CN110965442A

CN110965442A - Milling machine support leg lifting control system, milling machine and control method

Info

Publication number: CN110965442A
Application number: CN201911263164.2A
Authority: CN
Inventors: 周晓群; 汪建利; 朱兴
Original assignee: Hunan Sany Intelligent Control Equipment Co Ltd
Current assignee: Hunan Sany Intelligent Control Equipment Co Ltd; Sany Automobile Manufacturing Co Ltd
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2020-04-07

Abstract

The invention provides a milling machine support leg lifting control system, a milling machine and a control method. Wherein, milling machine landing leg lift control system includes: the support leg hydraulic system is connected with a rear support leg of the milling machine and used for driving the rear support leg to ascend or descend; the sensor assembly is arranged on the milling machine body and used for detecting the ground clearance at different positions on the milling machine body, the inclination angle of the milling machine body along the length direction and the inclination angle along the width direction; and the controller is electrically connected with the sensor assembly and the support leg hydraulic system, and controls the support leg hydraulic system to operate according to the detection data of the sensor assembly so as to realize the ascending or descending of the support leg after driving. According to the technical scheme, the rear supporting leg of the milling machine can be automatically lifted, manual observation or manual operation is not needed, the accuracy is higher, the milling operation efficiency and the planeness are favorably improved, the milling machine is suitable for complex road surfaces, and the application range of the milling machine is expanded.

Description

Milling machine support leg lifting control system, milling machine and control method

Technical Field

The invention relates to the technical field of milling machines, in particular to a milling machine support leg lifting control system, a milling machine and a control method.

Background

At present, in the process of road construction, a milling machine is a main device of a maintenance construction machine for asphalt pavements and cement pavements, and is mainly used for excavating and repairing asphalt concrete and cement concrete surface courses of expressways, first-class highways, urban roads, airports, goods yards, parking lots and the like. The milling machine can efficiently mill and remove pavement diseases such as cracks, ruts, loosening, subsidence, surface function attenuation and the like of the asphalt pavement, and can also efficiently mill and remove the diseases such as arching, slab staggering, slab peeling, pit holes, pitted surfaces, exposed bones, loosening, polishing and the like of the cement concrete pavement. The milling machine has the advantages of high working efficiency, simple construction process, easy control of milling depth, convenient and flexible operation, strong maneuverability and capability of recovering milled old materials, thus being widely applied to maintenance and renovation projects of pavements.

In order to ensure that the milling thickness of the milling machine in the working process is basically the same, the existing milling machine has an intelligent leveling function, and the specific implementation mode is as follows: set up left side slide and right side slide respectively milling drum both sides, left side slide, right side slide all with frame slidable connection, and between left side slide and the frame, all be provided with the stay cord sensor between right side slide and the frame, during the operation, left side slide and right side slide all contact with the road surface, when the road surface is undulant, left side slide and right side slide can corresponding undulation, the stay cord sensor detects left side slide, the fluctuation size of the relative frame of right side slide, go up and down and then control the lift of milling drum according to the fluctuation size control elevating gear that detects, so that mill the degree of depth and remain stable basically. However, in the prior art, the rear support legs of the milling machine are mostly fixedly arranged or need to be manually adjusted, the operation is complex, the adjustment precision is poor, the operation is time-consuming and long, the flatness of the milling road surface of the milling machine is affected, and the milling operation is not facilitated under the complex construction environment.

Disclosure of Invention

The present invention is directed to improving at least one of the technical problems of the prior art or the related art.

To this end, it is an object of the present invention to provide a milling machine leg lift control system.

Another object of the present invention is to provide a milling machine.

It is a further object of the present invention to provide a control method.

In order to achieve the above object, a first aspect of the present invention provides a milling machine support leg lift control system, where a milling machine includes a milling machine body, and the milling machine body is provided with a front support leg, a milling drum, and a rear support leg sequentially from front to back along a length direction of the milling machine body, and the milling machine support leg lift control system includes: the support leg hydraulic system is connected with a rear support leg of the milling machine and used for driving the rear support leg to ascend or descend; the sensor assembly is arranged on the milling machine body and used for detecting the ground clearance at different positions on the milling machine body, the inclination angle of the milling machine body along the length direction and the inclination angle along the width direction; and the controller is electrically connected with the sensor assembly and the support leg hydraulic system, and controls the support leg hydraulic system to operate according to the detection data of the sensor assembly so as to realize the ascending or descending of the support leg after driving.

According to the technical scheme of the first aspect of the invention, the milling machine support leg lifting control system is used for a milling machine, wherein the milling machine comprises a milling machine body, and a front support leg, a milling drum and a rear support leg which are sequentially arranged from right to front and from back along the length direction of the milling machine body. Milling machine landing leg lift control system includes: the landing leg hydraulic system, sensor assembly and controller. The landing leg hydraulic system is connected with the rear landing leg of the milling machine, so that power is output through the landing leg hydraulic system, the rear landing leg is driven to ascend or descend, and the leveling operation of the milling machine is achieved. The sensor assembly is arranged on the milling machine body and used for detecting the ground clearance at different positions on the milling machine body, and the inclination angle of the milling machine body in the length direction and the inclination angle of the milling machine body in the width direction so as to provide a basis for the operation of the support leg hydraulic system. Through being equipped with the controller of being connected with sensor assembly and landing leg hydraulic system electricity, with the detection data of the milling machine automobile body that the receipt sensor assembly detected, the terrain clearance of different positions on the milling machine automobile body promptly, and the inclination of milling machine automobile body along length direction and along width direction, and judge the tilt state of milling machine automobile body according to above detection data, and then control landing leg hydraulic system drive back landing leg carries out corresponding operation, realize the operation of making level of milling machine, need not artifical judgement or operation, time saving and labor saving, be favorable to improving the efficiency of milling the operation and the roughness of milling the road surface. In addition, according to the technical scheme, the inclination state of the milling machine body can be comprehensively judged according to the height difference of different positions of the milling machine body and the size of the inclination angle, the control accuracy of the rear support leg is higher, the rear support leg is suitable for complex road surfaces with the inclination angle or height mutation and the like, and the application range of the milling machine is expanded.

In addition, the milling machine support leg lifting control system in the technical scheme provided by the invention also has the following additional technical characteristics:

in the above technical solution, the sensor assembly includes: the first height sensor is arranged at the left front part of the milling machine body and used for detecting a first ground clearance at the left front part of the milling machine body; the second height sensor is arranged at the right front part of the milling machine body and used for detecting a second ground clearance at the right front part of the milling machine body; the third height sensor is arranged at the left rear part of the milling machine body and used for detecting a third ground clearance at the left rear part of the milling machine body; the fourth height sensor is arranged at the right rear part of the milling machine body and used for detecting a fourth ground clearance at the right rear part of the milling machine body; and the inclination angle sensor is arranged on the milling machine body and used for detecting the inclination angle of the milling machine body along the length direction and the inclination angle of the milling machine body along the width direction.

In the technical scheme, the sensor assembly comprises a first height sensor, a second height sensor, a third height sensor, a fourth height sensor and an inclination angle sensor, wherein the first height sensor is sequentially arranged on the left front part of the milling machine body, the second height sensor is arranged on the right front part of the milling machine body, the third height sensor is arranged on the left rear part of the milling machine body, the fourth height sensor and the inclination angle sensor are arranged on the right rear part of the milling machine body, and the left front part ground clearance, the right front part ground clearance, the left rear part ground clearance and the right rear part ground clearance of the milling machine body are respectively detected through the four height sensors, so that the inclination state of the milling machine body relative to the road surface is judged through the ground. The inclination angle of the milling machine body relative to the horizontal plane is detected by means of an inclination sensor in order to determine the degree of inclination of the milling machine body relative to the horizontal plane. The detection data of the height sensor and the inclination angle sensor are comprehensively judged, so that the control accuracy of the rear supporting leg can be further improved.

It should be noted that the inclination angle sensor detects an included angle between the milling machine body and a horizontal plane, and for an inclined road construction environment, the actual inclination state of the milling machine body cannot be accurately reflected by using the inclination angle sensor alone. And height sensor detects the terrain clearance of milling machine automobile body, when meetting the road surface height and taking place the sudden change, perhaps when the rear leg is sunk in the pit, and the actual tilt state of milling machine automobile body can't accurately be reflected to the exclusive use height sensor yet.

In the above technical solution, the leg hydraulic system specifically includes: rear leg includes left rear leg and right rear leg, and landing leg hydraulic system includes: a piston rod of the left rear supporting leg oil cylinder is connected with the left rear supporting leg and used for driving the left rear supporting leg to ascend or descend; a piston rod of the right rear supporting leg oil cylinder is connected with the right rear supporting leg and used for driving the right rear supporting leg to ascend or descend; an oil tank; the oil supply device is communicated with the oil tank; the reversing valve is respectively connected with the left rear support leg oil cylinder, the right rear support leg oil cylinder, the oil tank and the oil supply device through pipelines, and when the reversing valve is located at a first position, the oil supply device is disconnected from the left rear support leg oil cylinder and the right rear support leg oil cylinder; when the reversing valve is positioned at the second position, the oil supply device is communicated with the rodless cavity of the left rear supporting leg oil cylinder and the rodless cavity of the right rear supporting leg oil cylinder, and the oil tank is communicated with the rod cavity of the left rear supporting leg oil cylinder and the rod cavity of the right rear supporting leg oil cylinder; when the reversing valve is positioned at the third position, the oil supply device is communicated with the rod cavity of the left rear support leg oil cylinder and the rod cavity of the right rear support leg oil cylinder, and the oil tank is communicated with the rodless cavity of the left rear support leg oil cylinder and the rodless cavity of the right rear support leg oil cylinder; the safety locking device is arranged in a pipeline connecting the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder through the reversing valve, when the oil supply device is in a non-oil supply state, the safety locking device closes the pipeline connecting the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder through the reversing valve, the reversing valve is electrically connected with the controller, and the controller controls the reversing valve to reverse according to detection data of the sensor assembly so as to drive the left rear supporting leg and the right rear supporting leg to ascend or descend.

In the technical scheme, the supporting leg hydraulic system comprises a left supporting leg oil cylinder, a right supporting leg oil cylinder, an oil tank, an oil supply device, a reversing valve and a safety locking device. The rear support legs of the milling machine comprise a left rear support leg and a right rear support leg, and correspondingly, a left rear support leg oil cylinder connected with the left rear support leg and a right rear support leg oil cylinder connected with the right rear support leg are arranged so as to drive the left rear support leg and the right rear support leg to ascend or descend through the stretching out or shrinking of the left rear support leg oil cylinder and the right rear support leg oil cylinder. Specifically, when the left rear leg cylinder and the right rear leg cylinder extend out, the left rear leg and the right rear leg fall, and the ground clearance of the rear part of the milling machine body is increased at the moment; when the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder are contracted, the left rear supporting leg and the right rear supporting leg are lifted, and the ground clearance of the rear part of the milling machine body is reduced at the moment. The oil tank is used for storing hydraulic oil, the oil supply device is used for supplying the left rear leg cylinder and the right rear leg cylinder with hydraulic oil, and the oil supply device can be a constant-pressure oil pump communicated with the oil tank.

The reversing valve is respectively connected with the left rear support leg oil cylinder, the right rear support leg oil cylinder, the oil tank and the oil supply device through pipelines, and the pipelines between the left rear support leg oil cylinder and the right rear support leg oil cylinder and the oil tank and between the left rear support leg oil cylinder and the right rear support leg oil cylinder and the oil supply device are switched on or off through the reversing valve. The pipeline that the reversing valve is connected with the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder is also provided with a safety locking device so as to close the pipeline when the oil supply device is in a non-oil supply state, so that the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder are kept in a current state, the supporting legs are prevented from stretching out or contracting under the action of gravity or other external forces, and a safety protection effect is achieved. Specifically, the reversing valve can be a three-position four-way electromagnetic reversing valve, a first valve port of the reversing valve is connected with a rod cavity of the left rear supporting leg oil cylinder and a rod cavity of the right rear supporting leg oil cylinder through pipelines, a second valve port of the reversing valve is connected with a rodless cavity of the left rear supporting leg oil cylinder and a rodless cavity of the right rear supporting leg oil cylinder through pipelines, and a third valve port and a fourth valve port of the reversing valve are respectively connected with an oil supply device and an oil tank. When the reversing valve is in the first position, the first valve port and the second valve port are communicated with the fourth valve port, the third valve port is closed, the oil supply device does not supply oil to the pipeline at the moment, and the safety locking device closes the pipeline of the left rear support leg oil cylinder and the right rear support leg oil cylinder connected with the reversing valve; when the reversing valve is in the second position, the first valve port is in one-way conduction to the fourth valve port, the third valve port is in one-way conduction to the second valve port, the oil supply device supplies oil to a pipeline which is connected with a rodless cavity of the left rear leg oil cylinder and a rodless cavity of the right rear leg oil cylinder, the hydraulic oil pushes the safety locking device to be opened, the hydraulic oil supplied by the oil supply device flows into the rodless cavity of the right rear leg oil cylinder behind the rodless cavity of the left rear leg oil cylinder, pushes the left rear leg oil cylinder and the right rear leg oil cylinder to extend out, drives the left rear leg and the right rear leg to descend, and simultaneously, the hydraulic oil with the rod cavity of the left rear leg oil cylinder and the hydraulic oil with the rod cavity of the right rear leg oil cylinder flow; when the reversing valve is in a third position, the third valve port is in one-way conduction to the first valve port, the second valve port is in one-way conduction to the fourth valve port, at the moment, the oil supply device supplies oil to a pipeline which is connected with a rod cavity of the left rear supporting leg oil cylinder and a rod cavity of the right rear supporting leg oil cylinder, the hydraulic oil pushes the safety locking device to be opened, the hydraulic oil flows into the rod cavity of the left rear supporting leg oil cylinder and the rod cavity of the right rear supporting leg oil cylinder, the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder are pushed to contract to drive the left rear supporting leg and the right rear supporting leg to ascend, and meanwhile, the hydraulic oil in the rod-free cavity of the left rear supporting leg oil cylinder and the hydraulic oil. The reversing valve is electrically connected with the reversing valve through a controller so as to control the reversing valve to reverse according to the detection data of the sensor assembly. In the above technical solution, the safety locking device is a hydraulic lock or a balanced valve.

In the technical scheme, the safety locking device can be a hydraulic lock or a balance valve and can only conduct in one direction, namely, when the oil supply device is in a non-oil supply state, a pipeline between the reversing valve and the left rear leg oil cylinder and the right rear leg oil cylinder is closed so as to keep the pressure of the left rear leg oil cylinder and the right rear leg oil cylinder, prevent hydraulic oil from flowing back to the oil tank and protect the reversing valve; when the oil supply device is in an oil supply state, the safety locking device is conducted under the pressure action of the hydraulic oil.

In a second aspect of the present invention, a milling machine is provided, including: milling machine body; the two front supporting legs are arranged at the front part of the milling machine body along the length direction; the two rear supporting legs are arranged at the rear part of the milling machine body along the length direction; the milling drum is arranged between the front supporting leg and the rear supporting leg along the length direction of the milling machine body and is used for milling and planing the road surface; in the milling machine leg lifting control system according to any one of the first aspect of the present invention, the controller in the milling machine leg lifting control system is electrically connected to the front leg to control the rear leg or the front leg to ascend or descend according to the detection data of the sensor assembly in the milling machine leg lifting control system.

According to a second aspect of the present disclosure, a milling machine includes a milling machine body, two front legs, two rear legs, a milling drum, and the milling machine leg lift control system of any one of the first aspects. The two front supporting legs, the two rear supporting legs and the milling drum are connected to the milling machine body, and the two front supporting legs and the two rear supporting legs can ascend or descend relative to the milling machine body so as to adjust the ground clearance and the inclination angle of the milling machine body. The two front supporting legs are connected to the front part of the milling machine body in the length direction, and are optionally arranged on the left front part and the right front part of the milling machine body respectively; the two rear supporting legs are connected to a rear patch of the milling machine body along the length direction and are optionally arranged at the left rear part and the right rear part of the milling machine body respectively; the milling drum is arranged between the front supporting leg and the rear supporting leg along the length direction of the milling machine body and is used for milling and planing the road surface. The support leg hydraulic system in the milling machine support leg lifting control system is connected with the two rear support legs, and a sensor assembly in the milling machine support leg lifting control system is arranged on a milling machine vehicle body to detect the ground clearance and the inclination angle of different positions on the milling machine vehicle body, wherein at least a first ground clearance at the left front part, a second ground clearance at the right front part, a third ground clearance at the left rear part and a fourth ground clearance at the right rear part of the milling machine vehicle body, the inclination angle of the milling machine vehicle body in the length direction and the inclination angle of the milling machine vehicle body in the width direction can be detected. The controller in the milling machine support leg lifting control system controls the support leg hydraulic system to operate according to the ground clearance of the milling machine body and the inclination angle data in the length direction detected by the sensor assembly, drives the rear support legs of the milling machine to ascend or descend, and achieves leveling operation of the milling machine, so that the planeness of a milling road surface of the milling machine is improved, and meanwhile, the milling operation efficiency is improved. In addition, the controller is electrically connected with the two front supporting legs of the milling machine, so as to control the ascending or descending of at least one front supporting leg according to the inclination angle data of the milling machine body along the width direction, which is detected by the sensor assembly, so that the inclination angle of the milling machine body along the width direction is within a preset range, and the normal operation of the milling machine is not influenced. In addition, the milling machine of this scheme still has all beneficial effects of the milling machine landing leg lift control system in above-mentioned first aspect technical scheme, and it is no longer repeated here.

It should be noted that the two front legs of the milling machine can be respectively and independently lifted.

In a third aspect of the present invention, a control method is provided for a milling machine in the second aspect, including: step S10: acquiring state parameters of the milling machine; step S20: and controlling the rear support leg of the milling machine to ascend or descend according to the state parameters.

According to a third aspect of the present invention, the control method is used for the milling machine in the second aspect, and the current inclination state of the milling machine is determined according to the state parameters of the milling machine by acquiring the state parameters of the milling machine, so as to provide a basis for controlling the lifting of the rear support leg. The state parameter may be a ground clearance at different positions on a milling machine body of the milling machine, or an inclination angle of the milling machine in a length direction or an inclination angle of the milling machine in a width direction. The rear supporting legs of the milling machine are controlled to ascend or descend according to the state parameters, so that the rear supporting legs perform corresponding operation according to the current inclined state of the milling machine body, the ground clearance at the rear part of the milling machine body is adjusted, the leveling operation of the milling machine is realized, the manual adjusting process is saved, the adjusting precision and the adjusting efficiency can be improved, and the improvement of the planeness of the milling construction of the milling machine is facilitated. The lifting control of the rear supporting leg is closed-loop control, namely the lifting control of the rear supporting leg is performed, the state parameters of the milling machine after each control operation are updated at the same time, and the rear supporting leg is controlled to stop the lifting operation until the state parameters of the milling machine meet the preset target.

In the above technical solution, step S10: acquiring state parameters of the milling machine, specifically comprising: step S101: acquiring a first ground clearance, a second ground clearance, a third ground clearance and a fourth ground clearance of the milling machine, and an inclination angle of a milling machine body along the length direction and an inclination angle along the width direction; step S104: and determining the size of a first height difference, wherein the first height difference is the difference between the first ground clearance and the third ground clearance or the difference between the second ground clearance and the fourth ground clearance.

In the technical scheme, the ground clearance of the left front part, the right front part, the left rear part and the right rear part on the milling machine body are respectively a first ground clearance, a second ground clearance, a third ground clearance and a fourth ground clearance, and a first height difference of the milling machine body, namely a difference between the first ground clearance and the second ground clearance, or a difference between the second ground clearance and the fourth ground clearance is calculated by acquiring the first ground clearance, the second ground clearance, the third ground clearance and the fourth ground clearance of the milling machine, so that the inclination angle of the milling machine body relative to the ground along the length direction is judged, and a basis is provided for subsequent operation control of the rear support legs.

In the above technical solution, when the milling machine is in the driving mode, step S20: controlling the lifting or descending of the support legs of the milling machine according to the state parameters, and specifically comprising the following steps: step S201: judging the size relation between the first height difference of the milling machine and zero; if the first height difference is greater than zero, go to step S202: controlling a reversing valve of the milling machine to reverse to a second position so as to drive a rear supporting leg of the milling machine to extend out; if the first height difference is smaller than zero, step S203 is executed: controlling a reversing valve of the milling machine to reverse to a third position so as to drive a rear supporting leg of the milling machine to retract; if the first height difference is equal to zero, go to step S204: and controlling the rear supporting leg to keep the current height.

In this solution, when the milling machine is in the driving mode, the milling drum is not in contact with the ground, and the front and rear of the milling machine body must be kept straight. And determining whether the inclination angle exists in the milling machine body along the length direction by judging the size relation between the first height difference of the milling machine and zero. Specifically, if the first height difference is larger than zero, it is indicated that an inclination angle exists between the milling machine body and the ground along the length direction, the milling machine body is high in front and low in back, the reversing valve of the milling machine is controlled to reverse to the second position, the supporting leg hydraulic system is switched on, the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder are driven to extend out, the left rear supporting leg and the right rear supporting leg are driven to descend relative to the milling machine body, the ground clearance of the rear portion of the milling machine body is increased, the inclination angle of the milling machine body relative to the ground along the length direction is reduced, and leveling is achieved. If the first height difference is smaller than zero, the fact that the inclination angle of the milling machine body relative to the ground exists along the length direction is indicated, the milling machine body is low in front and high in back, the reversing valve of the milling machine is controlled to be reversed to a third position, the supporting leg hydraulic system is conducted, the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder are driven to contract, the left rear supporting leg and the right rear supporting leg are driven to ascend relative to the milling machine body, the ground clearance of the rear portion of the milling machine body is reduced, the inclination angle of the milling machine body relative to the ground along the length direction is reduced, and leveling is achieved. And if the first height difference is equal to zero, controlling the rear support leg to keep the current height so as to facilitate the normal running of the milling machine.

In the above technical solution, when the milling machine is in the milling mode, step S20: controlling the lifting or descending of the support legs of the milling machine according to the state parameters, and specifically comprising the following steps: step S205: acquiring a variation value of an inclination angle of a milling machine body of the milling machine along the length direction; step S206: judging the magnitude relation between the change value and a first preset angle; if the variation value is greater than the first predetermined angle, go to step S207: judging the size relation between the first height difference and a first preset height; if the first height difference is greater than the first predetermined height, go to step S208: controlling a reversing valve of the milling machine to reverse to a second position so as to drive the rear supporting leg to extend out; if the first height difference is smaller than the first predetermined height, step S209 is executed: controlling a reversing valve of the milling machine to reverse to a third position so as to drive the rear supporting leg to retract; if the first height difference is equal to the first predetermined height, go to step S210: controlling the rear supporting leg to keep the current height; if the variation value is less than or equal to the first predetermined angle, go to step S211: judging the size relation between the first height difference and a second preset height; if the first height difference is greater than the second predetermined height, go to step S212: controlling a reversing valve of the milling machine to reverse to a second position so as to drive the rear supporting leg to extend out; if the first height difference is smaller than the second predetermined height, go to step S213: controlling a reversing valve of the milling machine to reverse to a third position so as to drive the rear supporting leg to retract; if the first height difference is equal to the second predetermined height, go to step S210: and controlling the rear supporting leg to keep the current height, wherein the second preset height is the preset milling depth of the milling machine, and the first preset height is half of the preset milling depth of the milling machine.

According to the technical scheme, when the milling machine is in a milling mode, the milling operation stage of the milling machine is judged by acquiring the change value of the inclination angle of the milling machine body of the milling machine along the length direction and comparing the size relation between the change value and the first preset angle. When the change value of the inclination angle of the milling machine body along the length direction is larger than the first preset angle, the change of the inclination angle of the milling machine body along the length direction is larger, and the milling machine is in a cutting stage. In the cutting stage, the inclination degree of the milling machine body along the length direction is determined by judging the size relation between the first height difference and the first preset height, when the first height difference is larger than the first preset height, the inclination degree of the milling machine body along the length direction is indicated to be larger, the reversing valve is controlled to reverse to the second position, the rear supporting leg is driven to descend, the ground clearance at the rear part of the milling machine body is increased, the inclination degree of the milling machine body along the length direction is reduced, and the normal milling operation of the milling machine is prevented from being influenced. When the first height is smaller than the first preset height, the inclination degree of the milling machine body along the length direction is smaller, the reversing valve is controlled to reverse to the third position, the rear supporting leg is driven to ascend, the ground clearance of the rear part of the milling machine body is reduced, the inclination degree of the milling machine body along the length direction is enlarged, and therefore influence and guaranteed normal milling operation are avoided. And when the first height difference is equal to the first preset height, the inclination degree of the milling machine body along the length direction is consistent with the requirement of milling operation, and the rear supporting leg keeps the current height.

When the change value of the inclination angle of the milling machine body along the length direction is smaller than or equal to the first preset angle, the change of the inclination angle of the milling machine body along the length direction is smaller, and the milling machine is in a complete milling stage. In the complete milling stage, the inclination degree of the milling machine body along the length direction is determined by judging the size relationship between the first height difference and the second preset height, when the first height difference is larger than the second preset height, the inclination degree of the milling machine body along the length direction is indicated to be larger, the actual milling depth of the milling machine exceeds the preset milling depth, the reversing valve is controlled to reverse to the second position, the rear supporting leg is driven to descend, the ground clearance at the rear part of the milling machine body is increased, the inclination degree of the milling machine body along the length direction is reduced, and the actual milling depth of the milling machine is reduced. When the first height is less than the second preset height, the inclination degree of the milling machine body along the length direction is smaller, the actual milling depth of the milling machine does not reach the preset milling depth, the reversing is performed to the third position through the control reversing valve, the rear supporting legs are driven to ascend, the ground clearance at the rear part of the milling machine body is reduced, the inclination degree of the milling machine body along the length direction is enlarged, and the actual milling depth of the milling machine reaches the preset milling depth. When the first height difference is equal to the second preset height, the inclination degree of the milling machine body along the length direction is consistent with the requirement of milling operation, namely the actual milling depth of the milling machine reaches the preset milling depth, and the rear supporting leg keeps the current height. The second preset height is the preset milling depth of the milling machine, the first preset height is half of the preset milling depth of the milling machine, and the preset milling depth is determined according to the operation requirement of the milling machine. Optionally, the first preset angle is in a range of-15 ° to 15 °.

In the above technical solution, in the step S104: before determining the magnitude of the first height difference, the control method further includes: step S102: judging the size relation between the inclination angle and a second preset angle; if the inclination angle is smaller than the second preset angle, executing step S20, otherwise executing step S103: and controlling at least one front supporting leg of the milling machine to ascend or descend so that the inclination angle is smaller than a second preset angle.

In the technical scheme, before the size of the first height difference is determined, the size relation between the inclination angle of the milling machine body in the width direction and the second preset angle is judged to determine the inclination degree of the milling machine body in the width direction. If the inclination angle of the milling machine body along the width direction is smaller than a second preset angle, indicating that the inclination degree of the milling machine body along the width direction is in an allowable range, and normally executing the next step; if the inclination angle of the milling machine body along the width direction is greater than or equal to the second preset angle, the inclination degree of the milling machine body along the width direction is larger, so that the inclination degree exceeds the allowable range, the normal running or milling operation of the milling machine can be influenced, at the moment, the inclination degree of the milling machine body along the width direction is reduced by controlling the ascending or descending of at least one front supporting leg of the milling machine, and the inclination angle of the milling machine body along the width direction is smaller than the second preset angle, so that the normal running or milling operation of the milling machine is not influenced. Optionally, the second preset angle is in a range of-5 ° to 5 °.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 illustrates a schematic diagram of a milling machine leg lift control system of one embodiment of the present disclosure;

fig. 2 illustrates a schematic diagram of a milling machine leg lift control system of an embodiment of the present disclosure;

fig. 3 illustrates a schematic diagram of a milling machine leg lift control system of an embodiment of the present disclosure;

fig. 4 illustrates a schematic diagram of a milling machine leg lift control system of an embodiment of the present disclosure;

fig. 5 illustrates a schematic diagram of a milling machine leg lift control system of an embodiment of the present disclosure;

fig. 6 illustrates a schematic view of a milling machine of an embodiment of the present disclosure;

fig. 7 shows a schematic view of a milling machine of an embodiment of the present disclosure;

fig. 8 shows a schematic view of a milling machine of an embodiment of the present disclosure;

fig. 9 shows a schematic view of a milling machine of an embodiment of the present disclosure;

FIG. 10 shows a flow chart of a control method of an embodiment of the invention;

FIG. 11 shows a flow chart of a control method of an embodiment of the invention;

FIG. 12 shows a flow chart of a control method of an embodiment of the invention;

FIG. 13 shows a flow chart of a control method of an embodiment of the invention;

fig. 14 shows a flow chart of a control method of an embodiment of the invention.

Wherein, the correspondence between the reference numbers and the components in fig. 1 to 9 is as follows:

the hydraulic system comprises a support leg hydraulic system 1, a left support leg cylinder 111, a right support leg cylinder 112, an electromagnetic directional valve 12, a first valve port 121, a second valve port 122, a third valve port 123, a fourth valve port 124, an oil tank 13, a constant pressure oil pump 14, a hydraulic lock 15, a first pipeline 161, a second pipeline 162, a controller 2, a sensor assembly 3, a first height sensor 31, a second height sensor 32, a third height sensor 33, a fourth height sensor 34, an inclination angle sensor 35, a milling machine body 41, a front support leg 42 and a rear support leg 43.

Wherein the direction of the arrows in the piping in fig. 4 to 5 indicates the flow direction of the hydraulic oil.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

Milling machine leg lift control systems, milling machines, and control methods according to some embodiments of the present disclosure are described below with reference to fig. 1-14.

The milling machine is provided with a milling machine vehicle body, a running device, a front supporting leg, a rear supporting leg, a milling drum and a side sliding plate, wherein the milling machine vehicle body is supported on the running device through the front supporting leg and the rear supporting leg, the milling drum is connected to the milling machine vehicle body, the side sliding plate is connected with the machine frame and can slide up and down relative to the milling machine vehicle body, and in addition, a telescopic oil cylinder is arranged between the side sliding plate and the machine frame and can drive the side sliding plate to slide up and down relative to the machine frame.

Example one

The present embodiment provides a milling machine leg lift control system for a milling machine installation, as shown in fig. 1, including a leg hydraulic system 1, a controller 2, and a sensor assembly 3. The leg hydraulic system 1 is connected to a rear leg 43 of the milling machine, and is used for driving the rear leg 43 of the milling machine to move. The sensor arrangement 3 is provided on a milling machine body 41 of the milling machine arrangement for detecting the height of different positions on the milling machine body 41 and the inclination of the milling machine body 41 in the length direction and in the width direction. The landing leg hydraulic system 1 and the sensor assembly 3 are electrically connected with the controller 2, the controller 2 receives height data and inclination angle data of the milling machine body 41 detected by the sensor assembly 3, the front end height and the rear end height of the milling machine body 41 are obtained through calculation, the inclination degree of the milling machine body 41 relative to the ground and the inclination degree relative to the horizontal plane are further obtained, corresponding control operation is performed on the landing leg hydraulic system 1, the rear landing leg 43 of the milling machine is driven to ascend or descend, and therefore leveling operation of the milling machine is achieved.

Example two

The embodiment provides a milling machine leg lifting control system, as shown in fig. 2, which comprises a leg hydraulic system 1, a controller 2 and a sensor assembly 3. The leg hydraulic system 1 is connected to a rear leg 43 of the milling machine, and is used for driving the rear leg 43 of the milling machine to move. The sensor arrangement 3 is provided on a milling machine body 41 of the milling machine arrangement for detecting the height of different positions on the milling machine body 41 and the inclination of the milling machine body 41 in the length direction and in the width direction. Specifically, the sensor assembly 3 includes a first height sensor 31, a second height sensor 32, a third height sensor 33, a fourth height sensor 34 and an inclination angle sensor 35, wherein the first height sensor 31, the second height sensor 32, the third height sensor 33 and the fourth height sensor 34 are respectively disposed at the front left portion, the front right portion, the rear left portion and the rear right portion of the milling machine body 41 and are respectively used for detecting a first ground clearance at the front left portion, a second ground clearance at the front right portion, a third ground clearance at the rear left portion and a fourth ground clearance at the rear right portion of the milling machine body 41; the inclination angle sensor 35 is configured to detect a first inclination angle of the milling machine body 41 in the longitudinal direction and a second inclination angle in the width direction with respect to the horizontal plane. The leg hydraulic system 1, the first height sensor 31, the second height sensor 32, the third height sensor 33, the fourth height sensor 34 and the tilt angle sensor 35 are all electrically connected with the controller 2, the controller 2 receives height data and tilt angle data of the milling machine body 41 detected by the sensor assembly 3, the front end height and the rear end height of the milling machine body 41 are obtained through calculation, and then the inclination degree of the milling machine body 41 relative to the ground and the inclination degree relative to the horizontal plane are obtained, corresponding control operation is performed on the leg hydraulic system 1, and the rear leg 43 of the milling machine is driven to ascend or descend so as to achieve leveling operation of the milling machine.

EXAMPLE III

The milling machine leg lifting control system provided by the embodiment, as shown in fig. 2, includes a leg hydraulic system 1, a controller 2, and a sensor assembly 3. The leg hydraulic system 1 is connected to a rear leg 43 of the milling machine, and is used for driving the rear leg 43 of the milling machine to move. The sensor arrangement 3 is provided on a milling machine body 41 of the milling machine arrangement for detecting the height of different positions on the milling machine body 41 and the inclination of the milling machine body 41 in the length direction and in the width direction. Specifically, the sensor assembly 3 includes a first height sensor 31, a second height sensor 32, a third height sensor 33, a fourth height sensor 34 and an inclination angle sensor 35, wherein the first height sensor 31, the second height sensor 32, the third height sensor 33 and the fourth height sensor 34 are respectively disposed at the front left portion, the front right portion, the rear left portion and the rear right portion of the milling machine body 41 and are respectively used for detecting a first ground clearance at the front left portion, a second ground clearance at the front right portion, a third ground clearance at the rear left portion and a fourth ground clearance at the rear right portion of the milling machine body 41; the inclination angle sensor 35 is configured to detect a first inclination angle of the milling machine body 41 in the longitudinal direction and a second inclination angle in the width direction with respect to the horizontal plane. The leg hydraulic system 1, the first height sensor 31, the second height sensor 32, the third height sensor 33, the fourth height sensor 34 and the tilt angle sensor 35 are all electrically connected with the controller 2, the controller 2 receives height data and tilt angle data of the milling machine body 41 detected by the sensor assembly 3, the front end height and the rear end height of the milling machine body 41 are obtained through calculation, and then the inclination degree of the milling machine body 41 relative to the ground and the inclination degree relative to the horizontal plane are obtained, corresponding control operation is performed on the leg hydraulic system 1, and the rear leg 43 of the milling machine is driven to ascend or descend so as to achieve leveling operation of the milling machine.

Wherein, back landing leg 43 includes left back landing leg and right back landing leg, as shown in fig. 3, landing leg hydraulic system 1 includes: a left rear leg cylinder 111, a right rear leg cylinder 112, an oil tank 13, a constant pressure oil pump 14, an electromagnetic directional valve 12 and a hydraulic lock 15. The left rear leg cylinder 111 and the right rear leg cylinder 112 are arranged in parallel and are respectively used for driving the left rear leg and the right rear leg of the milling machine to ascend or descend. The constant pressure oil pump 14 communicates with the oil tank 13 to pump out the hydraulic oil in the oil tank 13 and keep the oil pressure of the hydraulic oil constant. The electromagnetic directional valve 12 is a three-position four-way directional valve, a first valve port 121 of the electromagnetic directional valve 12 is connected to a rod cavity of the left rear leg cylinder 111 and a rod cavity of the right rear leg cylinder 112 through a first pipeline 161, a second valve port 122 is connected to a rodless cavity of the left rear leg cylinder 111 and a rodless cavity of the right rear leg cylinder 112 through a second pipeline 162, and a third valve port 123 and a fourth valve port 124 are respectively communicated with the constant pressure oil pump 14 and the oil tank 13; the hydraulic lock 15 is disposed in the first pipeline 161 and the second pipeline 162, the hydraulic lock 15 is unlocked by the pressure of the hydraulic oil only when the constant pressure oil pump 14 supplies oil to the first pipeline 161 or supplies oil to the second pipeline 162, and the first pipeline 161 and the second pipeline 162 are simultaneously conducted, and when the constant pressure oil pump 14 is in a non-oil supply state, the hydraulic lock 15 closes the first pipeline 161 and the second pipeline 162. Wherein, the electromagnetic directional valve 12 is electrically connected with the controller 2, and the controller 2 controls the electromagnetic directional valve 12 to change direction.

Specifically, as shown in fig. 3, when the electromagnetic directional valve 12 is in the first position in the neutral position, the first port 121 and the second port 122 are directly communicated with the fourth port 124, and the third port 123 is closed, that is, when the electromagnetic directional valve 12 is in the first position, the constant pressure oil pump 14 is in a closed state and does not supply oil to the pipeline. As shown in fig. 4, when the electromagnetic directional valve 12 is at the second position at the left position, the first valve port 121 is in one-way communication with the fourth valve port 124, and the third valve port 123 is in one-way communication with the second valve port 122, at this time, the constant pressure oil pump 14 supplies oil to the second pipeline 162, the hydraulic lock 15 is pushed to unlock by the hydraulic oil, the first pipeline 161 and the second pipeline 162 are simultaneously communicated, the hydraulic oil in the second pipeline 162 flows into the rodless cavity of the left rear leg cylinder 111 and the rodless cavity of the right rear leg cylinder 112, and pushes the left rear leg cylinder 111 and the right rear leg cylinder 112 to extend out, so as to drive the left rear leg and the right rear leg to descend, so that the height of the rear portion of the milling machine body 41 is increased, and the hydraulic oil in the rod cavity of the left rear leg cylinder 111 and the hydraulic oil in the rod cavity of the right rear leg cylinder 112 flow back to. As shown in fig. 5, the electromagnetic directional valve 12 is at the third position when in right guard, the third valve port 123 is in one-way conduction with the first valve port 121, the second valve port 122 is in one-way conduction with the fourth valve port 124, at this time, the constant pressure oil pump 14 supplies oil to the first pipeline 161, the hydraulic oil pushes the hydraulic lock 15 to unlock, and simultaneously conducts the first pipeline 161 and the second pipeline 162, the hydraulic oil in the first pipeline 161 flows into the rod cavity of the left rear leg cylinder 111 and the rod cavity of the right rear leg cylinder 112, and pushes the left rear leg cylinder 111 and the right rear leg cylinder 112 to contract, so as to drive the left rear leg and the right rear leg to rise, and reduce the height of the rear portion of the milling machine body 41.

Example four

The present embodiment provides a milling machine, which includes a milling machine body 41, two front legs 42, two rear legs 43, a milling drum, a running device, and the milling machine leg lift control system of any one of the first to third embodiments. The two front legs 42, the two rear legs 43 and the milling drum are connected to the milling machine body 41, and the two front legs 42, the two rear legs 43 can be raised or lowered relative to the milling machine body 41 to adjust the height from the ground and the inclination angle of the milling machine body 41. The chassis is connected to the milling machine body 41 via two front legs 42 and two rear legs 43 in order to drive the milling machine body 41 in motion. The two front supporting legs 42 are respectively arranged at the left front part and the right front part of the milling machine body 41, and the two rear supporting legs 43 are respectively arranged at the left rear part and the right rear part of the milling machine body 41; the milling drum is disposed between the front leg 42 and the rear leg 43 along the length of the milling machine body 41, and is connected to the bottom of the milling machine body 41 for milling the road surface.

The leg hydraulic system 1 in the milling machine leg lifting control system is connected with two rear legs 43, and the sensor assembly 3 in the milling machine leg lifting control system is arranged on the milling machine body 41 to detect the ground clearance and the inclination angle at different positions on the milling machine body 41, wherein at least a first ground clearance at the left front part, a second ground clearance at the right front part, a third ground clearance at the left rear part and a fourth ground clearance at the right rear part of the milling machine body 41, and the inclination angle of the milling machine body 41 in the length direction and the inclination angle in the width direction can be detected. The controller 2 in the milling machine support leg lifting control system controls the support leg hydraulic system 1 to operate according to the ground clearance of the milling machine body 41 and the inclination angle data in the length direction detected by the sensor assembly 3, drives the rear support leg 43 of the milling machine to ascend or descend, and achieves leveling operation of the milling machine, so that the planeness of a milled road surface of the milling machine is improved, and meanwhile, the efficiency of milling operation is improved.

EXAMPLE five

The present embodiment provides a milling machine, as shown in fig. 6, including a milling machine body 41, two front legs 42, two rear legs 43, a milling drum, a running gear, and the milling machine leg lift control system of any one of the first to third embodiments. The two front legs 42, the two rear legs 43 and the milling drum are connected to the milling machine body 41, and the two front legs 42, the two rear legs 43 can be raised or lowered relative to the milling machine body 41 to adjust the height from the ground and the inclination angle of the milling machine body 41. The chassis is connected to the milling machine body 41 via two front legs 42 and two rear legs 43 in order to drive the milling machine body 41 in motion. The two front supporting legs 42 are respectively arranged at the left front part and the right front part of the milling machine body 41, and the two rear supporting legs 43 are respectively arranged at the left rear part and the right rear part of the milling machine body 41; the milling drum is disposed between the front leg 42 and the rear leg 43 along the length of the milling machine body 41, and is connected to the bottom of the milling machine body 41 for milling the road surface.

The leg hydraulic system 1 in the milling machine leg lifting control system is connected with two rear legs 43, the sensor assembly 3 in the milling machine leg lifting control system comprises a first height sensor 31, a second height sensor 32, a third height sensor 33, a fourth height sensor 34 and an inclination angle sensor 35, the first height sensor 31, the second height sensor 32, the third height sensor 33 and the fourth height sensor 34 are respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the milling machine body 41 and are respectively used for detecting a first ground clearance at the left front part, a second ground clearance at the right front part, a third ground clearance at the left rear part and a fourth ground clearance at the right rear part of the milling machine body 41; the inclination angle sensor 35 is configured to detect a first inclination angle of the milling machine body 41 in the longitudinal direction and a second inclination angle in the width direction with respect to the horizontal plane. The controller 2 in the milling machine support leg lifting control system controls the support leg hydraulic system 1 to operate according to the ground clearance of the milling machine body 41 and the inclination angle data in the length direction detected by the sensor assembly 3, drives the rear support leg 43 of the milling machine to ascend or descend, and achieves leveling operation of the milling machine, so that the planeness of a milled road surface of the milling machine is improved, and meanwhile, the efficiency of milling operation is improved. In addition, the controller 2 is electrically connected to two front legs 42 of the milling machine to control the raising or lowering of at least one front leg 42 according to the inclination angle data of the milling machine body 41 in the width direction detected by the sensor assembly 3, so that the inclination angle of the milling machine body 41 in the width direction is within a preset range, and the normal operation of the milling machine is not affected.

As shown in fig. 6, when the milling machine is in the initial state, the controller 2 performs corresponding lifting operations on the rear leg 43 and the front leg 42 of the milling machine according to the height data and the inclination angle data of the milling machine body 41 detected by the sensor assembly 3, so that the milling machine body 41 is kept substantially horizontal in the length direction and the width direction, that is, the inclination degree of the milling machine body 41 in the length direction and the inclination degree of the milling machine body in the width direction both meet the working requirements of the milling machine, so as to facilitate the normal running or milling operation of the milling machine. When the milling machine enters the milling state, as shown in fig. 7 and 8, when the milling machine enters the milled road surface from the un-milled road surface, the rear leg 43 enters the hollow road section, the inclination degree of the milling machine body 41 changes suddenly, the front is high, the rear is low, the detection data of the tilt angle sensor 35 changes greatly, and the normal milling operation is affected. As shown in fig. 9, at this time, the controller 2 controls the rear leg 43 of the milling machine to rise, so that the height of the rear portion of the milling machine body 41 is raised, and the inclination degree of the milling machine body 41 is restored to a range that meets the working requirement of the milling machine, so that the milling machine can perform milling work normally.

EXAMPLE six

In the present embodiment, a control method is provided for the milling machine of any one of the first to fifth embodiments, as shown in fig. 10, the control method includes the following steps:

step S10: acquiring state parameters of the milling machine;

and step S20, controlling the rear support leg of the milling machine to ascend or descend according to the state parameters.

In the present embodiment, by step S10: and acquiring the state parameters of the milling machine, and judging the current inclination state of the milling machine according to the state parameters of the milling machine so as to provide a basis for controlling the lifting of the rear support leg. The state parameter may be a ground clearance at different positions on a milling machine body of the milling machine, or an inclination angle of the milling machine in a length direction or an inclination angle of the milling machine in a width direction. By step S20: the rear supporting legs of the milling machine are controlled to ascend or descend according to the state parameters, so that the rear supporting legs perform corresponding operation according to the current inclination state of the milling machine body, the ground clearance at the rear part of the milling machine body is adjusted, the leveling operation of the milling machine is realized, the manual adjusting process is saved, the adjusting precision and the adjusting efficiency can be improved, and the improvement of the planeness of the milling construction of the milling machine is facilitated.

EXAMPLE seven

In the present embodiment, a control method is provided for the milling machine of any one of the first to fifth embodiments, as shown in fig. 11, the control method includes the following steps:

step S101: acquiring a first ground clearance, a second ground clearance, a third ground clearance and a fourth ground clearance of the milling machine, and an inclination angle of a milling machine body along the length direction and an inclination angle along the width direction;

step S104, determining the size of the first height difference;

In this embodiment, on the basis of the sixth embodiment, the step S10 is further modified, where the ground heights of the left front portion, the right front portion, the left rear portion and the right rear portion on the milling machine vehicle body are a first ground height, a second ground height, a third ground height and a fourth ground height, respectively, and the first height difference is a difference between the first ground height and the third ground height or a difference between the second ground height and the fourth ground height. And judging the inclination degree of the milling machine body relative to the ground along the length direction by calculating the first height difference of the milling machine body, and providing a basis for subsequent operation control of the rear support leg.

Example eight

In this embodiment, a control method is provided for the milling machine of any one of the first to fifth embodiments, as shown in fig. 12, the control method includes the following steps:

step S104: determining a magnitude of the first height difference;

step S201: judging the size relation between the first height difference of the milling machine and zero;

if the first height difference is greater than zero, go to step S202: controlling a reversing valve of the milling machine to reverse to a second position so as to drive a rear supporting leg of the milling machine to extend out;

if the first height difference is smaller than zero, step S203 is executed: controlling a reversing valve of the milling machine to reverse to a third position so as to drive a rear supporting leg of the milling machine to retract;

if the first height difference is equal to zero, go to step S204: and controlling the rear supporting leg to keep the current height.

In this embodiment, step S20 is further modified based on embodiment seven. When the milling machine is in a running mode, whether an inclination angle exists in the milling machine body along the length direction is determined by judging the size relation between the first height difference of the milling machine and zero, and when the milling machine is in a state of high front and low back, the rear supporting legs are controlled to descend, so that the height of the rear part of the milling machine body is increased, and when the milling machine is in the state of low front and high back, the rear supporting legs are controlled to ascend, so that the height of the rear part of the milling machine body is reduced, the leveling of the milling machine body is realized, and the normal running of the milling machine is prevented from being influenced.

Example nine

The present embodiment provides a control method for a milling machine according to any one of the first to fifth embodiments, as shown in fig. 13, the control method includes the following steps:

step S104: determining a magnitude of the first height difference;

step S205: acquiring a variation value of an inclination angle of a milling machine body of the milling machine along the length direction;

step S206: judging the magnitude relation between the variation value and the first preset angle, if the variation value is larger than the first preset angle, executing the step S207 to the step S210, and if the variation value is smaller than or equal to the first preset angle, executing the step S210 to the step S213;

step S207: judging the size relation between the first height difference and a first preset height;

if the first height difference is greater than the first predetermined height, go to step S208: controlling a reversing valve of the milling machine to reverse to a second position so as to drive a rear supporting leg of the milling machine to extend out;

if the first height difference is smaller than the first predetermined height, step S209 is executed: controlling a reversing valve of the milling machine to reverse to a third position so as to drive a rear supporting leg of the milling machine to retract;

if the first height is equal to the first predetermined height, go to step S210: controlling the rear supporting leg to keep the current height;

step S211: judging the size relation between the first height difference and a second preset height;

if the first height difference is greater than the second predetermined height, go to step S212: controlling a reversing valve of the milling machine to reverse to a second position so as to drive a rear supporting leg of the milling machine to extend out;

if the first height difference is smaller than the second predetermined height, go to step S213: controlling a reversing valve of the milling machine to reverse to a third position so as to drive a rear supporting leg of the milling machine to retract;

if the first height difference is equal to the second predetermined height, go to step S210: and controlling the rear supporting leg to keep the current height.

In this embodiment, step S20 is further modified based on embodiment seven. When the milling machine is in a milling mode, the change value of the inclination angle of the milling machine body of the milling machine along the length direction is obtained, and the size relation between the change value and the first preset angle is compared to judge the milling operation stage of the milling machine, namely whether the milling machine is in a cutting-off stage or a complete milling stage. In the cutter setting stage, the size relation between the first height difference and the first preset height is compared to judge whether the inclination degree of the milling machine body along the length direction meets the requirement, and when the inclination degree is larger or smaller, the rear support legs are controlled to correspondingly ascend or descend so that the inclination degree of the milling machine body along the length direction meets the requirement. And in the complete milling stage, whether the inclination degree of the milling machine body along the length direction accords with the preset milling depth is judged by comparing the size relationship between the first height difference and the second preset height, and when the inclination degree is larger or smaller, the rear supporting legs are controlled to correspondingly ascend or descend so that the inclination degree of the milling machine body along the length direction accords with the preset milling depth to ensure the normal milling operation of the milling machine. The second preset height is the preset milling depth of the milling machine, and the first preset height is half of the preset milling depth of the milling machine.

Example ten

In the present embodiment, a control method is provided for the milling machine of any one of the first to fifth embodiments, as shown in fig. 14, the control method includes the following steps:

step S102: judging the size relationship between the inclination angle of the milling machine body along the width direction and a second preset angle, if the inclination angle is smaller than the second preset angle, executing the step S104 to the step S20, if the inclination angle is larger than or equal to the second preset angle, executing the step S103, and then executing the step S104 to the step S20;

step S103: controlling at least one front supporting leg of the milling machine to ascend or descend so that the inclination angle is smaller than a second preset angle;

step S104: determining a magnitude of the first height difference;

step S20: and controlling the rear support leg of the milling machine to ascend or descend according to the state parameters.

This embodiment adds step S102 and step S103 to embodiment seven. Before the size of the first height difference is determined, the inclination degree of the milling machine body in the width direction is determined by judging the size relation between the inclination angle of the milling machine body in the width direction and a second preset angle, and when the inclination degree exceeds an allowable range, at least one front supporting leg of the milling machine is controlled to ascend or descend so that the inclination degree of the milling machine body in the width direction returns to the allowable range, and therefore normal running or milling operation of the milling machine is prevented from being influenced.

The technical scheme of the invention is explained in detail in the above with the help of the attached drawings, can realize the automatic lifting of the rear support leg of the milling machine, does not need manual observation or manual operation, has higher accuracy, is beneficial to improving the milling operation efficiency and the planeness, can be suitable for complex road surfaces, and enlarges the application range of the milling machine.

In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a milling machine landing leg lift control system, milling machine includes the milling machine automobile body, the milling machine automobile body is followed automobile body length direction by preceding landing leg that is equipped with in proper order backward, mill the drum and the back landing leg, its characterized in that, milling machine landing leg lift control system includes:

the support leg hydraulic system is connected with a rear support leg of the milling machine and used for driving the rear support leg to ascend or descend;

the sensor assembly is arranged on the milling machine body and used for detecting the ground clearance at different positions on the milling machine body, the inclination angle of the milling machine body along the length direction and the inclination angle along the width direction;

and the controller is electrically connected with the sensor assembly and the support leg hydraulic system, and controls the support leg hydraulic system to operate according to the detection data of the sensor assembly so as to drive the rear support leg to ascend or descend.

2. The milling machine leg lift control system of claim 1, wherein the sensor assembly comprises:

the first height sensor is arranged at the left front part of the milling machine body and used for detecting a first ground clearance at the left front part of the milling machine body;

the second height sensor is arranged at the right front part of the milling machine body and used for detecting a second ground clearance at the right front part of the milling machine body;

a third height sensor, disposed at a left rear portion of the milling machine body, for detecting a third ground clearance at the left rear portion of the milling machine body;

a fourth height sensor, disposed at a right rear portion of the milling machine body, for detecting a fourth ground clearance at the right rear portion of the milling machine body;

and the inclination angle sensor is arranged on the milling machine body and used for detecting the inclination angle of the milling machine body along the length direction and the inclination angle along the width direction.

3. The milling machine leg lift control system of claim 2, wherein the rear legs include a left rear leg and a right rear leg, the leg hydraulic system comprising:

a piston rod of the left rear supporting leg oil cylinder is connected with the left rear supporting leg and used for driving the left rear supporting leg to ascend or descend;

a piston rod of the right rear supporting leg oil cylinder is connected with the right rear supporting leg and used for driving the right rear supporting leg to ascend or descend;

an oil tank;

the oil supply device is communicated with the oil tank;

the reversing valve is respectively connected with the left rear support leg oil cylinder, the right rear support leg oil cylinder, the oil tank and the oil supply device through pipelines, and when the reversing valve is located at a first position, the oil supply device is disconnected from the left rear support leg oil cylinder and the right rear support leg oil cylinder; when the reversing valve is located at the second position, the oil supply device is communicated with the rodless cavity of the left rear supporting leg oil cylinder and the rodless cavity of the right rear supporting leg oil cylinder, and the oil tank is communicated with the rod cavity of the left rear supporting leg oil cylinder and the rod cavity of the right rear supporting leg oil cylinder; when the reversing valve is located at the third position, the oil supply device is communicated with the rod cavity of the left rear supporting leg oil cylinder and the rod cavity of the right rear supporting leg oil cylinder, and the oil tank is communicated with the rodless cavity of the left rear supporting leg oil cylinder and the rodless cavity of the right rear supporting leg oil cylinder;

the safety locking device is arranged in a pipeline of the reversing valve for connecting the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder, when the oil supply device is in a non-oil supply state, the safety locking device closes the pipeline of the reversing valve for connecting the left rear supporting leg oil cylinder and the right rear supporting leg oil cylinder,

the reversing valve is electrically connected with the controller, and the controller controls the reversing valve to reverse according to the detection data of the sensor assembly so as to drive the left rear supporting leg and the right rear supporting leg to ascend or descend.

4. The milling machine leg elevation control system of claim 3,

the safety locking device is a hydraulic lock or a balance valve.

5. A milling machine, comprising:

milling machine body;

the two front supporting legs are arranged at the front part of the milling machine body along the length direction;

the two rear supporting legs are arranged at the rear part of the milling machine body along the length direction;

the milling drum is arranged between the front supporting leg and the rear supporting leg along the length direction of the milling machine body and is used for milling a road surface;

the milling machine leg lift control system of any one of claims 1 to 4, wherein a leg hydraulic system of the milling machine leg lift control system is connected to the rear leg, and wherein a controller of the milling machine leg lift control system is electrically connected to the front leg to control the raising or lowering of the rear leg or the front leg according to detection data of a sensor assembly of the milling machine leg lift control system.

6. A control method for the milling machine of claim 5, comprising:

step S10: acquiring state parameters of the milling machine;

7. The control method according to claim 6, wherein the step S10: acquiring state parameters of the milling machine, specifically comprising:

step S101: acquiring a first ground clearance, a second ground clearance, a third ground clearance, a fourth ground clearance of the milling machine, and an inclination angle of a milling machine body along the length direction and an inclination angle along the width direction;

step S104: the size of the first height difference is determined,

wherein the first height difference is a difference between the first ground clearance height and the third ground clearance height or a difference between the second ground clearance height and the fourth ground clearance height.

8. The control method of claim 7, wherein, when the milling machine is in a drive mode, the step S20: controlling the lifting or lowering of the support legs of the milling machine according to the state parameters, specifically comprising:

if the first height difference is greater than zero, execute step S202: controlling a reversing valve of the milling machine to reverse to a second position so as to drive a rear supporting leg of the milling machine to extend;

if the first height difference is equal to zero, go to step S204: and controlling the rear supporting legs to keep the current height.

9. The control method of claim 7, wherein, when the milling machine is in a milling mode, the step S20: controlling the lifting or lowering of the support legs of the milling machine according to the state parameters, specifically comprising:

step S206: judging the magnitude relation between the change value and a first preset angle;

if the variation value is greater than the first preset angle, step S207 is executed: judging the size relation between the first height difference and a first preset height;

if the first height difference is greater than the first preset height, go to step S208: controlling a reversing valve of the milling machine to reverse to a second position so as to drive the rear supporting leg to extend;

if the first height difference is smaller than the first preset height, step S209 is executed: controlling a reversing valve of the milling machine to reverse to a third position so as to drive the rear supporting leg to retract;

if the first height difference is equal to the first preset height, step S210 is executed: controlling the rear supporting leg to keep the current height;

if the variation value is less than or equal to the first preset angle, step S211 is executed: judging the size relation between the first height difference and a second preset height;

if the first height difference is greater than the second preset height, go to step S212: controlling a reversing valve of the milling machine to reverse to a second position so as to drive the rear supporting leg to extend;

if the first height difference is smaller than the second preset height, step S213 is executed: controlling a reversing valve of the milling machine to reverse to a third position so as to drive the rear supporting leg to retract;

if the first height difference is equal to the second preset height, step S210 is executed: controlling the rear supporting legs to keep the current height,

the second preset height is the preset milling depth of the milling machine, and the first preset height is half of the preset milling depth of the milling machine.

10. The control method according to claim 7, wherein step S104: before determining the size of the first height difference, the method further comprises:

step S102: judging the size relation between the inclination angle of the milling machine body in the width direction and a second preset angle;

if the inclination angle is smaller than the second preset angle, executing step S104, otherwise executing step S103: and controlling at least one front supporting leg of the milling machine to ascend or descend so that the inclination angle is smaller than the second preset angle.