the range T1 (step S103). If the data Da is within the set range T1 (YES in step S103), the data Da (D1) is averaged to generate reference data Ds (step S106). When the data Da deviates from the set range T1 (NO in step S103), the deviated data Da (D2) is deleted (step S104), the reference value is substituted (step S105), and the process proceeds to step S106. In this case, in step S106, a process for generating the reference data Ds by averaging the reference values instead of the data D2 is performed.

Then, calculates the difference between the reference data Ds generated by the data Da ₁ and step S106 in the rotational speed ratio of the current of the front and rear wheels (step S107), it determines whether the difference is within the set range T2 ( Step S108). If the difference is within the set range T2 (YES in step S108), the control operation is terminated. When the difference deviates from the setting range T2 (NO in step S108), the vibration control device 1 stops the vibration motor Mv (step S109).

As described above, the rotational speed detection unit 2 that detects the rotational speeds of the front and rear wheels and outputs the signals S1 and S2 of the rotational speeds, and calculates the data Da of the rotational speed ratio of the front and rear wheels from the signals S1 and S2. And a rotational speed ratio calculating means 3 for determining the slip state of one of the front and rear wheels on the basis of the value of the data Da, and stopping the vibration of the vibrating wheel when the slip is determined. The following effects are produced.
(1) Since the vibration of the wheel automatically stops when the wheel slips, the operator's manual operation for stopping the vibration is not necessary.

Further, the rotational speed ratio selecting means 4 for selecting the data Da into the data D1 within the range and the data D2 outside the set range T1, and the data D1 are averaged, and the average value is generated as the reference data Ds. a reference data generating means 5, the data Da ₁ of the rotational speed ratio of front and rear wheels obtained from the current signal S1, S2 is compared with the reference data Ds, when the data Da ₁ is out of the set range T2, one of the front and rear wheels (1), the slip determination means 6 for determining that the vehicle is slipping and the control means 7 for stopping the vibration of the vibrating wheel when the slip determination means 6 determines that the vehicle is slipping. In addition to the above effects, the following effects are achieved.
(2) Since the reference data Ds as a reference for slip determination is automatically set in accordance with the rotation speed ratio of the front and rear wheels, the vibration control device 1 of the same specification can be used for compacted vehicles having different rotation speed ratios of the front and rear wheels. it can. Thereby, the management man-hour of the product is reduced.
(3) Since the slip determination reference data Ds is automatically set, the problem of manual data input mistakes is solved.
(4) Since the slip determination reference data Ds is constantly updated in accordance with the current front / rear wheel speed ratio, the slip determination accuracy is maintained well.

  As an application example, when the slip determination means 6 determines that it is slipping, the traveling motors M1 and M2 for the front and rear wheels can be controlled so that the front-rear wheel rotational speed ratio becomes an appropriate value. FIG. 5 is a hydraulic circuit diagram relating to the traveling system. Reference numeral P denotes a hydraulic pump driven by the engine, and is composed of, for example, a swash plate type variable displacement pump. The front wheel side travel motor M1 and the rear wheel side travel motor M2 are, for example, swash plate type variable displacement motors, and are connected to the hydraulic pump P in parallel. When the hydraulic oil flows in the Q direction or the R direction, the vehicle moves forward or backward.

In the case where the data Da ₁ deviates from the upper limit threshold value of the setting range T2 in the slip determination means 6 in FIG. 1 and this is the case where the front wheel side slips, the control signal output unit 9 in FIG. A control signal is output to the variable capacity actuator on the traveling motor M1 side so that the value becomes smaller. As a result, the hydraulic oil that has been supplied unequivocally to the front wheel traveling motor M1 due to slip is limited, the supply of pressure oil to the non-slip rear wheel traveling motor M2 is resumed, and the traction capability is increased. , Run on the spot, as a result, the slip state of the front wheels is eliminated. Similarly, in the slip determination means 6 in FIG. 1, when the rear-wheel-side data Da ₁ is disengaged from the lower threshold of the set range T2 slips, in FIG. 5, the control signal output unit 9, the capacity of the travel motor M2 A control signal is output to the displacement variable actuator on the traveling motor M2 side so that the slip of the rear wheel is eliminated.

  FIG. 6 is a hydraulic circuit diagram in the case where flow restrictors 11 and 12 are provided in the flow paths to the traveling motors M1 and M2. The flow restrictors 11 and 12 shown in FIG. 6 are two-position two-port switching valves having two patterns of no restriction and with restriction, and both are normally located on the non-throttle side. When the front wheel side slips, the control signal output unit 9 outputs a control signal to the flow restrictor 11 so that the flow restrictor 11 is switched to the restrictor side. As a result, the hydraulic oil that has been supplied unequivocally to the front wheel traveling motor M1 due to slip is limited, the supply of pressure oil to the non-slip rear wheel traveling motor M2 is resumed, and the traction capability is increased. , Run on the spot, as a result, the slip state of the front wheels is eliminated. When the rear wheel side slips, the control signal output unit 9 outputs a control signal to the flow restrictor 12 so that the flow restrictor 12 is switched to the restrictor side, and the flow rate of hydraulic oil to the travel motor M2 is limited. This eliminates rear wheel slip.

  In the foregoing, the optimum embodiment of the present invention has been described. The present invention is not limited to the one described in the drawings, and can be appropriately modified within a range not departing from the gist thereof. For example, the requirement of the control means is not limited to the method of stopping the vibration motor described above, as long as it has a configuration for stopping the vibration of the wheel. An example is a method of stopping the vibration of the wheel by adjusting the position of the movable eccentric weight and controlling the eccentric amount of the excitation shaft to be zero.

It is a block diagram of the configuration of the vibration control device according to the present invention. It is a side view which shows an example of the layout of the vibration control apparatus in a vibration type compaction vehicle. It is a flowchart of control operation of a vibration control device. It is a hydraulic circuit diagram regarding the vibration system of a roll. It is a hydraulic circuit diagram regarding a travel system. It is a hydraulic circuit diagram regarding the traveling system in the case of providing a flow restrictor. It is a side view which shows the compacting vehicle frequently used for compaction construction of rough terrain.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vibration control apparatus 2 Rotational speed detection part 3 Rotational speed ratio calculation means 4 Rotational speed ratio selection means 5 Reference data generation means 6 Slip determination means 7 Control means

Claims (2)

A vibration type compaction vehicle vibration control device that vibrates at least one of the front and rear wheels and compacts the ground,
A rotational speed detection unit that detects the rotational speeds of the front and rear wheels and outputs signals S1 and S2 of the respective rotational speeds;
A rotational speed ratio calculating means for calculating the rotational speed ratio data Da of the front and rear wheels from the signals S1, S2.
A vibration control apparatus for a vibration-type compacting vehicle, comprising: determining a slip state of one of the front and rear wheels based on the value of the data Da; and stopping the vibration of the vibrating wheel when the slip is determined . A rotational speed ratio selecting means for selecting the data Da calculated by the rotational speed ratio calculating means into data D1 within the range and data D2 out of the set range T1;
A reference data generating means for averaging the data D1 and generating the average value as the reference data Ds;
The data Da ₁ of the rotational speed ratio of front and rear wheels obtained from the current signal S1, S2 is compared with the reference data Ds, when the data Da ₁ is out of the set range T2, it determines that one of the front and rear wheels is slipping Slip judging means to perform,
Control means for stopping the vibration of the vibrating wheel when the slip determining means determines that the slip;
The vibration control apparatus for a vibration type compaction vehicle according to claim 1, comprising:

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