Walking anti-skid control system and control method for cold regeneration machine and cold regeneration machine

Abstract

The invention discloses a walking anti-skid control system of a cold regeneration machine. The walking anti-skid control system comprises an oil tank, a variable pump, a right rear walking motor, a left rear walking motor, a flow dividing control valve, a flow dividing valve, a rear control valve, a front control valve, a left front walking motor and a right front walking motor. The variable pump supplies oil to the flow dividing control valve, the oil enters the flow dividing valve through a working oil port of the flow dividing control valve to be divided, and pressure oil output by the variable pump enters the flow dividing valve through an oil inlet of the flow dividing valve, is evenly distributed to all the working oil ports and is output to all the walking motors. The variable pump further supplies oil to the front control valve and the rear control valve, pressure oil is output to the walking motor located on the front side and the walking motor located on the rear side through the front control valve and the rear control valve, the displacement of the motors is controlled, and the walking state of the whole machine is changed by controlling the displacement difference of the front motor and the rear motor. The control system can reduce the slipping rate of the whole machine, so that the whole machine can be quickly adjusted to return to normal walking when slipping occurs.

Description

Technical Field

[0001] This invention relates to the field of anti-slip control, and in particular to an anti-slip control system, control method, and cold recycling machine for a cold recycling machine. Background Technology

[0002] A cold recycling machine is a mechanical device that reprocesses old road surface materials to restore their original shape and performance. Due to its working characteristics, during operation, the four drive wheels of a cold recycling machine are on different road surfaces, while the rear wheels remain on the newly constructed surface. Because of the low adhesion of the constructed surface, the rear wheels of the cold recycling machine frequently slip. Slippage not only affects the machine's overall speed but also negatively impacts work quality, reducing efficiency and efficiency. Conventional anti-slip systems for cold recycling machines use flow dividers to control each drive wheel and suppress slippage. However, with the increasing application of cold recycling machines and the growing complexity of working conditions, this single anti-slip system is no longer sufficient to meet application requirements and reduce the probability of slippage during cold recycling. Summary of the Invention

[0003] Purpose of the invention: The first purpose of this invention is to propose a walking anti-slip control system for a cold recycling machine, which can reduce the slip rate of the whole machine and enable the whole machine to quickly adjust and resume normal walking when slippage occurs; The second objective is to propose a walking anti-slip control method for cold recycling machines based on the aforementioned control system. The third objective is to propose a cold regeneration machine that incorporates the aforementioned control system.

[0004] Technical solution: The cold recycling machine walking anti-slip control system proposed in this invention includes: an oil tank, a variable pump, a right rear walking motor, a left rear walking motor, a diversion control valve, a diversion valve, a rear control valve, a front control valve, a left front walking motor, and a right front walking motor. The variable pump supplies oil to the flow divider control valve, which then enters the flow divider valve through its working port, thereby controlling the flow divider valve to switch to flow divider mode. The pressure oil output by the variable pump enters the flow divider valve through its inlet and is evenly distributed to each working port, and is then output to each travel motor. The variable pump also supplies oil to the front control valve and the rear control valve, respectively, and outputs pressure oil to the travel motor located at the front and the travel motor located at the rear, thereby controlling the motor displacement. By controlling the displacement difference between the front and rear motors, the overall travel state of the machine is changed.

[0005] Furthermore, the variable pump includes a main pump and a replenishing pump, and integrates an electro-proportional valve and a shut-off valve; the working pressure output port MH of the main pump is connected to the inlet port P of the diversion control valve, the working port B of the diversion control valve is connected to the control port X of the diversion valve, the working port B of the main pump supplies oil to the inlet port P of the diversion valve, outputs oil to the travel motor, and returns oil through the working port A; the suction port S of the replenishing pump draws oil from the oil tank and inputs it into the main pump, and supplies oil to the inlet ports P of the forward control valve and the rear control valve through the replenishing pressure output port G.

[0006] Furthermore, the return ports T of the diversion control valve, the rear control valve, and the front control valve are connected to the oil tank.

[0007] Furthermore, the working oil ports A, B, C, and D of the diverter valve are respectively connected to the working oil port A of the left front travel motor, the working oil port B of the right rear travel motor, the working oil port A of the left rear travel motor, and the working oil port B of the right front travel motor; the working oil ports B of the left front travel motor, A of the right rear travel motor, B of the left rear travel motor, and A of the right front travel motor return oil from the working oil port A of the variable pump.

[0008] Furthermore, the working port A of the front control valve is connected to the displacement control port X of the left front travel motor and the right front travel motor respectively, and the working port A of the rear control valve is connected to the displacement control port X of the right rear travel motor and the left rear travel motor respectively.

[0009] Furthermore, the right rear travel motor, left rear travel motor, left front travel motor, and right front travel motor all integrate control valves to control the displacement.

[0010] Furthermore, it also includes control elements that are electrically connected to the variable pump, flow control valve, downstream control valve, and upstream control valve.

[0011] Furthermore, the oil in the main pump of the variable pump leaks back to the oil tank through the housings of the variable pump, the right rear travel motor, the left rear travel motor, the left front travel motor, and the right front travel motor.

[0012] Correspondingly, a method for controlling the anti-slip movement of a cold recycling machine is also proposed, based on the aforementioned anti-slip control system for the cold recycling machine: When the flow control valve is energized, the control pressure oil enters the flow control valve, and the flow control valve enters the forced flow control state. The pressure oil output by the variable pump is evenly distributed by the flow control valve to the right rear travel motor, left rear travel motor, left front travel motor and right front travel motor, and the oil is returned to the variable pump by each travel motor, forming active anti-slip control. Whether the active anti-slip mechanism is triggered or not, it determines whether the wheel is slipping. When the wheel is slipping, the front and rear control valves control the displacement of the front and rear motors. By changing the displacement difference between the front and rear motors, the overall walking state of the machine is changed, thus forming passive anti-slip control.

[0013] Correspondingly, a cold recycling machine was also proposed, which adopts the aforementioned cold recycling machine walking anti-slip control system.

[0014] Beneficial effects: Compared with the prior art, the significant advantage of this invention is that the control system can seamlessly switch or superimpose active anti-slip and passive anti-slip on the cold recycling machine according to different scenarios, effectively reducing the occurrence of slippage of the whole machine and improving the efficiency of cold recycling. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the hydraulic principle of the system of the present invention. Detailed Implementation

[0016] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] like Figure 1 The cold recycling machine's anti-slip control system shown includes: an oil tank 1, a variable displacement pump 2, a right rear travel motor 3, a left rear travel motor 4, a flow divider control valve 5, a flow divider valve 6, a rear control valve 7, a front control valve 8, a left front travel motor 9, and a right front travel motor 10. It also includes an operating element electrically connected to the variable displacement pump 2, the flow divider control valve 5, the rear control valve 7, and the front control valve 8. Through these pumps and valves, the system controls the cold recycling machine's movement when it slips, reducing the overall slippage rate.

[0018] Variable pump 2 supplies oil to flow divider control valve 5. The oil enters flow divider valve 6 through the working port of flow divider control valve 5 for flow division. The pressure oil output by variable pump 2 enters through the oil inlet of flow divider valve 6 and is evenly distributed to each working port, and is output to each travel motor respectively. Variable pump 2 also supplies oil to front control valve 8 and rear control valve 7 respectively. Through front control valve 8 and rear control valve 7, pressure oil is output to the travel motor located on the front side and the travel motor located on the rear side respectively to control the motor displacement. By controlling the displacement difference between the front and rear motors, the overall travel state of the machine is changed.

[0019] The variable pump 2 includes a main pump and a make-up pump, and also integrates an electro-proportional valve to control the displacement of the main pump. It is also equipped with a shut-off valve to protect the system from overload. The working pressure output port MH of the main pump is connected to the inlet port P of the diversion control valve 5. The working port B of the diversion control valve 5 is connected to the control port X of the diversion valve 6. The working port B of the main pump supplies oil to the inlet port P of the diversion valve 6, outputs it to the travel motor, and returns oil through the working port A. The suction port S of the make-up pump draws oil from the oil tank 1. Low-temperature, clean oil is input into the main pump and supplies oil to the inlet port P of the forward control valve 8 and the rear control valve 7 through the make-up pressure output port G.

[0020] The return ports T of the flow control valve 5, the rear control valve 7, and the front control valve 8 are connected to the oil tank 1.

[0021] The working ports A, B, C, and D of the diverter valve 6 are respectively connected to the working port A of the left front travel motor 9, the working port B of the right rear travel motor 3, the working port A of the left rear travel motor 4, and the working port B of the right front travel motor 10. The working ports B of the left front travel motor 9, A of the right rear travel motor 3, B of the left rear travel motor 4, and A of the right front travel motor 10 return oil from the working port A of the variable pump 2. The right rear travel motor 3, left rear travel motor 4, left front travel motor 9, and right front travel motor 10 all have integrated control valves to control the displacement.

[0022] The working port A of the front control valve 8 is connected to the displacement control port X of the left front travel motor 9 and the right front travel motor 10 respectively, and the working port A of the rear control valve 7 is connected to the displacement control port X of the right rear travel motor 3 and the left rear travel motor 4 respectively.

[0023] Oil from the main pump of variable pump 2 leaks back to oil tank 1 through the housings of variable pump 2, right rear travel motor 3, left rear travel motor 4, left front travel motor 9, and right front travel motor 10.

[0024] This control system consists of two parts: active anti-slip and passive anti-slip. Its working principle is as follows: During cold recycling operations, if the diversion control valve 5 loses power, the walking system will be in a free-wheel state, and the four drive wheels will automatically adjust according to the load. At this time, the system will not have an anti-slip function.

[0025] When the rear wheel of the cold-recycled vehicle is on a soft surface, the active diversion system is activated to force the system to divert fluid and prevent the travel system from slipping; this is active anti-skid. At this time, the diversion control valve 5 is energized, and the control pressure oil enters the X port of the diversion valve 6 through ports P and B of the control valve 5. The diversion valve 6 enters a forced diversion state. The pressure oil output from the main pump of the variable pump 2 is output from port B and flows into port P of the diversion valve 6. It is then evenly distributed to ports A, B, C, and D of the diversion valve 6, and then evenly distributed to each drive motor through port A of the left front travel motor 9, port B of the right rear travel motor 3, port A of the left rear travel motor 4, and port B of the right front travel motor 10. This prevents the entire machine from stalling due to slippage of a single drive wheel. After the motor drive is complete, the pressure oil returns to port A of the variable pump 3 from ports B of the left front travel motor 9, A of the right rear travel motor 3, B of the left rear travel motor 4, and A of the right front travel motor 10.

[0026] Passive anti-slip involves adjusting the control valve and consequently the displacement of the travel motor when the system detects wheel slippage, thereby altering the overall slippage state of the machine. The slippage determination rule is as follows: when the vehicle suddenly stops moving from normal travel (i.e., the detected travel speed suddenly drops below the set speed from the normal speed), while the travel control output, brake pressure detection, and engine rotation (load rate not exceeding 100%) are normal. For example, when the system detects rear wheel slippage, the current value of the rear control valve 7 can be adjusted, causing port A of the rear control valve 7 to output pressurized oil at different pressures to the control oil ports X of the right rear travel motor 3 and the left rear travel motor 4, changing the displacement of the rear travel motor, reducing the rear wheel drive force, and thus changing the overall travel state of the machine. When the travel state meets the slippage termination condition (i.e., the speed returns to above the preset speed and stabilizes for approximately 5 seconds), the adjustment can be stopped.

Claims

1. A walking anti-slip control system for a cold recycling machine, characterized in that, include: Fuel tank (1), variable pump (2), right rear travel motor (3), left rear travel motor (4), flow divider control valve (5), flow divider valve (6), rear control valve (7), front control valve (8), left front travel motor (9), right front travel motor (10). The variable pump (2) supplies oil to the diversion control valve (5), and enters the diversion valve (6) through the working oil port of the diversion control valve (5), thereby controlling the diversion valve to switch to the diversion state. The pressure oil output by the variable pump (2) enters through the oil inlet of the diversion valve (6) and is evenly distributed to each working oil port, and is output to each walking motor respectively. The variable pump (2) also supplies oil to the front control valve (8) and the rear control valve (7) respectively, and outputs pressure oil to the walking motor located on the front side and the walking motor located on the rear side through the front control valve (8) and the rear control valve (7) respectively, controlling the motor displacement. By controlling the displacement difference between the front and rear motors, the walking state of the whole machine is changed.

2. The anti-slip control system for a cold recycling machine according to claim 1, characterized in that: The variable pump (2) includes a main pump and a replenishing pump, and also integrates an electro-proportional valve and a shut-off valve; the working pressure output port MH of the main pump is connected to the inlet port P of the diversion control valve (5), the working port B of the diversion control valve (5) is connected to the control port X of the diversion valve (6), the working port B of the main pump supplies oil to the inlet port P of the diversion valve (6), outputs it to the travel motor, and returns oil through the working port A; the suction port S of the replenishing pump draws oil from the oil tank (1) and inputs it into the main pump, and supplies oil to the inlet port P of the forward control valve (8) and the rear control valve (7) through the replenishing pressure output port G.

3. The anti-slip control system for a cold recycling machine according to claim 1, characterized in that: The return ports T of the diversion control valve (5), the rear control valve (7) and the front control valve (8) are connected to the oil tank (1).

4. The anti-slip control system for a cold recycling machine according to claim 2, characterized in that: The working ports A, B, C and D of the diverter valve (6) are respectively connected to the working port A of the left front travel motor (9), the working port B of the right rear travel motor (3), the working port A of the left rear travel motor (4) and the working port B of the right front travel motor (10); the working ports B of the left front travel motor (9), the working ports A of the right rear travel motor (3), the working ports B of the left rear travel motor (4) and the working port A of the right front travel motor (10) return oil from the working port A of the variable pump (2).

5. The anti-slip control system for a cold recycling machine according to claim 2, characterized in that: The working port A of the front control valve (8) is connected to the displacement control port X of the left front travel motor (9) and the right front travel motor (10), respectively. The working port A of the rear control valve (7) is connected to the displacement control port X of the right rear travel motor (3) and the left rear travel motor (4), respectively.

6. The anti-slip control system for a cold recycling machine according to claim 1, characterized in that: The right rear travel motor (3), left rear travel motor (4), left front travel motor (9), and right front travel motor (10) are all equipped with control valves to control the displacement.

7. The anti-slip control system for a cold recycling machine according to claim 1, characterized in that: It also includes control elements that are electrically connected to the variable pump (2), the flow control valve (5), the rear control valve (7), and the front control valve (8).

8. The anti-slip control system for a cold recycling machine according to claim 2, characterized in that: The oil in the main pump of the variable pump (2) leaks back to the oil tank (1) through the housings of the variable pump (2), the right rear travel motor (3), the left rear travel motor (4), the left front travel motor (9), and the right front travel motor (10).

9. A method for controlling slippage during walking in a cold recycling machine, characterized in that: Based on the cold recycling machine anti-slip control system described in claim 1: When the diversion control valve (5) is energized, the pressure oil enters the diversion valve (6), and the diversion valve (6) enters the forced diversion state. The pressure oil output by the variable pump (2) is evenly distributed by the diversion valve (6) to the right rear travel motor (3), the left rear travel motor (4), the left front travel motor (9) and the right front travel motor (10), and the oil is returned to the variable pump (2) by each travel motor, forming an active anti-slip control. When active anti-skid is triggered or not, it is determined whether the wheel is slipping. When the wheel is slipping, the front control valve (8) and the rear control valve (7) control the displacement of the front and rear motors. By the difference in displacement of the front and rear motors, the overall walking state of the machine is changed, thus forming passive anti-skid control.

10. A cold recycling machine, characterized in that, The cold recycling machine walking anti-slip control system described in claim 1 is adopted.

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