U.S. patent number 3,691,916 [Application Number 05/102,647] was granted by the patent office on 1972-09-19 for proportional screed control for a finisher.
This patent grant is currently assigned to Barber-Greene Company. Invention is credited to Ray E. Ingham, Earl D. Martenson.
United States Patent |
3,691,916 |
Martenson , et al. |
September 19, 1972 |
PROPORTIONAL SCREED CONTROL FOR A FINISHER
Abstract
A finishing machine, or paver, employs a proportional control
system for controlling the disposition of a floating screed with
respect to both grade and slope of the supporting surface. The
apparatus for controlling grade includes a device for sensing grade
with respect to a reference and an amplifier and switch unit for
operating a grade control actuator in response to the sensed
changes in grade. The slope control apparatus is generally the same
as the grade control apparatus and further includes a variable
remote set point unit for establishing a reference indicative of
the desired slope.
Inventors: |
Martenson; Earl D. (North
Aurora, IL), Ingham; Ray E. (Wheaton, IL) |
Assignee: |
Barber-Greene Company (North
Aurora, IL)
|
Family
ID: |
22290935 |
Appl.
No.: |
05/102,647 |
Filed: |
December 30, 1970 |
Current U.S.
Class: |
404/84.2;
404/118 |
Current CPC
Class: |
E01C
19/008 (20130101); E01C 19/4873 (20130101) |
Current International
Class: |
E01C
19/48 (20060101); E01C 19/00 (20060101); E01c
019/48 () |
Field of
Search: |
;94/45,46,46AC |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Nackenoff; Jacob L.
Claims
What we claim is:
1. A paver comprising: a tractor; a screed having a pair of
spaced-apart arms pivotally connected to said tractor for towing; a
pump; a pair of fluid-operated cylinders operatively connected
between said tractor and respective arms of said screed; a pair of
proportional servo valves connected in fluid circuit with
respective fluid-operated cylinders and said pump; and proportional
control means electrically connected to said servo valves for
controlling the position thereof comprising a grade control device
electrically connected to one of said servo valves and including
means for sensing the position of the screed with respect to a
desired grade reference and means for producing a grade correction
signal for the associated servo valve in accordance with the sensed
position, and a slope control device connected to the other of said
servo valves and including means for sensing the slope of the
screed with respect to a desired slope and means for producing a
slope correction signal for the associated servo valve in
accordance with the sensed slope of the screed.
2. The paver according to claim 1, comprising means mounting said
grade control device at the screed and outboard thereof for
accurate sensing of screed movement.
3. The paver according to claim 1, wherein said grade sensing means
includes a movable member for continuously contacting the reference
and said means for producing a grade correction signal includes a
transducer coupled to said movable member.
4. The paver according to claim 1, wherein said means for producing
a grade correction signal comprises an amplifier for amplifying the
grade correction signal.
5. The paver according to claim 1, wherein said grade sensing means
comprises a movable member for continuously contacting the grade
reference and means mounting said grade control device at the
screed and outboard thereof including adjusting means for adjusting
the elevations of said grade control device.
6. A paver according to claim 1, comprising means mounting said
slope control means on said screed.
7. A paver according to claim 1, wherein said slope control device
includes a movable member and said means for producing a slope
correction signal includes a transducer coupled to said movable
member.
8. A paver according to claim 1, wherein said means for producing a
slope correction signal includes an amplifier for amplifying said
slope correction signal.
9. A paver according to claim 1, wherein said means for producing a
slope correction signal includes an amplifier, and a reference set
point unit for establishing a slope reference for said
amplifier.
10. A paver according to claim 9, wherein said set point unit is a
remote unit having a flexible cable connected to said slope control
device.
11. A paver comprising: self-propelled means; a screed towed by
said self-propelled means including a pair of spaced-apart arms
movably connected to said self-propelled means; a pair of
fluid-operated cylinders each connected to said self-propelled
means and to respective arms adjacent the movable connections; a
pump; a pair of proportional servo valves connected in respective
fluid circuits with said pump and said fluid-operated cylinders and
operable to permit fluid flow in response to the direction of
controlling electrical signals and in proportional response to the
magnitude of said electrical signals; grade control means for
controlling one of said fluid-operated cylinders including grade
sensing means for sensing the position of said screed with respect
to a reference grade and means electrically connected to one of
said servo valves for producing a grade control signal indicative
of the difference and direction between the sensed position and a
reference grade; and slope control means for controlling the other
of said servo valves including means for sensing the slope of said
screed with respect to a reference slope, and means electrically
connected to the other of said servo valves for producing a slope
control signal indicative of the magnitude and direction of
deviation between the sensed slope and the reference slope.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention relates to paving machines, and is primarily
concerned with proportional control apparatus for controlling the
positioning of a floating screed with respect to both the desired
grade and slope of the surface being finished.
2. Description of the Prior Art
Heretofore, bituminous pavers have utilized solenoid valve control
systems, generally referred to as on-off constant speed control
systems, which provided a choice of only three flow conditions;
stop; a set flow rate in a first direction; and a set flow rate in
the opposite direction. This type of system would produce
incremental motions of the tow point of perhaps an eighth of an
inch per energizing cycle.
The specifications for a finished mat are becoming more and more
stringent and tolerances accordingly tightened so that the present
trend is toward automatic control in order to provide constant
conditions and consistent product through the control of system
variables in a proportional manner. It is therefore highly
desirable and a primary object of the present invention to provide
a paver which employs proportional control techniques for the
automatic control of screed position whereby the grade and slope of
the finished surface is extremely accurate.
SUMMARY OF THE INVENTION
According to the invention, a paver is provided which employs
proportional grade and slope control. The proportional control is a
high resolution control wherein rearward sensing of grade and slope
is utilized without the sacrifice of response to tractor
variations. In the proportional control system, proportional valves
respond very quickly, for example within a few milli-seconds, and
provide an essentially variable flow rate of varying magnitude
corresponding to the amount of correction required, and as the
magnitude of the sensed error decreases, the flow rate
correspondingly decreases. In addition, continuous sensing and
response of the proportional system allows for a complete "floating
" control of the tow point, even when the sensing point is
established well rearward toward the screed.
In contrast to the above-described on-off constant speed systems,
the proportional flow control system, including proportional flow
control valves, offers an infinite number of controlled flow rates
instead of three possible condition. This infinite number of
controlled conditions provides a high resolution system which
produces a near perfect positioning of the tow point, and the
entire screed assembly is effectively dissociated from the vertical
movement of the tractor unit. The desired position may, however, be
easily changed as the screed encounters unavoidable variations such
as variations in travel speed and/or variations in material ahead
of a strike-off location. In the system according to the present
invention, the tow point will undergo very small corrections and
the screed itself will be controlled much closer through the
utilization sensing.
The grade control apparatus of the present invention includes a
device for providing an electrical signal which is indicative of
the difference between a grade reference and the instantaneous
sensed grade. This signal is amplified and utilized to drive a
grade control cylinder which repositions the leveling arm of the
screed. The sensing device includes a positionable and operatively
movable grid or shoe for traveling a predetermined grade reference.
Movement of the machine relative to the reference effects a
generation of the grade control signal.
The slope control apparatus of the present invention is quite
similar to the grade control apparatus, but further includes a
variable set point device whereby an operator may establish a
desired reference slope, variations from which reference slope will
effect generation of a slope control signal. The slope control
signal is amplified and utilized for driving a cylinder to position
a second leveling arm of the screed at the desired slope. The grade
and slope controls can be applied to either side of the machine,
that is, the grade reference can be sensed on either side of the
machine and the opposite side is then slaved via the slope
control.
The grade and slope control apparatus each include a null meter for
visual monitoring of the grade and slope conditions upon initial
set up, prior to a finishing operation, during the paving process,
and for maintenance and trouble shooting of the apparatus.
BRIEF DESCRIPTION OF THE DRAWINGS
Other objects, features and advantages of the invention, its
organization, construction and operation will be best understood
from the following detailed description of an exemplary embodiment
thereof, taken in conjunction with the accompanying drawings, in
which:
FIG. 1 is a pictorial representation of a portion of the electric
and hydraulic circuit for a paving machine, shown in phantom,
constructed in accordance with the principles of the present
invention;
FIG. 2 is a fragmentary view of the forward end of a screed,
particularly illustrating a pair of leveling arms and a
corresponding pair of controlled cylinders along with the grade and
slope sensing devices of the present invention;
FIG. 3 is an electrical and hydraulic and schematic diagram of the
proportional grade/slope control system according to the present
invention;
FIG. 4 is a block diagram of a typical control technique;
FIG. 5 is a schematic block diagram relating to the grade control
apparatus of the present invention;
FIG. 6 is a schematic block diagram of the slope control apparatus
of the present invention;
FIG. 7 is a graphical illustration of the comparison of tow point
vs. rearward sensing for a floated screed paver; and
FIG. 8 is a graphical illustration of a comparison of correction
speed vs. position error for a floated screed paver.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
GENERAL DESCRIPTION
A tractor unit for a paver is generally illustrated in FIG. 1 at 10
and includes a body 11 carried on a plurality of wheels, wheels 12
and 13 being indicated in the drawing. The tractor includes a pair
of operator stations 14 and 15 and a control console 16
therebetween. A hydraulic manifold 17 is provided on the tractor 10
and generally comprises a hydraulic reservoir 18, a manifold
suction member 19, a pump 20 and proportional servo valves 21 and
22. The pump 20 is driven by the power unit (not shown) of the
paver.
The servo valve 21 is connected by way of an electrical cable 23 to
a plug 24 for electrical connection to grade control apparatus.
Likewise, the servo valve 22 is connected by way of a cable 25 to a
plug 26 for connection to slope control apparatus. These components
will be referred to in greater detail hereinbelow.
FIG. 2 illustrates a screed assembly 29 including a screed 30
connected between a pair of arms 31 and 32. A cross beam 33 is also
connected between the arms 31 and 32.
A hydraulic cylinder 34 has an upper end 35 for connection to the
tractor 10 and a movable member 36 which is connected to the arm 32
at a point 37 immediately behind the left hand tow point (not
shown). In and out movement of the movable member 36 therefore
causes arcuate movement of the arm 32 about the tow point.
In order to initiate a corrective positioning of the arm 32 about
the tow point, the paver is provided with grade control apparatus.
A standard 38 has an arm 39 connected thereto by way of a
connecting device 40 which may be adapted to permit movement of the
arm 39 therein and/or movement of the arm 39 arcuately about the
standard 38. A vertical adjuster 41 is connected to the end of the
arm 39 and includes an inwardly and outwardly movable member 42
whose position is adjusted by means of crank 43. A grade sensing
device 44 is carried by the end of the movable member 42 to
position a grid or shoe 45 with respect to a reference 46. The
reference 46 may be any of several well known devices such as a
stringline. The grid 45 is pivotally movable within the grade
sensing device 44 to effect a translation of movements of the
screed with respect to the reference 46 into signals for
controlling the displacement of the movable member 36 of the
hydraulic cylinder 34.
A second hydraulic cylinder 49 has an upper end 50 for attachment
to the tractor 10 and a movable member 51 attached to the arm 31 at
a point 52 immediately behind the right end tow point (not shown).
In order to control the slope of the screed 30, a slope sensing
device 53 is shock mounted on the cross beam 33 and includes a
pendulum type transducer for generating slope control signals for
controlling the movement of the movable member 51 of the hydraulic
cylinder 49. The slope sensing device 53 has associated therewith
and connected thereto by way of a cable 54 a remote set point unit
55 by which an operator can remotely set a desired reference angle
for the screed 30, i.e. the tow point elevation.
The grade sensing unit 44 has a cable 47 with a plug 48 for
connection to the plug 24 in FIG. 1. Similarily, the slope sensing
device 53 has a cable 56 with a plug 57 for connection to the plug
26 in FIG. 1.
FIG. 3 illustrates, in schematic form, the relationships between
the hydraulic and electrical circuits, which relationships will be
explained in detail and become readily apparent below. However, it
should be noted that the electrical plugs 25, 57 and 24, 48 may be
mounted or adapted to accommodate one another by affixation at the
rear plate 67 of the tractor frame, as symbolically illustrated in
FIG.3.
HYDRAULIC CIRCUIT
Referring primarily to FIG. 3, it can be seen that in addition to
the aforementioned hydraulic components, the hydraulic circuit of
the invention also includes a pair of pilot controlled check valves
60 and 61, a solenoid dump valve (normally open) 62, a hydraulic
oil filter 63 and a relief valve 64. The fixed displacement pump,
as mentioned above, is driven by the power unit of the tractor and
provides hydraulic fluid to the proportional servo valves 21 and 22
over a fluid path including the reservoir 18, a conduit 68, the
pump 20, a conduit 69, the oil filter 63, a conduit 70, the dump
valve 62, a conduit 71, a conduit 72 to the valve 21 and a conduit
73 to the valve 22. Although FIG. 3 shows three separate reservoir
18, in actual practice only one such reservoir need be used.
The proportional servo valve 21 is further connected in fluid
circuit with the reservoir 18 by way of a path including a conduit
74, the check valve 60, a conduit 75, the cylinder 34, a conduit
76, the check valve 60, a conduit 77, the valve 21 again, a conduit
78, and a conduit 79. Likewise, the proportional servo valve 22 is
also includes circuit with the reservoir 18 over a path including a
conduit 80, the check valve 61, a conduit 81, the hydraulic
cylinder 49, a conduit 82, the check valve 61 again, a conduit 83,
the proportional servo valve 22 again, a conduit 84 and the conduit
79.
The relief valve extends a fluid path between the conduits 69 and
at the reservoir 18 by way of a conduit 85; and the dump valve is
connected in fluid communication with the reservoir 18 by way of a
conduit 86. At this time it should be mentioned that each servo
valve 21,22 is of the type having an actuating member which will
move in one direction or the other depending on the polarity of the
signal and which will move a distance in either direction directly
proportional to the amount of movement of the sensing grid 45.
ELECTRICAL CIRCUIT
The apparatus of the present invention is provided with an
electrical circuit which includes, in addition to the
aforementioned electrical components. a left hand jog switch 58, a
right hand jog switch 59, a grade control circuit breaker 65, a
dump valve circuit breaker 66, and an on-off switch 27.
The cable 47 includes a plurality of conductors 89- 92. The grade
cable 23 includes a plurality off corresponding conductors 93- 96.
The grade sensing device is connected to the negative terminal of
the battery 28 by way of the conductor 89, the plugs 48 and 24, the
conductor 93 and a conductor 97, and to the positive terminal of
the battery 28 by way of the conductor 92, the plugs 48 and 24, the
conductor 96, a conductor 98, a switch contact 99 of the on-off
switch 27 and the grade control circuit breaker 65. These
electrical connections provide a power source for the grade sensing
device 44 as will be understood from the description of operation
below.
The conductors 90 and 91 constitute output conductors for the grade
sensing device 44 and extend an electrical control signal to the
proportional servo valve 21 over a path including the conductor 90,
the plugs 48 and 24, the conductor 94, a conductor 100, the valve
21, a conductor 101, a conductor 95, the plugs 24 and 48 and the
conductor 91.
The cable 56 from the slope sensing device 53 comprises a plurality
of electrical conductors 102- 105, and the cable 25 comprises a
corresponding plurality of conductors 106- 109. The slope sensing
device is connected to the negative terminal of the battery 28 by
way of the conductor 102, plugs 57 and 26, the conductor 106,
conductor 97, and to the positive terminal of the battery 28 by way
of the conductor 105, plugs 57 and 26, the conductor 109 the
conductor 110, the switch contact 99 and the circuit breaker 65.
These connections provide a source of power for the slope sensing
device as will also be understood from the description below.
The conductors 103 and 104 for providing control signals to the
proportional servo valve 22 over a path which includes the
conductor 103, the plugs 57 and 26, the conductor 107, a conductor
111, the valve 22, a conductor 112, the conductor 108, the plugs 26
and 57, and the conductor 104.
The jog switch 58 includes a pair of movable contacts 113 and 114
which are movable between respective fixed contacts 115, 116 and
117, 118. When the jog switch 58 is manipulated to place the
contacts 113 and 115 in engagement and the contacts 114 and 117 in
engagement, the negative terminal of the battery 28 is extended to
the conductor 100 by way of a conductor 119, the contacts 114, and
a conductor 120, and the positive terminal of the battery 28 is
extended to the conductor 101 by way of circuit breaker 65, the
switch contact 99, the conductor 98, a dropping resistor 121, the
contacts 113 and 115, and the conductor 122. It is evident that a
manipulation of the jog switch 58 to the opposite condition wherein
contacts 113 and 116 engage and wherein the contacts 114 and 118
engage, the opposite potential is applied across the conductors
100, 101 and thereby across the proportional servo valve 21. The
same ability to reverse the polarity with respect to the conductors
of the valve 22 is similarly provided by way of jog switch 59 and
its associated electrical components 123- 132.
Referring for a moment to FIGS. 4, 5 and 6, the techniques employed
in the present invention are schematically illustrated. In FIG. 4,
for example, a variable resistor is connected between a fixed
potential V and ground. The variable resistor 133 has a movable tap
134. An actuator device 135 is disposed between the affixed
potential V and ground by way of the movable tap 134. Movement of
the tap 134 along the resistor 133 provides a variable current flow
through the actuator device, and if the actuator device operates
proportionally with respect to the amount of current flowing
therethrough, a proportional control system is established.
In FIG. 5, the foregoing techniques are carried further wherein a
transducer 136 is provided with operating power from a power supply
137 and is effective to provide at its output electrical control
signals in response to, for example, mechanical movements. The
output signal of the transducer is amplified at an amplifier 138
and utilized to drive a proportional control device 139. This is,
in general, the technique utilized in the grade control feature of
the present invention.
In FIG. 6, the foregoing technique is taken at a step further
wherein the output of the transducer is applied through a driving
amplifier 140 for operating a proportional control device 141.
Here, however, a variable reference is provided by means of, for
example, a variable voltage divider circuit 142, 143 which is
connected between a fixed supply voltage V and a voltage -V. This,
in general, is the technique employed for the slope control feature
of the present invention.
GRADE CONTROL
The grade control apparatus of the present invention operates as
follows. As the paver is moved along the surface to be paved and
adjacent a reference 46 which establishes the desired grade,
vertical movements of the screed are detected by the corresponding
arcuate movements of the grid 45. The grid 45 forms a part of a
transducer 144 within the grid control device 44. As was the case
in FIG. 5, the transducer is provided with a supply of electrical
energy, here via an amplifier 146 of the grade sensing device 44,
and operates to produce output signals which are indicative of the
magnitude and direction of movement of the grid 45. The transducer
144 may take various forms including a variable resistance or a
variable inductor.
The output signals of the transducer 144 are amplified by the
amplifier 146 and presented by way of the aforementioned electrical
circuit (elements 90, 91, 94, 95, 100 and 101) to the proportional
servo valve 21. The servo valve 21 operates in response to the
signal from the amplifier 146, both in magnitude and in direction,
to increase or decrease flow communication therethrough with the
hydraulic cylinder 34. The hydraulic cylinder 44 operates in
accordance with the fluid supplied thereto by way of the servo
valve 21 and by way of its movable member 36 moves the arm 32 to
compensate for the sensed position of the screed 30 with respect to
the reference 46. Inasmuch as the vertical movement of the screed
30 may be continuous, the response of the cylinder 34 is also
continuous and provides a compensating inverse direct proportional
relation to the vertical movement of the screed.
In order to prepare the finisher for a particular grade with
respect to the reference 46, it may be necessary to initiate
movement of the screed without utilizing the operational mode of
proportional control. Therefore, the jog switch 58 is provided to
extend positive and negative signals to the servo valve 21, as
previously discussed, in order to move the screed up or down.
SLOPE CONTROL
The slope control feature of the present invention is quite similar
to the grade control techniques and operates as follows. First
assuming that a desired slope reference has been established, the
slope sensing device 53 includes a transducer 147 for detecting
changes of the slope transversely of the screed. This transducer
147 is preferably of the pendulum type which utilizes a change of
inductance to provide a variable output signal in accordance with
the direction and magnitude of the slope being sensed. The output
signal is provided to anamplifier 148 which amplifies and presents
the signal over conductors 103, 104, 107, 108, 111 and 112 to the
proportional servo valve 22. Operation of the proportional servo
valve 22 is the same with respect to this signal as the operation
of the servo valve 21 with respect to the grade control signal;
therefore, further explanation of the hydraulic circuit in this
respect is unnecessary. It should be pointed out, however, that the
response of the hydraulic cylinder 49 is such so as to compensate
for the changes in slope of the screed 30 by correspondingly moving
the arm 31 in a direction opposite to the sensed change of slope.
Attention is invited that inasmuch as the slope may also be a
continuously changing factor, the slope control signal will also be
a continuously changing signal and effect corresponding continuous
compensating changes in the position of the arm 31 that is, the
elevation of the tow point continuously changes as required.
The slope sensing device 53 is provided with a remote set point
unit 55 and connected thereto by way of a flexible cable 54. The
set point unit 55 includes a variable resistor 149 having a movable
tap 150 which is manually controlled by a hand operated dial 151 to
change the desired angle of the screed transversely of the machine
by establishing a selectable reference. Just as the grade control
apparatus functioned with respect to the reference 46, the slope
control apparatus functions with respect to a slope reference
established by the remote set point unit.
While we have described our invention by reference to certain
specific illustrative embodiments, many changes and modifications
may be made in the invention by those skilled in the art without
departing from the spirit and scope thereof, and it is to be
understood that we intend to include within the patent warranted
hereon all such changes and modifications as may reasonably and
properly be included within the scope of our contribution to the
art.
* * * * *