Matching control method for running speed and paving speed of mechanical pavement

Abstract

The invention provides a matching control method for the running speed and the paving speed of a mechanical pavement, and relates to the field of mechanical pavement folding and unfolding and vehicle speed matching. According to the matching control method for the running speed and the laying speed of the mechanical pavement, a long-distance distance measuring sensor, a short-distance distance measuring sensor and a rotary pavement panel device are included. The long-distance distance measuring sensor is installed on the side edge of a rotary platform of the rotary pavement panel releasing equipment in the direction close to a vehicle head, and the long-distance distance measuring sensor obliquely and upwards detects the thickness of a pavement roll. The distance between the long-distance distance measuring sensor and the outer circle of the pavement roll is collected through the long-distance distance measuring sensor, the rotation speed of the rotary pavement roll unwinding device for unwinding the pavement roll is controlled through the change of the distance, the larger the data detected by the long-distance distance measuring sensor is, the higher the rotation speed of unwinding the pavement roll is, and otherwise, the rotation speed of unwinding the pavement roll is slow, so that the unwinding speed of the pavement roll is constant; therefore, the effect that the pavement slab release speed is matched with the vehicle traveling speed is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical pavement retraction and extension and vehicle speed matching, and in particular, to a matching control method for mechanical pavement driving speed and paving speed. Background Art

[0002] The beach pavement is a kind of equipment that actively rotates to release the road panels. When the speed of releasing the road panels does not match the speed of the vehicle, the paving process may be frustrated or the pavement panels may pile up and affect the paving. Since the outer boundary of the reel for retracting and releasing the pavement is elliptical, there are many factors affecting the speed matching: affected by the change in the number of pavement rolls, affected by the shape of the pavement rolls (the elliptical pavement rolls have changes in the long and short axes), and the reel rotates at a constant speed, the linear speed of a circle of pavement rolls is changing. Therefore, how to keep the linear speed constant and control the speed of releasing the road panels to match the speed of the vehicle has become a technical problem that needs to be solved. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a matching control method for the driving speed of a mechanical road surface and the paving speed, which has the effect of controlling the road panel release speed and the vehicle travel speed to match each other.

[0004] According to the embodiment of the present application, the matching control method of the driving speed of a mechanical road surface and the paving speed includes: a long-distance ranging sensor, a short-distance ranging sensor and a rotating road-laying panel device; The long-distance ranging sensor is installed on the side of the rotating platform of the rotating road panel equipment close to the front of the vehicle. The long-distance ranging sensor detects the thickness of the pavement roll obliquely upward. During the paving process of the rotating road panel equipment, the pavement roll becomes less and less and the outer boundary of the pavement roll ellipse changes, which changes the distance from the edge of the pavement roll to the long-distance ranging sensor. The short-distance ranging sensor is installed at the bottom of the rear guide wheel of the rotating road panel equipment. The short-distance ranging sensor detects the tensioning state of the road panel behind the guide wheel obliquely backward, and the short-distance ranging sensor is used to assist in correcting the data.

[0005] According to some embodiments of the present application, the hydraulic system of the rotating path panel equipment includes a proportional valve, a balancing valve, a diverter and collector valve, a reversing floating valve, a hydraulic motor, a reversing balancing valve and a lifting hydraulic cylinder. The hydraulic pump is connected to an oil source, the hydraulic pump is connected to the proportional valve, the proportional valve is respectively connected to the balancing valve and the diverter and collector valve, the balancing valve is connected to two of the reversing floating valves, the two reversing floating valves are connected to two of the hydraulic motors, the diverter and collector valve is connected to two of the reversing balancing valves, and the two reversing balancing valves are connected to two of the lifting hydraulic cylinders.

[0006] According to some embodiments of the present application, the long-distance ranging sensor signal controls the proportional valve to supply flow, including the following steps: S1: The long-distance ranging sensor collects the distance from the outer circle of the road surface roll; S2: Collect the detection value L of the distance measuring sensor, calculate the required theoretical flow supply q value through the L value, set the proportional valve control current corresponding to the q value, and obtain the corresponding q value flow output; S3: The maximum supply flow of the proportional valve controlling the hydraulic pump is Q. When the output value is greater than Q, the algorithm is added, the obtained q value is divided by 2, and the reversing floating valve is controlled to make the single hydraulic motor work. The hydraulic oil supplied to the two hydraulic motors is supplied to one of the hydraulic motors, the speed of the hydraulic motor is increased, and the other hydraulic motor follows without back pressure; S4: When the obtained value is greater than Q again, the output value of the multi-way valve controlling the hydraulic pump maintains the maximum Q value output.

[0007] According to some embodiments of the present application, the short-range distance measuring sensor is used to correct the control current of the proportional valve, comprising the following steps: S1: The short-distance distance measuring sensor detects the tension of the rear road panel as a correction parameter. According to the actual operation situation, five detection points are selected: S2: Detection fluctuation range S. The detection of the short-distance ranging sensor from the road panel is divided into five positions of high, upper middle, middle, lower middle, and low through the S value. When the detection value of the short-distance ranging sensor is between upper middle and lower middle, it means that the tension of the road panel is moderate, and the output of the q value is multiplied by a coefficient of 1; when it is between high and upper middle, it means that the road panel is too tight, and the output of the q value is multiplied by a coefficient of 0.8, reducing the motor speed; when it is between lower middle and bottom, it means that the road panel is too tight, and the output of the q value is multiplied by a coefficient of 1.2, increasing the motor speed; S3: When the corrected Q value of the second group of sensors exceeds the limit value, the maximum output is also maintained.

[0008] The beneficial effect of the present application is as follows: the distance between the long-distance ranging sensor and the outer circle of the pavement roll is collected by the long-distance ranging sensor, and the rotation speed of the road panel releasing equipment for retracting and releasing the pavement roll is controlled by the change of the distance. The larger the data detected by the long-distance ranging sensor, the faster the rotation speed of the road panel retracting and releasing the pavement roll, and vice versa, the slower the rotation speed, so that the pavement roll release linear speed is constant, thereby achieving the effect of matching the road panel release speed with the vehicle travel speed.

[0009] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 is a schematic diagram of the installation structure of a long-distance ranging sensor according to an embodiment of the present application; Figure 2 is a schematic diagram of the installation structure of a short-distance ranging sensor according to an embodiment of the present application; Figure 3 It is a schematic diagram of the principle structure of the hydraulic system of the matching control method of the mechanical road driving speed and the paving speed according to the embodiment of the present application.

[0012] Icons: 10-long distance distance sensor; 20-short distance distance sensor; 30-proportional valve; 40-balancing valve; 50-flow diverter and collector valve; 60-reversing floating valve; 70-hydraulic motor; 80-reversing balancing valve; 90-lifting hydraulic cylinder. DETAILED DESCRIPTION

[0013] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0014] In order to make the purpose, technical solutions and advantages of the implementation methods of this application clearer, the technical solutions in the implementation methods of this application will be clearly and completely described below in conjunction with the drawings in the implementation methods of this application. Obviously, the described implementation methods are part of the implementation methods of this application, not all of the implementation methods. Based on the implementation methods in this application, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0015] The following describes a method for controlling the matching of a mechanical road driving speed and a paving speed according to an embodiment of the present application with reference to the accompanying drawings.

[0016] See also Figures 1 to 3 , according to the matching control method of the mechanical road driving speed and the paving speed of the embodiment of the present application, it includes: a long-distance ranging sensor 10, a short-distance ranging sensor 20 and a rotating road panel device; See also Figure 1 to Figure 2The long-distance ranging sensor 10 is installed on the side of the rotating platform of the rotating road panel equipment close to the front of the vehicle. The long-distance ranging sensor 10 detects the thickness of the pavement roll obliquely upward. During the paving process of the rotating road panel equipment, the pavement roll becomes less and less and the outer boundary of the pavement roll ellipse changes, which changes the distance from the edge of the pavement roll to the long-distance ranging sensor 10. The short-distance ranging sensor 20 is installed at the bottom of the rear guide wheel of the rotating road panel equipment. The short-distance ranging sensor 20 detects the tensioning state of the road panel behind the guide wheel obliquely backward, and the short-distance ranging sensor 20 assists in correcting the data.

[0017] The distance between the long-distance ranging sensor 10 and the outer circle of the pavement roll is collected by the long-distance ranging sensor 10, and the rotation speed of the road panel releasing equipment to retract and release the pavement roll is controlled by the change of the distance. The larger the data detected by the long-distance ranging sensor 10, the faster the rotation speed of the road panel retracting and releasing is, and vice versa, the slower the rotation speed is, so that the pavement roll release linear speed is constant, thereby achieving the effect of matching the road panel release speed with the vehicle travel speed.

[0018] See also Figures 1 to 3 The hydraulic system of the rotating release panel equipment includes a proportional valve 30, a balancing valve 40, a diverter and collector valve 50, a reversing floating valve 60, a hydraulic motor 70, a reversing balancing valve 80 and a lifting hydraulic cylinder 90. The hydraulic pump is connected to the oil source, the hydraulic pump is connected to the proportional valve 30, the proportional valve 30 is respectively connected to the balancing valve 40 and the diverter and collector valve 50, the balancing valve 40 is connected to two reversing floating valves 60, the two reversing floating valves 60 are connected to two hydraulic motors 70, the diverter and collector valve 50 is connected to two reversing balancing valves 80, and the two reversing balancing valves 80 are connected to two lifting hydraulic cylinders 90.

[0019] Among them, the lifting hydraulic cylinder 90 pipeline integrates the reversing balance valve 80 and the proportional valve of the lifting hydraulic cylinder 90 on the lifting hydraulic cylinder 90, reducing the pipeline connection between the two, making the performance of the lifting hydraulic cylinder 90 more reliable. Integrating the reversing valve and the balance valve into the reversing balance valve 80 reduces the volume and weight of the valve parts, facilitates pipeline design, and is more convenient for maintenance. The reversing balance valve 80 is installed on the flange of the lower oil port of the lifting hydraulic cylinder 90, and is an integrated valve group of the reversing valve and the balance valve. When stationary, the balance valve keeps the actuator at a certain pressure, playing a safety protection role; when the load size and direction change, the actuator moves smoothly. The reversing valve changes the oil inlet of the lifting hydraulic cylinder 90, so that the lifting hydraulic cylinder 90 extends or retracts. The proportional valve 30 can control the flow rate, and combined with the feedback signal of the stroke sensor of the lifting hydraulic cylinder 90, adjust the lifting oil volume of the lifting hydraulic cylinder 90 to achieve the purpose of controlling the extension distance of the lifting hydraulic cylinder 90. The lifting hydraulic cylinder 90 is designed to use an embedded stroke sensor, which cooperates with the proportional valve 30 to control the extension length of the lifting hydraulic cylinder 90 to ensure the synchronous stroke of the lifting hydraulic cylinders 90 on both sides. Compared with the diverter and collector valve, it can avoid the lifting asynchronism caused by the failure of the lifting hydraulic cylinder 90 and the valve components.

[0020] Among them, when the hydraulic motor 70 is in the paving and withdrawal operation, the hydraulic motor 70 actively rotates to operate, and the reversing valve and the floating valve are integrated with the reversing floating valve 60, and the reversing floating valve 60 is installed on the hydraulic motor 70. In order to match the travel speed of the work vehicle with the paving speed, the hydraulic motor 70 is controlled separately. During active paving, the diameter of the road roll changes from large to small, and the speed of the hydraulic motor 70 changes from small to large accordingly, and the required hydraulic oil flow also changes from small to large. The supply flow can be dynamically adjusted through electronic control so that the hydraulic motor 70 can obtain the required rotation speed. Initially, the speed of the hydraulic motor 70 is relatively low, and the hydraulic system can meet the required flow of the hydraulic motor 70. In the later stage of paving, the speed of the hydraulic motor 70 is required to be higher. The electronic control system is designed to operate the single hydraulic motor 70 through the action of the reversing floating valve 60 after paving a certain length of road panels to increase the speed of the hydraulic motor 70.

[0021] See also Figures 1 to 3 In the first embodiment, the matching control method of the mechanical road driving speed and the paving speed, the long-distance ranging sensor 10 signal controls the proportional valve 30 to supply flow, including the following steps: S1: The long-distance distance measuring sensor 10 collects the distance from the outer circle of the road surface roll; S2: Collect the detection value L of the distance measuring sensor, calculate the required theoretical flow supply q value through the L value, set the proportional valve 30 control current corresponding to the q value, and obtain the corresponding q value flow output; S3: Control the maximum supply flow of the proportional valve 30 of the hydraulic pump to be Q. When the output value is greater than Q, the algorithm is added to obtain the value of q divided by 2, and the reversing floating valve 60 is controlled to make the single hydraulic motor 70 work. The hydraulic oil supplied to the two hydraulic motors 70 is supplied to one of the hydraulic motors 70, the speed of the hydraulic motor 70 is increased, and the other hydraulic motor 70 follows without back pressure; S4: When the obtained value is greater than Q again, the output value of the multi-way valve controlling the hydraulic pump maintains the maximum Q value output.

[0022] The simulation results show that when the 11th circle of road panels was laid, the q value reached the limit value Q. When the 23rd circle of road panels was laid, the q value reached the limit value again. There were about 5 circles left, with a length of about 17m and an operation time of about 1min40s (based on a driving speed of 2.5km / h). The operation time for the first 133 meters was about 3min12s, and the total operation time was about 4min52s.

[0023] See also Figures 1 to 3 The short-distance distance measuring sensor (20) is used to correct the control current of the proportional valve (30), comprising the following steps: S1: The short-distance distance measuring sensor 20 detects the tension of the rear road panel as a correction parameter. Five detection points are selected according to the actual operation situation: S2: Detection fluctuation range S. The detection of the short-distance ranging sensor from the road panel is divided into five positions of high, upper middle, middle, lower middle, and low through the S value. When the detection value of the short-distance ranging sensor 20 is between upper middle and lower middle, it means that the tension of the road panel is moderate, and the output of the q value is multiplied by a coefficient of 1; when it is between high and upper middle, it means that the road panel is too tight, and the output of the q value is multiplied by a coefficient of 0.8, and the motor speed is reduced; when it is between lower middle and bottom, it means that the road panel is too tight, and the output of the q value is multiplied by a coefficient of 1.2, and the motor speed is increased; S3: When the corrected Q value of the second group of sensors exceeds the limit value, the maximum output is also maintained.

[0024] In this embodiment, based on the road panel length of 150 meters, the elliptical road surface has about 28 layers, the long-distance ranging sensor 10 has a range of 3.4 meters, and the short-distance ranging sensor 20 has a range of 1.3 meters.

[0025] Specifically, the working principle of the matching control method of the mechanical road driving speed and the paving speed is as follows: the distance between the long-distance distance measuring sensor 10 and the outer circle of the road roll is collected by the long-distance distance measuring sensor 10, and the rotation speed of the road panel retracting and unreeling equipment is controlled by the change of the distance. The larger the data detected by the long-distance distance measuring sensor 10, the faster the rotation speed of the road panel retracting and unreeling is, and vice versa, it is slow, so that the road panel reeling out line speed is constant, thereby meeting the effect of matching the road panel reeling out speed with the vehicle travel speed. The lifting hydraulic cylinder 90 pipeline integrates the reversing balance valve 80 and the proportional valve of the lifting hydraulic cylinder 90 on the lifting hydraulic cylinder 90, reducing the pipeline connection between the two, making the performance of the lifting hydraulic cylinder 90 more reliable. Integrating the reversing valve and the balance valve into the reversing balance valve 80 reduces the volume and weight of the valve parts, facilitates pipeline design, and is more convenient for maintenance. The reversing balance valve 80 is installed on the flange of the lower oil port of the lifting hydraulic cylinder 90, which is an integrated valve group of the reversing valve and the balance valve. When stationary, the balance valve keeps the actuator at a certain pressure, which plays a role of safety protection; when the load size and direction change, the actuator moves smoothly. The reversing valve changes the oil inlet of the lifting hydraulic cylinder 90, so that the lifting hydraulic cylinder 90 extends or retracts. The proportional valve 30 can control the flow rate, and adjust the lifting oil volume of the lifting hydraulic cylinder 90 in combination with the feedback signal of the stroke sensor of the lifting hydraulic cylinder 90, so as to achieve the purpose of controlling the extension distance of the lifting hydraulic cylinder 90. The lifting hydraulic cylinder 90 is designed to use an embedded stroke sensor, which cooperates with the proportional valve 30 to control the extension length of the lifting hydraulic cylinder 90, ensuring the synchronous stroke of the lifting hydraulic cylinders 90 on both sides. Compared with the diverter and collector valve, it can avoid the lifting asynchronism caused by the failure of the lifting hydraulic cylinder 90 and the valve components; when the hydraulic motor 70 is laying and withdrawing, the hydraulic motor 70 actively rotates, and the reversing valve and the floating valve are integrated with the reversing floating valve 60, and the reversing floating valve 60 is installed on the hydraulic motor 70. In order to match the travel speed of the work vehicle with the laying speed, the hydraulic motor 70 is controlled separately. During active paving, the diameter of the road roll changes from large to small, and the speed of the hydraulic motor 70 changes from small to large accordingly, and the required hydraulic oil flow also changes from small to large. The supply flow can be dynamically adjusted through electronic control to enable the hydraulic motor 70 to obtain the required rotation speed. Initially, the speed of the hydraulic motor 70 is relatively low, and the hydraulic system can meet the required flow of the hydraulic motor 70. In the later stage of paving, the speed of the hydraulic motor 70 is required to be higher. The electronic control system is designed to operate the single hydraulic motor 70 through the action of the reversing floating valve 60 after paving a certain length of road panels to increase the speed of the hydraulic motor 70.

[0026] The above are only embodiments of the present application and are not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

Claims

1. A matching control method for mechanical pavement driving speed and paving speed, characterized in that: include: A long-distance distance measuring sensor (10), a short-distance distance measuring sensor (20) and a rotating path-releasing panel device; The long-distance distance measuring sensor (10) is installed on the side of the rotating platform of the rotating road panel placing device close to the vehicle head direction. The long-distance distance measuring sensor (10) detects the thickness of the road surface roll obliquely upward. During the laying process of the rotating road panel placing device, the road surface roll becomes less and less and the outer boundary of the road surface roll ellipse changes, so that the distance from the edge of the road surface roll to the long-distance distance measuring sensor (10) changes. The short-distance distance measuring sensor (20) is installed at the bottom of the rear guide wheel of the rotating road panel placing device. The short-distance distance measuring sensor (20) detects the tension state of the road panel behind the guide wheel obliquely backward, and the short-distance distance measuring sensor (20) assists in correcting the data.

2. The matching control method of mechanical road driving speed and paving speed according to claim 1 is characterized in that: The hydraulic system of the rotating path panel device comprises a proportional valve (30), a balancing valve (40), a flow-dividing and flow-collecting valve (50), a reversing floating valve (60), a hydraulic motor (70), a reversing balancing valve (80) and a lifting hydraulic cylinder (90); the hydraulic pump is connected to an oil source; the hydraulic pump is connected to the proportional valve (30); the proportional valve (30) is respectively connected to the balancing valve (40) and the flow-dividing and flow-collecting valve (50); the balancing valve (40) is connected to two reversing floating valves (60); the two reversing floating valves (60) are connected to two hydraulic motors (70); the flow-dividing and flow-collecting valve (50) is connected to two reversing balancing valves (80); and the two reversing balancing valves (80) are connected to two lifting hydraulic cylinders (90).

3. The matching control method for mechanical road driving speed and paving speed according to claim 2, wherein the signal of the long-distance ranging sensor (10) controls the proportional valve (30) to supply flow, characterized in that: The following steps are involved: S1: a long-distance distance measuring sensor (10) collects the distance from the outer circle of the road surface roll; S2: Collect the detection value L of the distance measuring sensor, calculate the required theoretical flow supply q value through the L value, set the proportional valve (30) corresponding to the q value to control the current, and obtain the corresponding q value flow output; S3: Control the maximum supply flow rate of the proportional valve (30) of the hydraulic pump to be Q. When the output value is greater than Q, the algorithm is added, the obtained q value is divided by 2, and the reversing floating valve (60) is controlled to make the single hydraulic motor (70) work, and the hydraulic oil supplied to the two hydraulic motors (70) is supplied to one of the hydraulic motors (70), the speed of the hydraulic motor (70) is increased, and the other hydraulic motor (70) follows without back pressure; S4: When the obtained value is greater than Q again, the output value of the multi-way valve controlling the hydraulic pump maintains the maximum Q value output.

4. The matching control method for mechanical road driving speed and paving speed according to claim 3, wherein the short-distance distance measuring sensor (20) is used to correct the control current of the proportional valve (30), comprising the following steps: S1: The short-range distance measuring sensor (20) detects the tension of the rear road panel as a correction parameter. According to the actual situation of the operation, select five detection points: S2: detection fluctuation range S, through which the detection of the short-distance distance measuring sensor from the road panel is divided into five positions: high, upper middle, middle, lower middle, and low. When the detection value of the short-distance distance measuring sensor (20) is between upper middle and lower middle, it indicates that the tension of the road panel is moderate, and the output of the q value is multiplied by a coefficient of 1; when it is between high and upper middle, it indicates that the road panel is too tight, and the output of the q value is multiplied by a coefficient of 0.8, and the motor speed is reduced; when it is between lower middle and bottom, it indicates that the road panel is too tight, and the output of the q value is multiplied by a coefficient of 1.2, and the motor speed is increased; S3: When the corrected Q value of the second group of sensors exceeds the limit value, the maximum output is also maintained.

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