CN109733492A - A kind of milling and planing system method for automatically leveling - Google Patents
A kind of milling and planing system method for automatically leveling Download PDFInfo
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- CN109733492A CN109733492A CN201811646367.5A CN201811646367A CN109733492A CN 109733492 A CN109733492 A CN 109733492A CN 201811646367 A CN201811646367 A CN 201811646367A CN 109733492 A CN109733492 A CN 109733492A
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Abstract
A kind of milling and planing system method for automatically leveling provided by the invention, using plane latter two height of landing leg of milling machine as milling benchmark, the gradient of detection vehicle frame length direction is gone using obliquity sensor, and send the inclination information of measurement to controller, the actual angle information of the vehicle frame of acquisition is compared by controller with preset target angle, and then two front leg strut hydraulic cylinders in front of control plane milling machine is gone to make vehicle frame and target angle always, since milling rotor and vehicle frame are connected, and then complete the adjustment of milling rotor height；This method detects the gradient of vehicle frame by obliquity sensor to realize the Automatic Levelling of milling machine, solve can not differentiate below levelling sideskid in the prior art or below crawler belt it is uneven caused by the case that rope sensor length changes, the problem of leading to milling poor flatness, is adjusted to milling rotor.
Description
Technical field
The present invention relates to pavement preservation equipment technical fields, and in particular to a kind of milling and planing system method for automatically leveling.
Background technique
Milling machine is the important equipment in pavement maintenance engineering, has in asphalt pavement conserving engineering and is widely applied.?
Automatic leveling device is installed on milling machine, milling flatness can be improved, improves construction quality.Especially there are swelling packet, track, sedimentation
Etc. diseases special road section, can achieve the effect that using automatic leveling system fabulous.
The leveling control system of the prior art is by liquid crystal display, controller, rope sensor, hydraulic cylinder and associated
Connect cable composition.Rope sensor perceives the elevation information of milling machine arranged on left and right sides milling rotor, will by CAN-BUS bus
Data information transfer is to controller.Actual height value, target value and the control model etc. of controller comparison milling rotor two sides
Status information calculates corresponding control instruction, is gone up and down by hydraulic cylinder extension driving milling rotor, to realize milling machine
Automatic Levelling control.
The variation of rope sensor length caused by the injustice occurred below levelling sideskid is without adjusting milling rotor
Highly, but the variation of rope sensor length caused by the injustice below preceding crawler belt needs the height to milling rotor to adjust
It is whole.Road surface occurs not usually, and existing controller can not be differentiated below the uneven or preceding crawler belt below levelling sideskid not
It is flat that the length of rope sensor is caused to change, therefore often injustice leads to rope sensor to controller below sideskid
The height of milling rotor is adjusted when length changes, causes the road surface depth of milling different, has seriously affected milling
Flatness.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of milling and planing system method for automatically leveling, controller energy
It is enough that accurately the height of milling rotor is adjusted, improve milling flatness.
The present invention is to be achieved through the following technical solutions:
A kind of milling and planing system method for automatically leveling, includes the following steps；
Step 1, the goal-selling angle [alpha] in controller, target angle α are the gradient on plane milling road surface；
Step 2, controller obtain vehicle frame two sides vehicle commander direction respectively with the actual angle of horizontal direction, and by vehicle frame two sides
Actual angle compared respectively with target angle, when actual angle and target angle it is not identical when, with milling machine rear support leg
Height on the basis of, controller controls the flexible of respective side front leg strut hydraulic cylinder, the height of vehicle frame is adjusted, so that vehicle frame is in vehicle commander
Direction and the actual angle of horizontal direction are consistent with target angle.
Optionally, in step 1, when plane mills road level, target angle α=0 °；When plane milling road surface is uplink slope surface,
Target angle is+α °；When plane milling road surface is downlink slope surface, target angle is-α °.
Optionally, controller obtains the actual angles of vehicle frame two sides by sensor in step 2, and two sensors set respectively
It sets in the two sides of vehicle frame.
Optionally, in step 2, when actual angle is less than target angle, controller controls the length of front leg strut hydraulic cylinder
Elongation；When actual angle is greater than target angle, the length that controller controls front leg strut hydraulic cylinder shortens.
Optionally, the sensor is obliquity sensor.
Optionally, the height of benchmark described in step 2 is to dig the height of chassis above ground of milling machine rear support leg hydraulic cylinder position.
Compared with prior art, the invention has the following beneficial technical effects:
A kind of milling and planing system method for automatically leveling provided by the invention utilizes the height of plane two rear support leg hydraulic cylinders of milling machine
As benchmark, passed using the angle of obliquity sensor detection vehicle frame length direction and horizontal direction, and by the angle information of measurement
Controller is given, the vehicle frame of acquisition is compared with the angle information of horizontal direction with preset target angle by controller, into
And plane two front leg strut hydraulic cylinders of milling machine are controlled, make vehicle frame and the angle of horizontal direction and target angle always, it is high to complete vehicle frame
The adjusting of degree since milling rotor and vehicle frame are connected, and then completes the adjusting of milling rotor level height；This method is by inclining
Angle transducer detects the gradient of vehicle frame to realize the Automatic Levelling of milling machine, preferably realizes the Automatic Levelling of milling machine, solution
Rope sensor length caused by injustice below levelling sideskid lower section or crawler belt can not be differentiated in the prior art by, which having determined, sends out
In the case where changing, milling rotor is adjusted the problem of the difference of the surface evenness after leading to milling.
Detailed description of the invention
Fig. 1 is the main view of milling equipment structure diagram；
Fig. 2 is the left view of milling equipment structure diagram.
1- vehicle frame；2- hydraulic cylinder；3- crawler belt；4- milling rotor；5- obliquity sensor
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, described to be explanation of the invention rather than limit
It is fixed.
As illustrated in fig. 1 and 2, a kind of milling and planing system method for automatically leveling, this method are inclined by the setting in the two sides of milling machine
Angle transducer, and be located in front of frame sides, obliquity sensor is used to detect the tilt angle of 1 length direction of vehicle frame.Inclination angle sensing
Device 5 is connect by cable with controller, and controller is connect with control valve by cable, and the lower end of hydraulic cylinder 2 is connect with crawler belt 3,
Upper end is connect with vehicle frame 1, and the lower section of vehicle frame is arranged in milling rotor 4, and controller receives the vehicle frame length that obliquity sensor 5 is sent
The angle parameter in direction, and control valve is controlled according to angle parameter and flows into direction and the flow of hydraulic cylinder oil liquid, and then adjusts liquid
The angle of the height of cylinder pressure 2, the vehicle frame 1 and horizontal direction that make milling machine is kept constant, since milling rotor 4 and vehicle frame 1 connect,
When adjusting the height of hydraulic cylinder, while having adjusted the level height of milling rotor 4.
Method for automatically leveling of the invention is explained in detail below, comprising the following steps:
Step 1, target angle is set in controller first, has both dug the included angle on milling road surface and horizontal direction；
For example, the target angle of level road is α=0 °, the target angle on upward slope road surface is α=+ X °, descending road surface
Target angle is α=- X °.
Wherein, X is the gradient parameter on road surface.
Step 2, during digging milling machine operation, using vehicle frame rear support leg height as milling benchmark, two obliquity sensors
The included angle information of real-time detection respective side vehicle frame length direction and horizontal direction, when the angle information and target angle of measurement
When not identical, controller adjusts the height of the vehicle frame front leg strut hydraulic cylinder of respective side, makes vehicle frame length direction and horizontal direction
Angle is identical as target angle.
Detailed process is as follows:
Since plane milling machine is when carrying out plane milling operation, two driven pedrails at milling machine rear are in the road of milling always
On face, and it is in constant height always, therefore using the height of the two driven pedrail supporting legs as the benchmark of milling.
When bulge or track pit occurs in road surface, the crawler belt in front of milling machine rolls bulge or track first, will lead to
The included angle of vehicle frame length direction and horizontal direction changes, and the obliquity sensor difference at left and right sides of vehicle frame is real-time
Detect the angle of vehicle frame respective side length direction, and send the angle parameter to controller, controller by the angle parameter with
Target angle compares, when the angle parameter of detection and target angle be not identical, branch before controller is controlled by control valve
The height of leg hydraulic cylinder, and then the height of vehicle frame is adjusted, until the included angle and target of vehicle frame length direction and horizontal direction
Angle is identical, since milling rotor and vehicle frame are connected, also just completes the adjustment of milling rotor height.
Crawler belt in front of plane milling machine is rolled into track pit, and vehicle frame tilts down, and the angle of detection is less than target angle
Degree, then controller controls the length elongation of front leg strut hydraulic cylinder.
When crawler belt in front of plane milling machine is rolled to bulge, vehicle frame tilts upwards, and the angle of detection is greater than target angle,
Then the length of controller control front leg strut hydraulic cylinder shortens.
Embodiment 1
When the road surface of milling is horizontal plane, target angle α=0 is set in the controller.
In milling and plane operation, the crawler belt of vehicle frame left front enters in track pit milling machine, then vehicle frame left length direction
It changes with the angle of horizontal direction, measurement angle is less than target angle, and controller adjusts the left front landing leg hydraulic cylinder of vehicle frame
Height, make the length elongation of hydraulic cylinder, until vehicle frame left length direction and horizontal direction angle angle and target angle
It is identical, i.e., horizontality will be adjusted on the left of vehicle frame, angle is 0 °, and for vehicle frame during adjusting, milling rotor follows vehicle frame
Mobile, the position for completing milling rotor is adjusted.
The above-mentioned situation for only injustice occur to one, vehicle frame left forward side crawler belt is illustrated, below to when plane milling machine
There is uneven situation and are illustrated in two crawler belts of front left and right sides.
When the crawler belt in plane milling machine left forward side rolls track pit, the crawler belt rolling road surface bulge on right side leads to vehicle frame two
When the inclination of different angle occurs in side, the angle that controller is detected according to the obliquity sensor of respective side is to the two of the left and right sides
A front leg strut hydraulic cylinder is adjusted separately, i.e., extends left front landing leg hydraulic cylinder, so that the inclination angle of sinistral carriage and target angle
Degree is consistent, while right anterior branch leg hydraulic cylinder being shortened, so that the inclination angle of dextral carriage is consistent with target angle, so that entire vehicle frame
It is maintained at horizontality.
Embodiment 2
When the road surface of plane milling is uplink slope surface or downlink slope surface, target angle is arranged according to the angle of slope surface in the controller
Degree, so that the value of target angle and the angle of slope surface are consistent.
When plane milling road surface is uplink slope surface, target angle is α=+ X °；When plane milling road surface is downlink slope surface, target angle
Degree is α=- X °.
The leveling method of its milling rotor is same as Example 1.
In acclive road-surface milling, the target angle α of obliquity sensor, example are set according to the size of road gradient
Such as: when road gradient is 5 °, target angle α=5 ° are set.The actual angle and target that controller detects obliquity sensor
Angle is compared.If vehicle frame is tilted, controller will export corresponding control instruction, driving front left and right sides phase
The hydraulic cylinder extension driving milling rotor lifting answered, so that vehicle frame and slope surface keeping parallelism, to realize looking for automatically for milling machine
Flat control.
A kind of milling and planing system method for automatically leveling provided by the invention, using plane two, milling machine rear hydraulic cylinder as milling
Benchmark, the gradient of detection vehicle frame length direction is gone using obliquity sensor, and sends the inclination information of measurement to control
The actual angle information of the vehicle frame of acquisition is compared by device, controller with preset target angle, and then goes control plane milling machine
Two hydraulic cylinders in front keep vehicle frame consistent with target angle, complete the adjusting of height of chassis above ground, since milling rotor and vehicle frame are solid
Even, and then the adjusting of the level height of milling rotor is completed, while milling rotor is made to keep horizontality；This method is by inclining
Angle transducer detects the gradient of vehicle frame to realize the Automatic Levelling of milling machine, preferably realizes the Automatic Levelling of milling machine, solution
Rope sensor length caused by injustice below levelling sideskid lower section or crawler belt can not be differentiated in the prior art by, which having determined, sends out
In the case where changing, is adjusted to milling rotor the problem of leading to milling poor flatness.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (6)
1. a kind of milling and planing system method for automatically leveling, which is characterized in that include the following steps；
Step 1, the goal-selling angle [alpha] in controller, target angle α are the gradient on plane milling road surface；
Step 2, controller obtain vehicle frame two sides vehicle commander direction respectively with the actual angle of horizontal direction, and by the reality of vehicle frame two sides
Border angle is compared with target angle respectively, when actual angle and target angle be not identical, with the height of milling machine rear support leg
On the basis of degree, controller controls the flexible of respective side front leg strut hydraulic cylinder, the height of vehicle frame is adjusted, so that vehicle frame is in vehicle commander direction
It is consistent with target angle with the actual angle of horizontal direction.
2. milling and planing system method for automatically leveling according to claim 1, which is characterized in that in step 1, when plane mills road level
When, target angle α=0 °；When plane milling road surface is uplink slope surface, target angle is+α °；When plane milling road surface is downlink slope surface,
Target angle is-α °.
3. milling and planing system method for automatically leveling according to claim 1, which is characterized in that controller passes through sensing in step 2
Device obtains the actual angle of vehicle frame two sides, and two sensors are separately positioned on the two sides of vehicle frame.
4. milling and planing system method for automatically leveling according to claim 3, which is characterized in that the sensor is inclination angle sensing
Device.
5. milling and planing system method for automatically leveling according to claim 1, which is characterized in that in step 2, when actual angle is less than
When target angle, controller controls the length elongation of front leg strut hydraulic cylinder；When actual angle is greater than target angle, controller control
The length of front leg strut hydraulic cylinder processed shortens.
6. milling and planing system method for automatically leveling according to claim 1, which is characterized in that the height of benchmark described in step 2
For the height of chassis above ground for digging milling machine rear support leg hydraulic cylinder position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811646367.5A CN109733492A (en) | 2018-12-29 | 2018-12-29 | A kind of milling and planing system method for automatically leveling |
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| CN201811646367.5A CN109733492A (en) | 2018-12-29 | 2018-12-29 | A kind of milling and planing system method for automatically leveling |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110258270A (en) * | 2019-06-19 | 2019-09-20 | 山推工程机械股份有限公司 | A kind of control method of milling machine, control system and milling machine |
| CN110329029A (en) * | 2019-08-15 | 2019-10-15 | 徐州徐工筑路机械有限公司 | A kind of body gesture controlled system with self-regulation |
| CN110355665A (en) * | 2019-07-31 | 2019-10-22 | 苏州仁尔必思电子科技有限公司 | A kind of three-dimensional multistation processing unit (plant) of electronic component |
| CN110749294A (en) * | 2019-09-26 | 2020-02-04 | 中融国城建设有限公司 | High efficiency engineering is surveyed and is used roughness detection device |
| CN110965442A (en) * | 2019-12-11 | 2020-04-07 | 三一汽车制造有限公司 | Milling machine support leg lifting control system, milling machine and control method |
| CN111455791A (en) * | 2020-04-08 | 2020-07-28 | 河南省高远公路养护技术有限公司 | Milling machine macro flatness control device and control method |
| CN111636283A (en) * | 2020-06-09 | 2020-09-08 | 徐巧芳 | Concrete pavement polishing equipment capable of automatically attaching to pavement |
| CN113819651A (en) * | 2021-09-26 | 2021-12-21 | 芜湖新农夫机械有限公司 | Intelligent hot blast stove with waste gas purification function and use method thereof |
| CN114150560A (en) * | 2021-12-03 | 2022-03-08 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
| CN115198610A (en) * | 2021-04-06 | 2022-10-18 | 宝马格有限公司 | Method for adjusting the lifting position of a machine frame of a ground milling machine connected to a travel device via a lifting device, and ground milling machine |
| CN117322727A (en) * | 2023-09-21 | 2024-01-02 | 江门市鑫义隆智能科技有限公司 | Intelligent lifting table control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110258270A (en) * | 2019-06-19 | 2019-09-20 | 山推工程机械股份有限公司 | A kind of control method of milling machine, control system and milling machine |
| CN110258270B (en) * | 2019-06-19 | 2021-03-23 | 山推工程机械股份有限公司 | Control method and control system of milling machine and milling machine |
| CN110355665A (en) * | 2019-07-31 | 2019-10-22 | 苏州仁尔必思电子科技有限公司 | A kind of three-dimensional multistation processing unit (plant) of electronic component |
| CN110329029A (en) * | 2019-08-15 | 2019-10-15 | 徐州徐工筑路机械有限公司 | A kind of body gesture controlled system with self-regulation |
| CN110749294B (en) * | 2019-09-26 | 2021-03-23 | 中融国城建设有限公司 | High efficiency engineering is surveyed and is used roughness detection device |
| CN110749294A (en) * | 2019-09-26 | 2020-02-04 | 中融国城建设有限公司 | High efficiency engineering is surveyed and is used roughness detection device |
| CN110965442A (en) * | 2019-12-11 | 2020-04-07 | 三一汽车制造有限公司 | Milling machine support leg lifting control system, milling machine and control method |
| CN111455791A (en) * | 2020-04-08 | 2020-07-28 | 河南省高远公路养护技术有限公司 | Milling machine macro flatness control device and control method |
| CN111455791B (en) * | 2020-04-08 | 2021-10-08 | 河南省高远公路养护技术有限公司 | Control method of milling machine macro flatness control device |
| CN111636283A (en) * | 2020-06-09 | 2020-09-08 | 徐巧芳 | Concrete pavement polishing equipment capable of automatically attaching to pavement |
| CN115198610A (en) * | 2021-04-06 | 2022-10-18 | 宝马格有限公司 | Method for adjusting the lifting position of a machine frame of a ground milling machine connected to a travel device via a lifting device, and ground milling machine |
| CN113819651A (en) * | 2021-09-26 | 2021-12-21 | 芜湖新农夫机械有限公司 | Intelligent hot blast stove with waste gas purification function and use method thereof |
| CN114150560A (en) * | 2021-12-03 | 2022-03-08 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
| CN114150560B (en) * | 2021-12-03 | 2023-02-03 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
| CN117322727A (en) * | 2023-09-21 | 2024-01-02 | 江门市鑫义隆智能科技有限公司 | Intelligent lifting table control method and system |
| CN117322727B (en) * | 2023-09-21 | 2024-04-16 | 江门市鑫义隆智能科技有限公司 | Intelligent lifting table control method and system |
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