A control method, a motion control system and a road roller

Abstract

The present invention relates to the technical field of construction machinery, and particularly to a control method, a motion control system and a road roller. The motion control system includes an engine, an engine controller is integrated on the engine, and the engine controller can control the rotation speed of the engine; a shift gearbox, an input shaft of the shift gearbox is in transmission connection with a rotating shaft of the engine, an output shaft of the shift gearbox is in transmission connection with a transmission system of the whole vehicle, and a transmission reversing component and a shifting component are integrated on the shift gearbox; a control valve assembly, the control valve assembly is communicated with the transmission reversing component and the shifting component; a control component, the control component is electrically connected with both the engine controller and the control valve assembly. The present invention can realize the motion control of the road roller without setting a clutch, and can reduce the labor intensity of the driver and improve the comfort of driving the road roller.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a control method, a motion control system and a road roller. Background Art

[0002] Mechanical rollers are key equipment for compacting roadbeds in current high-grade highway construction. They are driven mechanically, that is, the engine transmits power to the clutch, the clutch transmits power to the drive shaft, the drive shaft transmits power to the gearbox, and finally reaches the drive axle, driving the entire vehicle to move.

[0003] When the vehicle needs to start or shift gears, the clutch pedal is pressed, the clutch booster release fork moves the release sleeve and release bearing forward, pushes the release rod, moves the pressure plate backward, and the friction plate is disengaged from the end face of the engine flywheel. At this time, the clutch is disengaged, and the engine power is cut off from the transmission system. After the shift is completed, release the clutch pedal, as the clutch brake fluid pressure disappears, the clutch booster release fork is reset under the action of the return spring, the pressure plate moves forward, and presses the friction plate to the end face of the flywheel. At this time, the power is engaged and the vehicle moves.

[0004] Since the clutch engagement speed mainly depends on the manual control of the driver, which can be fast or slow, too fast clutch engagement will not only cause a strong impact on the friction plate, thus greatly reducing the reliability of the clutch system, but also affect the stability of the roller's start. Too slow clutch engagement will accelerate the wear of the friction plate and reduce its service life. In addition, when the operator implements gear shifting and reversing, he needs to overcome the return spring connected to the bottom of the pedal. Long-term operation will cause operator fatigue and affect the customer's comfort.

[0005] Therefore, a control method, a motion control system and a road roller are needed to solve the above technical problems. Summary of the invention

[0006] The object of the present invention is to provide a control method, a motion control system and a road roller, which can realize the motion control of the road roller without setting a clutch between the engine and the gearbox, and can also reduce the labor intensity of the driver and improve the driving comfort of the road roller.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] A control method comprises the following steps:

[0009] Pre-starting stage: the control component sets the gear position and the rotation direction of the output shaft, the control valve component controls the clutch of the transmission reversing component to perform sliding friction according to the reversing control curve, and the control valve component controls the clutch of the shifting component to perform sliding friction according to the shifting control curve until the roller completes the pre-starting;

[0010] Engagement stage: the control component controls the output speed of the engine not to be higher than the set speed, the control component collects the speed of the output shaft and the output speed of the engine, and when the difference between the speed of the output shaft and the output speed of the engine is within a set range, the control component controls the control valve component to pressurize at a set speed, so that the corresponding clutch in the transmission reversing component and the corresponding clutch in the shifting component are engaged;

[0011] Speed matching stage: the control component controls the engine so that the speed of the engine reaches a set speed.

[0012] Furthermore, it also includes an upshift stage, which is as follows: the control component sets the speed gear to be upgraded, the control valve component controls the disengagement of the clutch corresponding to the current gear, the control valve component controls the engagement of the clutch of the corresponding gear in the shift assembly according to the set upshift curve, and after the upshift set time is reached, the control valve component controls the closing of the corresponding clutch in the shift assembly to complete the upshift control.

[0013] Furthermore, it also includes a downshift stage, which is as follows: the control component sets the speed gear to be downshifted, the control valve component controls the disengagement of the clutch corresponding to the current gear, and the control valve component controls the slippage of the clutch of the corresponding gear in the shift assembly according to the set downshift curve; when the difference between the rotational speed of the output shaft and the output rotational speed of the engine is within a set range, the control valve component controls the closing of the corresponding clutch in the shift assembly to complete the downshift control.

[0014] Furthermore, the control component collects the rotation speed of the output shaft in real time, and when the rotation speed of the output shaft is lower than the set vibration speed, the control component controls the roller steel wheel of the vehicle to stop vibrating.

[0015] A motion control system, which is controlled by the control method as described above, comprises:

[0016] An engine, wherein the engine is integrated with an engine controller, and the engine controller is capable of controlling the rotation speed of the engine;

[0017] A gear-shifting gearbox, wherein the input shaft of the gear-shifting gearbox is drivingly connected to the rotating shaft of the engine, the output shaft of the gear-shifting gearbox is drivingly connected to the transmission system of the vehicle, and the gear-shifting gearbox is integrated with a transmission reversing component and a gear-shifting component;

[0018] A control valve assembly, the control valve assembly is in communication with the transmission reversing assembly and the shift assembly, and can control the transmission reversing assembly to change the rotation direction of the output shaft, and the control valve assembly can control the shift assembly to shift gears;

[0019] A control component, which is electrically connected to both the engine controller and the control valve assembly.

[0020] Furthermore, it further includes a control handle, which is electrically connected to the control component. The control handle can control the control valve assembly through the control component to control gear shifting and direction changing, as well as the opening degree of the control valve assembly.

[0021] Furthermore, a direction-changing button and a plurality of gear buttons are integrated on the control handle, and both the direction-changing button and the gear buttons are electrically connected to the control component.

[0022] Furthermore, the control valve assembly includes a fully proportional control operating valve, which is provided with a direction-changing control coil and a plurality of gear control coils. Both the direction-changing control coil and the plurality of gear control coils are electrically connected to the control component, and the fully proportional control operating valve is communicated with the transmission direction-changing component and the gear-shifting component.

[0023] Furthermore, the control component includes a controller and a speed sensor. The speed sensor is used to collect the rotational speed of the output shaft, and is electrically connected to the controller. The controller is electrically connected to both the control valve assembly and the engine controller.

[0024] A road roller includes a motion control system as described above.

[0025] Advantages of the present invention:

[0026] A control method of the present invention divides the motion control of the whole machine into three stages, namely the starting stage, the engaging stage, and the rotational speed matching stage. Through the above method, flexible gear shifting can be achieved, thereby reducing the impact of gear shifting. Moreover, during the gear shifting process, it is controlled by the control component, reducing the labor intensity of the driver and improving the driving comfort of the road roller.

[0027] A motion control system of the present invention, the gear-shifting transmission is connected to the engine in a transmission manner. A transmission direction-changing component and a gear-shifting component are integrated on the gear-shifting transmission. The control valve assembly is communicated with the transmission direction-changing component and the gear-shifting component. The control component can control the control valve assembly, thereby controlling the transmission direction-changing component and the gear-shifting component to achieve the gear output and motion direction control of the whole machine. When performing motion control, the control component can control the control valve assembly to achieve flexible gear shifting. Through the above method, the motion control of the road roller can be achieved without setting a clutch between the engine and the transmission. During this process, the driver does not need to repeatedly control the clutch, and only needs to control the control component, thereby reducing the labor intensity of the driver and improving the driving comfort of the road roller.

[0028] A road roller of the present invention includes the above-mentioned motion control system, which can achieve the motion control of the road roller without setting a clutch between the engine and the gearbox, and can reduce the labor intensity of the driver and improve the comfort of driving the road roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of a motion control system of the present invention;

[0030] Figure 2 is a schematic diagram of a control handle in a motion control system of the present invention.

[0031] In the figure:

[0032] 1. Engine; 11. Engine controller; 2. Coupling; 3. Shift gearbox; 4. Control valve assembly; 41. Full-proportion control operating valve; 411. Reversing control coil; 412. Gear position control coil; 5. Controller; 51. Speed sensor; 6. Control handle; 61. Gear position button. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The technical solutions of the present invention will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that only parts related to the present invention are shown in the drawings for the convenience of description, rather than all of them.

[0034] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0035] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0036] The mechanical roller is a key device for subgrade compaction in the construction of high-grade highways. Its driving mode is mechanical drive, that is, the engine transmits power to the clutch, the clutch then transmits power to the drive shaft, the drive shaft transmits power to the gearbox, and finally reaches the drive axle to drive the whole vehicle to move. Since the clutch engagement speed mainly depends on manual control by the driver, and manual control has different speeds. If the clutch engages too quickly, it will not only cause a strong impact on the friction plate, thus greatly reducing the reliability of the clutch system, but also affect the smooth start of the roller.

[0037] To solve the above problems, so as to realize the motion control of the roller without setting a clutch between the engine and the gearbox, and can reduce the labor intensity of the driver and improve the comfort of driving the roller. As Figure 1 - Figure 2 shown, the present invention provides a control method. The control method includes the following steps:

[0038] Pre-start stage: The control component sets the gear of the shift gearbox to 3rd gear and the rotation direction of the output shaft of the shift gearbox. The control valve component 4 controls the clutch corresponding to the transmission reversing component to perform slip friction according to the reversing control curve, and at the same time, the control valve component 4 controls the clutch corresponding to the shifting component to perform slip friction according to the shifting control curve until the roller completes pre-start; The reversing control curve and the shifting control curve are calibrated during bench testing and will not be elaborated here. Among them, pre-start is the stage when the roller overcomes the static friction with the ground. At this time, the roller has not moved.

[0039] Combination stage: The control component controls the output speed of the engine 1 not to be higher than the set speed. In this embodiment, the set speed is 800 r / min. The control component collects the speed of the output shaft and the output speed of the engine 1. When the difference between the speed of the output shaft and the output speed of the engine 1 is within the set range, specifically, the speed of the output shaft needs to be converted according to the corresponding speed ratio of the shift gearbox, and the set range is ±100 r / min. The control component controls the control valve component 4 to quickly pressurize at the set speed. Specifically, the set speed is calibrated manually, so that the corresponding clutch in the transmission reversing component and the corresponding clutch in the shifting component are quickly combined; During this process, the shifting curve is an adaptive curve, and different pressure curves are output according to different working conditions. This pressure curve is obtained by calibration during bench testing and will not be elaborated here.

[0040] Speed matching stage: The control component controls the engine 1 so that the speed of the engine 1 reaches the set speed corresponding to the operation angle of the control handle 6, so that the whole machine is smoothly combined to realize start-up shifting.

[0041] Further, the control method further includes a gear up phase, which is as follows: The control component sets the speed gear to be increased to. The control valve component 4 controls the clutch corresponding to the current gear to disengage, and controls the control valve component 4 according to the set gear up curve, so as to control the corresponding clutch in the shift component to engage. During the engagement process, it is a slow engagement, and the traveling speed of the whole machine is slowly increased by slip friction to prevent impact during the speed increase process. When the gear up set time is reached, the control valve component 4 controls the corresponding clutch in the shift component to close quickly to complete the gear up control; by quickly closing the corresponding clutch, damage to the clutch caused by excessive slip friction is prevented. In this embodiment, the gear up curve is a curve calibrated during bench testing, and will not be elaborated here.

[0042] Further, the control method further includes a gear down phase, which is as follows: The control component sets the speed gear to be decreased to. The control valve component controls the clutch corresponding to the current gear to disengage, and controls the clutch of the corresponding gear in the control valve component 4 to slip friction according to the set gear down curve, and controls the corresponding clutch in the shift component to engage. During the engagement process, it is a slow engagement, and the traveling speed of the whole machine is slowly decreased by slip friction to prevent impact during the speed decrease process. When the difference between the rotational speed of the output shaft and the output rotational speed of the engine 1 is within the set range, the control valve component controls the corresponding clutch in the shift component to close to complete the gear down control. In this embodiment, the gear up curve is a curve calibrated during bench testing, and will not be elaborated here. The set range is manually calibrated and is not limited here.

[0043] Further, the speed sensor 51 of the control component continuously collects the rotational speed of the output shaft. When the rotational speed of the output shaft is lower than the set vibration rotational speed, the control component controls the road roller steel wheel of the whole vehicle to stop vibrating. Specifically, since the rotational speed of the engine 1 is controlled by the control handle 6, when the control handle 6 is pushed to the most forward and the most rearward positions, the engine 1 has the maximum rotational speed, and it is at idle speed in the middle position. The road roller reciprocates, so the control handle 6 needs to be pushed and pulled back and forth. Generally, the road roller vibrates and compacts at the set vibration rotational speed. In the case of the road roller vibrating, the operator may make a misoperation and pull the control handle 6 below the set vibration rotational speed, or even to idle speed. At this time, the engine 1 will be damaged. Through the control of the controller 5, it is set that when the engine 1 is below a certain rotational speed, the steel wheel stops vibrating to ensure the service life of the engine 1. After the control handle 6 reaches the set vibration rotational speed, it starts vibrating automatically.

[0044] This embodiment also provides a motion control system. It is controlled by using the control method as described above. This motion control system includes an engine 1, a shift transmission 3, a shift valve component, and a control component.

[0045] Among them, an engine controller 11 is integrated on the engine 1, and the engine controller 11 can control the speed of the engine 1; the input shaft of the shift transmission 3 is drivingly connected to the rotating shaft of the engine 1, and the output shaft of the shift transmission 3 is drivingly connected to the drive system of the whole vehicle. A transmission reversing assembly and a shifting assembly are integrated on the shift transmission 3; the control valve assembly 4 is communicated with both the transmission reversing assembly and the shifting assembly. The control valve assembly 4 can control the transmission reversing assembly to change the rotation direction of the output shaft, and the control valve assembly 4 can control the shifting assembly to shift gears; the control assembly is electrically connected to both the engine controller 11 and the control valve assembly 4; the control assembly is configured to: collect the speed of the output shaft, compare the speed with the speed output by the engine 1, and control the control valve assembly 4 according to the comparison result to achieve flexible gear shifting.

[0046] Specifically, in this embodiment, the engine 1 and the shift transmission 3 are connected by a coupling 2 to achieve power transmission. The shift transmission 3 is a power shift transmission, which adopts parallel shaft (constant shaft) transmission in structure. All transmission gears are supported by rolling bearings, and the gears are in meshing transmission. Each bearing and clutch are lubricated by oil after cooling. The transmission is composed of five sets of multi-disc wet friction clutches. When shifting gears, the friction plates of the corresponding gears are pressed by the pistons pushed by the working oil pressure acting axially, and the release of the friction plates is achieved by the acting force of the return spring to return the pistons. Specifically, KV is the forward clutch, KR is the reverse clutch, and K1, K2, and K3 are the clutches for the first, second, and third gears respectively. The gear shifting of the shift transmission 3 is controlled by the control valve assembly 4, and the oil is output to the relevant pipelines to control the engagement and release of the friction plates in the corresponding directions and gears. Specifically, the shift transmission 3 is a prior art, and the internal structure of the shift transmission 3 will not be described in detail here.

[0047] Furthermore, the motion control system further includes a control handle 6, and the control handle 6 is electrically connected to the control assembly. The control handle 6 can control the control valve assembly 4 through the control assembly, so as to control gear shifting and reversing, and the opening degree of the control valve assembly 4. By setting the control handle 6, it is convenient for the driver to operate.

[0048] Specifically, a reversing button and a plurality of gear buttons 61 are integrated on the control handle 6, and both the reversing button and the gear buttons 61 are electrically connected to the control assembly. Specifically, in this embodiment, three gear buttons 61 are provided, corresponding to the first gear, the second gear, and the third gear respectively. In other embodiments, they can be configured according to the gears of the shift transmission 3, and no excessive limitation is made here. When performing motion control, the driver only needs to press the corresponding button, which is convenient for controlling the roller while reducing the labor intensity.

[0049] Further, the control valve assembly 4 includes a full - scale control operating valve 41. The full - scale control operating valve 41 is provided with a reversing control coil 411 and a plurality of gear - position control coils 412. The reversing control coil 411 and the plurality of gear - position control coils 412 are both electrically connected to the control assembly. The full - scale control operating valve 41 is communicated with the transmission reversing assembly and the shifting assembly. Since the full - scale control operating valve 41 is adopted, the opening of the valve can be controlled by controlling the magnitude of the current applied to the control coil, thereby realizing flexible motion control.

[0050] Further, the control assembly includes a controller 5 and a speed sensor 51. The speed sensor 51 is used to collect the rotational speed of the output shaft. The speed sensor 51 is electrically connected to the controller 5. The controller 5 is electrically connected to both the control valve assembly 4 and the engine controller 11. In this embodiment, the controller 5 can be a vehicle controller. Specifically, the controller 5 is a prior art and will not be elaborated here.

[0051] In the initial state, the engine 1 transmits power to the shift transmission 3 through the coupling 2, and finally reaches the drive axle to drive the whole vehicle to move forward and backward. The function of the coupling 2 is to transmit torque and absorb shock.

[0052] The control handle 6 integrally controls the forward and backward movement of the whole machine, the start and stop of vibration, and the throttle of the engine 1. When the whole machine starts, it is required that the initial position of the control handle 6 is in the middle position, and at this time the engine 1 is at idle speed. When the operator shifts gears, the required gear can be selected through the control handle 6. At this time, the whole machine is in neutral gear, and the gear display of the whole machine is N1. When the control handle 6 is pushed forward, the whole machine moves forward, and when it is pushed backward, the whole machine moves backward. The greater the inclination of the handle forward or backward, the greater the rotational speed of the engine 1.

[0053] Taking the first - gear forward as an example, after selecting the gear, the control handle 6 is pushed forward. The control handle 6 outputs a control signal to the controller 5, requiring the control valve assembly 4 to output oil to the forward clutch KV and the gear clutch K1 of the shift transmission 3, and apply an axial force to the piston to press it tightly. Since the overall full - scale control operating valve 41 is adopted and combined with the controller 5, the shifting of the shift transmission 3 can be accurately controlled. The controller 5 is connected to the engine controller 11, and the engine controller 11 is used to control the increase and decrease of the rotational speed of the engine 1. The controller 5 is also connected to the speed sensor 51. The rotational speed of the output shaft of the shift transmission 3 (since the output shaft of the shift transmission 3 is rigidly connected to the transmission shaft and the drive axle, the speed of the output end of the shift transmission 3 can intuitively reflect the driving speed of the whole machine), and after calculation, the driving speed can be fed back to the controller 5, so as to be compared with the rotational speed of the engine 1, confirm the softness of the working condition, and thus output different direction and gear - shifting curves to realize flexible gear - shifting of the whole machine.

[0054] This embodiment also provides a road roller, which includes a motion control system as described above. Compared with the original structure where the shift and direction change operations rely on manual control by the driver, which is prone to driver fatigue; the structure of this embodiment can precisely control the engagement speed of the clutch friction plates inside the shift gearbox 3, improve the starting smoothness, reduce the labor intensity of the operator, and enhance the product comfort.

[0055] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A control method, characterized in that, The steps include: In the pre-starting stage, the control component sets the gear position of the gearshift transmission (3) and the rotation direction of the output shaft of the gearshift transmission (3), and the control valve component (4) controls the clutch corresponding to the transmission reversing component to perform sliding friction according to the reversing control curve. At the same time, the control valve component (4) controls the clutch corresponding to the gearshift component to perform sliding friction according to the gearshift control curve until the road roller completes the pre-starting; Engagement stage: the control component controls the output speed of the engine (1) not to be higher than a set speed, the control component collects the speed of the output shaft and the output speed of the engine (1), and when the difference between the speed of the output shaft and the output speed of the engine (1) is within a set range, the control component controls the control valve component (4) to increase pressure at a set speed, so that the corresponding clutch in the transmission reversing component and the corresponding clutch in the shifting component engage; Speed matching stage: the control component controls the engine (1) so that the speed of the engine (1) reaches a set speed; The control component collects the rotation speed of the output shaft in real time. When the rotation speed of the output shaft is lower than the set vibration speed, the control component controls the roller steel wheel of the whole vehicle to stop vibrating.

2. The control method according to claim 1, wherein The invention also includes an upshifting stage, wherein the control component sets the speed gear to be upgraded, the control valve component (4) controls the clutch corresponding to the current gear to be disengaged, the control valve component (4) controls the clutch corresponding to the gear in the shifting component to be engaged according to the set upshifting curve, and when the upshifting setting time is reached, the control valve component (4) controls the clutch corresponding to the gear in the shifting component to be closed, thereby completing the upshifting control.

3. The control method according to claim 1, characterized in that The invention also includes a downshifting stage, wherein the control component sets the speed gear to be downshifted, the control valve component (4) controls the clutch corresponding to the current gear to disengage, the control valve component (4) controls the clutch slippage of the corresponding gear in the shifting component according to the set downshifting curve, and when the difference between the rotation speed of the output shaft and the output rotation speed of the engine (1) is within a set range, the control valve component (4) controls the corresponding clutch in the shifting component to close, thereby completing the downshifting control.

4. A motion control system, characterized in that, The control method according to any one of claims 1 to 3 is used for control, including: An engine (1), wherein the engine (1) is integrated with an engine controller (11), and the engine controller (11) is capable of controlling the rotation speed of the engine (1); A gearshift gearbox (3), wherein the input shaft of the gearshift gearbox (3) is drivingly connected to the rotating shaft of the engine (1), the output shaft of the gearshift gearbox (3) is drivingly connected to the transmission system of the vehicle, and the gearshift gearbox (3) is integrated with a transmission reversing component and a gearshift component; a control valve assembly (4), the control valve assembly (4) being in communication with the transmission reversing assembly and the gear shifting assembly, capable of controlling the transmission reversing assembly to change the rotation direction of the output shaft, and the control valve assembly (4) being capable of controlling the gear shifting assembly to shift gears; A control component, which is electrically connected to both the engine controller (11) and the control valve assembly (4).

5. A motion control system according to claim 4, characterized in that, It further includes a control handle (6), which is electrically connected to the control component. The control handle (6) can control the control valve assembly (4) through the control component to control gear shifting and direction changing, as well as the opening degree of the control valve assembly (4).

6. The motion control system according to claim 5, characterized in that, A reversing button and a plurality of gear buttons (61) are integrated on the control handle (6), and both the reversing button and the gear buttons (61) are electrically connected to the control component.

7. A motion control system according to claim 4, wherein The control valve assembly (4) includes a full-proportion control operating valve (41). The full-proportion control operating valve (41) is provided with a reversing control coil (411) and a plurality of gear control coils (412). Both the reversing control coil (411) and the plurality of gear control coils (412) are electrically connected to the control component. The full-proportion control operating valve (41) is communicated with the transmission reversing component and the gear shifting component.

8. A motion control system according to claim 4, wherein The control component includes a controller (5) and a speed sensor (51). The speed sensor (51) is used to collect the rotational speed of the output shaft. The speed sensor (51) is electrically connected to the controller (5), and the controller (5) is electrically connected to both the control valve assembly (4) and the engine controller (11).

9. A road roller, characterized in that, It includes a motion control system according to any one of claims 4-8.

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