A method for changing the mechanical control walking of a road roller to electric control walking

Abstract

The present invention relates to the field of mechanical automation technology, and particularly to a method for converting the mechanical control walking of a road roller into electric control walking, which includes the following steps: disconnect the original connection pull rod between the walking handle and the walking pump, a first sensor for detecting the displacement of the connection pull rod is arranged on the first connection pull rod connected to the walking handle, a driving rod and a second sensor for detecting the displacement of the second connection pull rod are arranged on the second connection pull rod connected to the walking pump; in the electric control mode, the main controller directly controls the driving rod to adjust the telescopic movement of the second connection pull rod connected to the walking pump, and drives the swing rod of the walking pump to act together, thereby driving the road roller to move forward or backward. In the manual operation mode, it operates in cooperation with the first sensor and the second sensor. The present invention enables the original mechanical control walking method to be converted into an electric control walking method, making the equipment have the hardware basis for autonomous driving.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automation, and particularly relates to a method for converting the mechanical control walking of a road roller into electric control walking. Background Art

[0002] With the development trend of intelligent manufacturing and Industry 5.0, autonomous driving has become the development direction. At present, the autonomous driving of construction machinery is achieved by installing an autonomous driving system during equipment production. When selecting various accessories, multiple factors can be considered to select suitable accessories to enable all components to be electrically controlled, laying a good hardware foundation for the autonomous driving system. However, for various existing construction machinery on the market, their production is relatively early, and many models are mechanically controlled for walking and cannot achieve walking control through electric control, lacking the hardware foundation for autonomous driving. Therefore, we propose a method for converting the mechanical control walking of a road roller into electric control walking. Summary of the Invention

[0003] Based on the technical problems existing in the background art, the present invention proposes a method for converting the mechanical control walking of a road roller into electric control walking, making it possible for equipment that cannot achieve walking through electric control on the market to achieve electric control walking through the transformation of this method, and enabling early construction machinery to also have the hardware foundation for autonomous driving.

[0004] The present invention provides the following technical solution: A method for converting the mechanical control walking of a road roller into electric control walking, including the following steps:

[0005] S1. Disconnect the original connection pull rod between the walking handle and the walking pump. A first sensor for detecting the displacement of the connection pull rod is provided on the first connection pull rod connected to the walking handle, and a driving rod and a second sensor for detecting the displacement of the second connection pull rod are provided on the second connection pull rod connected to the walking pump;

[0006] S2. In the manual operation mode, the first sensor detects the displacement data of the first connection pull rod connected to the walking handle and sends it to the main controller. The main controller controls the driving rod to adjust the telescopic movement of the second connection pull rod connected to the walking pump according to this data, and drives the swing rod of the walking pump to move together, thereby driving the road roller to move forward or backward. The displacement data of the second connection pull rod detected by the second sensor is sent to the main controller. When the two sets of displacement data are the same, the main controller controls the driving rod to remain stationary at the current position;

[0007] S3. In the electric control mode, the main controller directly controls the driving rod to adjust the telescopic movement of the second connection pull rod connected to the walking pump, and drives the swing rod of the walking pump to move together, thereby driving the road roller to move forward or backward.

[0008] In step S1, a normally closed relay is connected in series to the signal output line of the original vehicle's parking Hall sensor. When the main controller sends a parking release command to the normally closed relay, the normally closed relay switches to the normally open state, disconnecting the original vehicle's parking signal and keeping it unchanged. When the main controller sends a parking command to the normally closed relay, the normally closed relay switches from the normally open state to the normally closed state, causing the roller to park.

[0009] Preferably, the first sensor, the second sensor, and the main controller are directly connected to the original vehicle's 12V power supply, and the main controller is electrically connected to the first sensor and the second sensor.

[0010] Preferably, the drive rod includes a servo controller and a servo electric pull rod, and the servo controller is connected to the original vehicle's 12V power supply through a boost module. The servo controller is electrically connected to the servo electric pull rod and supplies power to it.

[0011] Preferably, the first connecting rod is fixed on the first fixing bracket, and its telescopic end is connected to the pulling rope end of the first sensor through a first iron sheet. The other end of the first sensor is fixed on the first fixing bracket, and the first fixing bracket is installed in the engine compartment.

[0012] Preferably, the second connecting rod is fixed on the second fixing bracket, and its telescopic end is connected to the drive rod through a second iron sheet. The other end of the drive rod is fixed on the second fixing bracket. The second iron sheet is also connected to the pulling rope end of the second sensor, and the other end of the second sensor is fixed on the second fixing bracket on the same side as the second connecting rod. The second fixing bracket is installed at the top position of the engine compartment.

[0013] The present invention provides a method for converting the mechanical control walking of a roller into an electric control walking. Compared with the traditional transformation method: replacing the electric control walking pump as a whole and replacing the mechanical swing rod with an electric control valve group, it has a higher cost performance, is convenient to purchase accessories, is easy to disassemble, install, and replace, does not require professional personnel for installation and debugging, and does not affect the structure and operation of the original vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is the working principle diagram of the present invention;

[0015] Figure 2 is the installation schematic diagram of the first sensor of the present invention;

[0016] Figure 3 is the installation schematic diagram of the second sensor and the drive rod of the present invention;

[0017] Figure 4 is for the present invention Figure 3 top view.

[0018] In the figure: 1. First connecting pull rod; 2. Second connecting pull rod; 3. First sensor; 4. Driving rod; 5. Second sensor; 6. First iron sheet; 7. Second iron sheet; 8. First fixing bracket; 9. Second fixing bracket. Detailed implementation mode

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] The present invention provides a technical solution: a method for changing the mechanical control walking of a roller to electric control walking, including the pre-modification part and two operation modes after modification, one is the manual operation mode and the other is the electric control operation mode.

[0021] The modification steps are as follows:

[0022] Prepare in advance a main controller, two pull rope sensors, namely the first sensor 3 and the second sensor 5, two fixing brackets, namely the first fixing bracket 8 and the second fixing bracket 9, a driving rod 4, namely a servo controller and a servo electric pull rod motor, a 12V - 24V boost module, a normally closed relay, two connecting pull rods, namely the first connecting pull rod 1 and the second connecting pull rod 2, one of which is the original vehicle connecting pull rod and the other is the newly added connecting pull rod, and two connecting iron sheets, namely the first iron sheet 6 and the second iron sheet 7.

[0023] As Figure 3 and 4 shown, the servo electric pull rod motor is fixed on the second fixing bracket 9 and is electrically connected to the servo controller. The second connecting pull rod 2 is fixed on the second fixing bracket 9, and its telescopic section is connected to the second iron sheet 7 and the driving rod 4.

[0024] The second sensor 5 is connected to the original vehicle 12V power supply and is electrically connected to the main controller. It is fixed on the second fixing bracket 9, and the other end of the pull rope is fixed on the second iron sheet 7 to ensure that the position of the pull rope part of the second sensor 5 and the telescopic part of the second connecting pull rod 2 is relatively fixed. The second fixing bracket 9 is installed at the top position of the engine compartment.

[0025] As Figure 2 shown, the first connecting pull rod 1 is fixed on the first fixing bracket 8, and its telescopic end is connected to the pull rope end of the first sensor 3 through the first iron sheet 6. The other end of the first sensor 3 is fixed on the first fixing bracket 8, and the first fixing bracket 8 is installed in the engine compartment.

[0026] AsFigure 4 As shown, the main controller, servo controller, 12V-24V boost module, and normally closed relay are installed in the original vehicle control cabinet. The main controller, 12V-24V boost module are connected to the original vehicle's 12V power supply. The servo controller is connected to the 12V-24V boost module. The first sensor 3 is connected to the original vehicle's 12V power supply and electrically connected to the main controller, and is fixed on the second fixing bracket 9. One end of the first connecting rod 1 disconnected from the travel pump is fixed on the first fixing bracket 8, and its telescopic end is connected to the first iron sheet 6 and the pulling rope end of the first sensor 3. The first fixing bracket 8 is installed at a suitable position in the engine compartment.

[0027] The steps of the manual operation mode are as follows:

[0028] Place the original vehicle travel handle in the middle position, place the telescopic rod of the servo electric pull rod motor in the middle position of its stroke, and calibrate the first sensor 3, the second sensor 5, and the servo electric pull rod motor to the zero position. Connect the normally closed relay in series in the signal output line of the original vehicle's parking Hall sensor. In the manual operation mode, only the normally closed relay does not participate in the work.

[0029] When manually pushing the travel handle, the first connecting rod 1 drives the first sensor 3 to move together. The first sensor 3 transmits the measured data to the main controller. The main controller issues a command to the servo controller according to the data of the first sensor 3, and the servo controller controls the servo electric pull rod motor to make corresponding stretching or retracting actions.

[0030] The second connecting rod 2 connected to the servo electric pull rod motor moves together and drives the swing rod of the travel pump to move. At the same time, the second sensor 5 transmits the data measured by the servo electric pull rod motor to the main controller.

[0031] When the data measured by the second sensor 5 is equal to the data measured by the first sensor 3, the main controller issues a stop command to the servo controller. The servo controller controls the servo electric pull rod motor to stop and remain in the current position. The working principle of manually pushing the travel handle to any position is the same as the above principle.

[0032] The steps of the electric control operation mode are as follows:

[0033] When the roller changes from the stationary state to the forward state, the main controller first sends a parking release command to the normally closed relay. The normally closed relay switches to the normally open state, disconnects the original vehicle parking signal and remains unchanged all the time, and then issues a forward command to the servo controller. The servo controller controls the servo electric pull rod motor to extend outwards and push the swing rod of the original vehicle travel pump, then the roller moves forward.

[0034] When the road roller changes from the stationary state to the reverse state, the main controller first sends a parking release instruction to the normally closed relay. The normally closed relay switches to the normally open state, disconnecting the original vehicle parking signal and keeping it unchanged. Then, a reverse instruction is sent to the servo controller. The servo controller controls the servo electric pull rod motor to retract inward, pulling the swing rod of the original vehicle travel pump, and the road roller moves backward.

[0035] When the main controller controls the vehicle to stop, the main controller first sends a stop instruction to the servo controller. The servo controller controls the servo electric pull rod motor to retract the telescopic rod of the servo electric pull rod motor to the zero position at an appropriate speed. Then, the main controller sends a parking instruction to the normally closed relay, and the normally closed relay switches from the normally open state to the normally closed state.

[0036] When the electric control is used for walking, the first sensor 3 does not participate in the work, and the main controller will automatically shield the data sent by the first sensor 3.

[0037] In the present invention, by disconnecting the connection between the original vehicle connecting rod and the swing rod of the travel pump, and installing 2 rope-pull sensors, 1 servo electric pull rod motor, 1 connecting rod connecting the servo electric pull rod motor and the swing rod of the travel pump, 2 fixed brackets, 1 main controller, 1 servo controller, 1 12V - 24V boost module, etc., the original mechanical control walking method can be transformed into an electric control walking method, enabling the equipment to have the hardware basis for autonomous driving.

[0038] Compared with the traditional transformation method: replacing the electric control travel pump as a whole and replacing the mechanical swing rod with an electric control valve group, it has a higher cost performance, is convenient to purchase parts, is easy to disassemble, install, and replace, does not require professional personnel for installation and debugging, and does not affect the structure and operation of the original vehicle.

[0039] The rope-pull sensors in the present invention can be replaced with electronic rulers, laser ranging sensors, ultrasonic ranging sensors, etc., and the servo electric pull rod motor can be replaced with a stepping motor, an electric pull rod, an electric cylinder, etc.

[0040] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent replacements or changes, should be covered by the protection scope of the present invention.

Claims

1. A method for changing the mechanical control walking of a road roller to electric control walking, characterized in that: It includes the following steps: S1. Disconnect the original connecting rod between the walking handle and the walking pump. A first sensor (3) for detecting the displacement of the first connecting rod (1) connected to the walking handle is provided on the first connecting rod (1) connected to the walking handle. A driving rod (4) and a second sensor (5) for detecting the displacement of the second connecting rod (2) are provided on the second connecting rod (2) connected to the walking pump. S2. In the manual operation mode, the first sensor (3) detects the displacement data of the first connecting rod (1) connected to the walking handle and sends it to the main controller. The main controller controls the driving rod (4) to adjust the telescopic movement of the second connecting rod (2) connected to the walking pump according to this data, and drives the swing rod of the walking pump to move together, thereby driving the roller to move forward or backward. The displacement data of the second connecting rod (2) detected by the second sensor (5) is sent to the main controller. When the two sets of displacement data are the same, the main controller controls the driving rod (4) to remain stationary at the current position. S3. In the electric control mode, the main controller directly controls the driving rod (4) to adjust the telescopic movement of the second connecting rod (2) connected to the walking pump, and drives the swing rod of the walking pump to move together, thereby driving the roller to move forward or backward.

2. A method for converting the mechanical control walking of a road roller to electric control walking according to claim 1, characterized in that: In step S1, a normally closed relay is connected in series in the signal output line of the original vehicle's parking Hall sensor. When the main controller sends a parking release instruction to the normally closed relay, the normally closed relay switches to the normally open state, disconnecting the original vehicle's parking signal and remaining unchanged. When the main controller sends a parking instruction to the normally closed relay, the normally closed relay switches from the normally open state to the normally closed state, causing the roller to park.

3. A method for converting the mechanical control walking of a roller to electric control walking according to claim 1, characterized in that: The first sensor (3), the second sensor (5) and the main controller are directly connected to the original vehicle's 12V power supply, and the main controller is electrically connected to the first sensor (3) and the second sensor (5).

4. A method for converting the mechanical control walking of a road roller to electric control walking according to claim 1, characterized in that: The driving rod (4) includes a servo controller and a servo electric pull rod. The servo controller is connected to the original vehicle's 12V power supply through a boost module. The servo controller is electrically connected to the servo electric pull rod and supplies power to it.

5. A method for converting the mechanical control walking of a road roller to electric control walking according to claim 1, characterized in that: The first connecting rod (1) is fixed on the first fixed bracket (8). Its telescopic end is connected to the pulling rope end of the first sensor (3) through a first iron sheet (6). The other end of the first sensor (3) is fixed on the first fixed bracket (8). The first fixed bracket (8) is installed in the engine compartment.

6. A method for converting the mechanical control walking of a roller to electric control walking according to claim 1, characterized in that: The second connecting rod (2) is fixed on the second fixed bracket (9). Its telescopic end is connected to the driving rod (4) through a second iron sheet (7). The other end of the driving rod (4) is fixed on the second fixed bracket (9). The second iron sheet (7) is also connected to the pulling rope end of the second sensor (5). The other end of the second sensor (5) is fixed on the second fixed bracket (9) on the same side as the second connecting rod (2). The second fixed bracket (9) is installed at the top of the engine compartment.

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