CN111119015A - Automatic switching control system and control method for travelling gears of milling machine - Google Patents
Automatic switching control system and control method for travelling gears of milling machine Download PDFInfo
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- CN111119015A CN111119015A CN202010064412.7A CN202010064412A CN111119015A CN 111119015 A CN111119015 A CN 111119015A CN 202010064412 A CN202010064412 A CN 202010064412A CN 111119015 A CN111119015 A CN 111119015A
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- gear
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- milling drum
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
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- Mining & Mineral Resources (AREA)
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Abstract
The invention discloses a milling machine walking gear automatic switching control system and a control method, which are characterized in that: the automatic control system comprises a controller, an electric control handle, a traveling gear selector switch, a milling drum start-stop switch, a traveling drive pump proportional valve, a milling drum drive electromagnetic valve and a gear selector electromagnetic valve, wherein the electric control handle, the traveling gear selector switch, the milling drum start-stop switch, the traveling drive pump proportional valve, the milling drum drive electromagnetic valve and the gear selector electromagnetic valve are respectively electrically connected with the output end of the controller; the invention provides a milling machine walking gear automatic switching control system and a control method, which can automatically switch to a gear suitable for the working condition under the working state and the non-working state, and reduce the labor intensity of an operator.
Description
Technical Field
The invention relates to a milling machine walking gear automatic switching control system and a control method, belongs to the field of engineering machinery hydraulic driving system control, and can be applied to the technical field of milling machines.
Background
The road surface milling machine is a special mechanical device for maintenance operation of highways and urban roads, the running of the prior milling machine can be divided into whole-course stepless speed regulation and step speed regulation, the former is not suitable for being popularized due to high cost, the latter is complex in operation although the cost is low, the milling machine of the traditional gear shifting mode needs to manually switch a gear switch to a transition gear after a working device is turned off in a working state and then moves the equipment to a preset construction area, the working device needs to be started by manually switching the gear switch to the working gear again during construction, some vehicle models have more than one working gear and transition gear due to wide application working condition range, and thus, a great deal of working intensity is increased for an operator due to repeated gear shifting operation.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a milling machine walking gear automatic switching control system and a control method, which can automatically switch to a gear suitable for the working condition under the working state and the non-working state, so that the labor intensity of an operator is reduced.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a milling machine walking gear automatic switch-over control system, its includes the controller, respectively with the automatically controlled handle of controller input electricity connection, walking gear change over switch, mill the drum and open the stop switch, respectively with the walking drive pump proportional valve of controller output electricity connection, mill drum drive solenoid valve and gear change over solenoid valve, automatically controlled handle is connected with the analog signal input interface electricity of controller, walking gear change over switch and mill the drum and open the stop switch and be connected with the digital signal input interface electricity of controller, the controller can real-time storage mill the drum start-up state and mill the gear state when milling the drum off-state.
Further, the controller model is TTC 60.
Furthermore, the gear display device is electrically connected with the communication port of the controller.
Further, the controller is in communication connection with the gear position display device through a CAN bus.
Further, the walking gear selector switch is a self-reset switch.
Further, the walking gear selector switch at least comprises a gear increasing switch position and a gear decreasing switch position.
A control method of the milling machine walking gear automatic switching control system comprises the following steps:
responding to the action of the electric control handle, the controller outputs a traveling driving pump driving current signal to a traveling driving pump electromagnetic valve coil so as to enable the milling machine to execute the traveling action;
collecting a milling drum start-stop switch signal, and enabling a milling drum driving solenoid valve coil to be powered on or powered off by a controller according to the driving current signal and the collected milling drum start-stop switch signal so as to control the working state of the milling drum;
the controller calls the travelling gears of the milling machine stored in the corresponding working state of the milling drum and switches the milling machine to the corresponding travelling gears; the walking gear of the milling machine is obtained by controlling the walking gear selector switch in advance or in real time.
Further, the working state control method of the milling drum comprises any one of the following methods:
when the forward rotation driving current signal value is not greater than Imin + (Imax-Imin) × 5% and the controller receives a signal for starting and stopping the milling drum, the controller controls the milling drum to drive the electromagnetic valve to be electrified, and the milling drum rotates;
when the forward rotation driving current signal value is not greater than Imin + (Imax-Imin) × 5% and the controller receives a signal for stopping the milling drum start-stop switch, the controller controls the milling drum to drive the electromagnetic valve to lose power, and the milling drum stops rotating;
when the reverse driving current signal value is larger than 0, the controller controls the milling drum to drive the electromagnetic valve to lose power, and the milling drum stops rotating;
when the forward rotation driving current signal value is greater than Imin + (Imax-Imin) 5% or the reverse rotation driving current signal value is greater than Imin + (Imax-Imin) 5%, the controller cannot control the milling drum driving electromagnetic valve to lose power or obtain power, and the milling drum driving electromagnetic valve continues to keep the original state;
wherein Imin is a current value when the walking pump proportional solenoid valve is initially opened, and Imax is a current value when the walking pump proportional solenoid valve is completely opened.
Further, the walking gears of the milling machine comprise a first gear, a second gear and a third gear:
in the first gear, the upper limit of forward current and the upper limit of reverse current of the walking drive pump are 50% of full-open current of the walking drive pump proportional electromagnetic valve, and the gear switching electromagnetic valve is not electrified;
when the current is in the second level, the upper limit of the forward current and the upper limit of the reverse current of the walking drive pump are 100% of the full-open current of the proportional electromagnetic valve of the walking drive pump, and the gear switching electromagnetic valve is not electrified;
when the gear is in the third gear, the upper limit of forward current and the upper limit of reverse current of the walking drive pump are 100% of full-open current of the proportional electromagnetic valve of the walking drive pump, and the gear switching electromagnetic valve is electrified;
the upper limit of the running speed of the milling machine in the three gear states is gradually increased, and the speed can be adjusted in respective speed adjusting regions by means of the electric control handle.
Further, when the milling drum drives the electromagnetic valve coil to be electrified, the controller calls the stored walking gear of the milling machine in the working state of the milling drum, stores the walking gear in the controller and marks the walking gear as the walking gear in the working state of the milling drum;
when the milling drum driving electromagnetic valve is powered off, the stored walking gear of the milling machine in the non-working state of the milling drum is controlled and called, and the walking gear is stored in the controller and is marked as the walking gear in the non-working state of the milling drum.
Compared with the prior art, the invention has the following beneficial effects:
the technical scheme has the advantages that the controller can store and automatically switch the working state and the non-working state of the milling drum, so that the labor intensity of an operator is reduced;
according to the technical scheme, the gear display device is connected and communicated with the controller, gear information can be displayed in real time, and operation by an operator is facilitated;
this technical scheme is equipped with a plurality of walking gears, has made things convenient for milling and planing the walking speed regulation of drum.
Drawings
Fig. 1 is a block diagram of an automatic travel gear shifting control system of a milling machine according to an embodiment of the present invention;
fig. 2 is a control circuit diagram of an automatic milling machine traveling gear shifting control system according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The milling machine walking gear automatic switching control system comprises a controller, an electric control handle, a walking gear switching switch, a milling drum start-stop switch, a walking drive pump proportional valve, a milling drum drive solenoid valve and a gear switching solenoid valve, wherein the electric control handle, the walking gear switching switch, the milling drum start-stop switch, the walking drive pump proportional valve, the milling drum drive solenoid valve and the gear switching solenoid valve are respectively electrically connected with an input end of the controller;
the controller receives the analog quantity signal of the electric control handle, processes the signal into a forward rotation driving current signal and a reverse rotation driving current signal of the proportional valve of the driving pump according to the operation habit of the handle, and outputs the signals through the output end of the controller, wherein the magnitudes of the current signals are respectively in direct proportion to the forward driving speed and the backward driving speed of the milling machine.
In one embodiment, the controller is model number TTC 60;
the type of the controller is not limited to one, and the controller adopted in the technical scheme can meet the requirements of the controller with the type of TTC60, the type of EPEC4602, EPEC3610 and RC 28-14. .
Furthermore, the milling machine walking gear automatic switching control system also comprises a gear display device electrically connected with the controller communication port.
In one embodiment, the controller is in communication connection with the gear display device through a CAN bus;
the gear display device is used for displaying current gear information at any time, and is convenient for operators to adjust.
In one embodiment, the travel gear selector switch is a self-reset switch;
namely, the gear shifting signal is in a trigger type, and the action of shifting the gear is executed after the control signal of the controller or the external manual operation is received.
Furthermore, the walking gear selector switch at least comprises a gear increasing switch position and a gear decreasing switch position;
the gear can also be adjusted in multiple steps by means of a continuous gear increase signal or a continuous gear decrease signal.
A control method of the milling machine walking gear automatic switching control system comprises the following steps:
responding to the action of the electric control handle, the controller outputs a traveling driving pump driving current signal to a traveling driving pump electromagnetic valve coil so as to enable the milling machine to execute the traveling action;
collecting a milling drum start-stop switch signal, and enabling a milling drum driving solenoid valve coil to be powered on or powered off by a controller according to the driving current signal and the collected milling drum start-stop switch signal so as to control the working state of the milling drum;
the controller calls the travelling gears of the milling machine stored in the corresponding working state of the milling drum and switches the milling machine to the corresponding travelling gears; the walking gear of the milling machine is obtained by controlling a walking gear selector switch in advance or in real time;
the electric control handle is used for controlling the milling machine to walk, the milling drum start-stop switch is used for controlling the milling drum to start and stop, the controller is used for calling and adjusting walking gears according to the working state corresponding to the milling drum, and the walking gears can be switched by gears stored in the controller in advance or manually switched by personnel outside.
Further, the working state control method of the milling drum comprises any one of the following methods:
when the forward rotation driving current signal value is not greater than Imin + (Imax-Imin) × 5% and the controller receives a signal for starting and stopping the milling drum, the controller controls the milling drum to drive the electromagnetic valve to be electrified, and the milling drum rotates;
when the forward rotation driving current signal value is not greater than Imin + (Imax-Imin) × 5% and the controller receives a signal for stopping the milling drum start-stop switch, the controller controls the milling drum to drive the electromagnetic valve to lose power, and the milling drum stops rotating;
when the reverse driving current signal value is larger than 0, the controller controls the milling drum to drive the electromagnetic valve to lose power, and the milling drum stops rotating;
when the forward rotation driving current signal value is greater than Imin + (Imax-Imin) 5% or the reverse rotation driving current signal value is greater than Imin + (Imax-Imin) 5%, the controller cannot control the milling drum driving electromagnetic valve to lose power or obtain power, and the milling drum driving electromagnetic valve continues to keep the original state;
wherein Imin is a current value when the walking pump proportional solenoid valve is initially opened, and Imax is a current value when the walking pump proportional solenoid valve is completely opened;
to sum up, the relationship among the current signal of the traveling drive pump, the traveling milling drum start/stop switch and the milling drum drive solenoid valve can be summarized as the following table:
| milling and planing machine Drum driver Electrokinetic energy Magnetic valve | Power loss | Get electricity | Keep the |
| Condition | |||
| 1 | Forward driving current of walking driving pump Not more than Imin + (Imax-Imin).) 5% received milling drum start-stop Off stop signal | Forward driving current of walking driving pump Not more than Imin + (Imax-Imin).) 5% received milling drum start-stop Off start signal | Walking-driven pump forward rotation
Value of drive current signal
Greater than Imin + (Imax-
Imin）*5 |
| Condition | |||
| 2 | Reverse driving current of walking driving pump Greater than 0 | Walking driven pump reverse rotation Large driving current signal In Imin + (Imax- Imin）*5% |
The controller controls the milling drum to drive the electromagnetic valve to lose power or gain power according to the forward and reverse rotation current signal value of the walking pump proportional electromagnetic valve and the start and stop signal of the milling drum start and stop switch, so that the working state of the milling drum is controlled more accurately.
In one embodiment, the travel gears of the milling machine include first gear, second gear and third gear:
in the first gear, the upper limit of forward current and the upper limit of reverse current of the walking drive pump are 50% of full-open current of the walking drive pump proportional electromagnetic valve, and the gear switching electromagnetic valve is not electrified;
when the current is in the second level, the upper limit of the forward current and the upper limit of the reverse current of the walking drive pump are 100% of the full-open current of the proportional electromagnetic valve of the walking drive pump, and the gear switching electromagnetic valve is not electrified;
when the gear is in the third gear, the upper limit of forward current and the upper limit of reverse current of the walking drive pump are 100% of full-open current of the proportional electromagnetic valve of the walking drive pump, and the gear switching electromagnetic valve is electrified;
the upper limit of the running speed of the milling machine in the three gear states is gradually increased, and the speed can be adjusted in respective speed adjusting regions by means of the electric control handle.
Further, when the milling drum driving electromagnetic valve is electrified, the controller calls the stored walking gear of the milling machine in the working state of the milling drum, stores the walking gear in the controller and marks the walking gear as the walking gear in the working state of the milling drum;
when the milling drum driving electromagnetic valve is powered off, the controller calls the stored walking gear of the milling machine in the non-working state of the milling drum, stores the walking gear in the controller and marks the walking gear as the walking gear in the non-working state of the milling drum;
when the milling drum works, the driving solenoid valve coil of the milling drum is electrified, the controller transfers the walking gear corresponding to the state stored before, and automatically switches to the walking gear without manually switching the gear, and the milling drum is switched to start and stop the switch to directly switch to the walking gear, so that the operation of personnel is facilitated.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a milling machine walking gear automatic switch control system which characterized in that: including controller, the automatically controlled handle of being connected with the controller input electricity respectively, walking gear change over switch, mill the plane drum and open stop switch, the walking drive pump proportional valve of being connected with the controller output electricity respectively, mill plane drum drive solenoid valve and gear and switch over the solenoid valve, the analog signal input interface electricity of automatically controlled handle and controller is connected, walking gear change over switch and mill the plane drum and open stop switch and be connected with the digital signal input interface electricity of controller, the controller can real-time storage mill plane drum start-up state and mill the gear state when the plane drum stall state.
2. The automatic shifting control system for the traveling gears of the milling machine as claimed in claim 1, wherein: the controller model is TTC 60.
3. The automatic shifting control system for the traveling gears of the milling machine as claimed in claim 1, wherein: the gear display device is electrically connected with the controller communication port.
4. The automatic shifting control system for the traveling gears of the milling machine as claimed in claim 3, wherein: the controller is in communication connection with the gear display device through a CAN bus.
5. The automatic shifting control system for the traveling gears of the milling machine as claimed in claim 1, wherein: the walking gear change-over switch is a self-reset switch.
6. The automatic shifting control system for the traveling gears of the milling machine as claimed in claim 1, wherein: the walking gear change-over switch at least comprises a gear increasing switch position and a gear decreasing switch position.
7. The control method of the automatic shifting control system for the traveling gears of the milling machine according to any one of claims 1 to 6 comprises the following steps:
responding to the action of the electric control handle, the controller outputs a traveling driving pump driving current signal to a traveling driving pump electromagnetic valve coil so as to enable the milling machine to execute the traveling action;
collecting a milling drum start-stop switch signal, and enabling a milling drum driving solenoid valve coil to be powered on or powered off by a controller according to the driving current signal and the collected milling drum start-stop switch signal so as to control the working state of the milling drum;
the controller calls the travelling gears of the milling machine stored in the corresponding working state of the milling drum and switches the milling machine to the corresponding travelling gears; the walking gear of the milling machine is obtained by controlling the walking gear selector switch in advance or in real time.
8. The control method of the automatic milling machine walking gear shifting control system according to claim 7, wherein the control method comprises the following steps:
the working state control method of the milling drum comprises any one of the following methods:
when the forward rotation driving current signal value is not greater than Imin + (Imax-Imin) × 5% and the controller receives a signal for starting and stopping the milling drum, the controller controls the milling drum to drive the electromagnetic valve to be electrified, and the milling drum rotates;
when the forward rotation driving current signal value is not greater than Imin + (Imax-Imin) × 5% and the controller receives a signal for stopping the milling drum start-stop switch, the controller controls the milling drum to drive the electromagnetic valve to lose power, and the milling drum stops rotating;
when the reverse driving current signal value is larger than 0, the controller controls the milling drum to drive the electromagnetic valve to lose power, and the milling drum stops rotating;
when the forward rotation driving current signal value is greater than Imin + (Imax-Imin) 5% or the reverse rotation driving current signal value is greater than Imin + (Imax-Imin) 5%, the controller cannot control the milling drum driving electromagnetic valve to lose power or obtain power, and the milling drum driving electromagnetic valve continues to keep the original state;
wherein Imin is a current value when the walking pump proportional solenoid valve is initially opened, and Imax is a current value when the walking pump proportional solenoid valve is completely opened.
9. The control method of the automatic milling machine walking gear shifting control system according to claim 8, wherein the control method comprises the following steps: the walking gears of the milling machine comprise a first gear, a second gear and a third gear:
in the first gear, the upper limit of forward current and the upper limit of reverse current of the walking drive pump are 50% of full-open current of the walking drive pump proportional electromagnetic valve, and the gear switching electromagnetic valve is not electrified;
when the current is in the second level, the upper limit of the forward current and the upper limit of the reverse current of the walking drive pump are 100% of the full-open current of the proportional electromagnetic valve of the walking drive pump, and the gear switching electromagnetic valve is not electrified;
when the gear is in the third gear, the upper limit of forward current and the upper limit of reverse current of the walking drive pump are 100% of full-open current of the proportional electromagnetic valve of the walking drive pump, and the gear switching electromagnetic valve is electrified;
the upper limit of the running speed of the milling machine in the three gear states is gradually increased, and the speed can be adjusted in respective speed adjusting regions by means of the electric control handle.
10. The control method of the automatic milling machine walking gear shifting control system according to claim 8, wherein the control method comprises the following steps: when the milling drum drives the electromagnetic valve coil to be electrified, the controller calls the stored walking gear of the milling machine in the working state of the milling drum, stores the walking gear in the controller and marks the walking gear as the walking gear in the working state of the milling drum;
when the milling drum driving electromagnetic valve is powered off, the controller calls the stored walking gear of the milling machine in the non-working state of the milling drum, stores the walking gear in the controller and marks the walking gear as the walking gear in the non-working state of the milling drum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064412.7A CN111119015A (en) | 2020-01-20 | 2020-01-20 | Automatic switching control system and control method for travelling gears of milling machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064412.7A CN111119015A (en) | 2020-01-20 | 2020-01-20 | Automatic switching control system and control method for travelling gears of milling machine |
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| CN111119015A true CN111119015A (en) | 2020-05-08 |
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| CN202010064412.7A Pending CN111119015A (en) | 2020-01-20 | 2020-01-20 | Automatic switching control system and control method for travelling gears of milling machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236766A (en) * | 2021-05-14 | 2021-08-10 | 徐州徐工基础工程机械有限公司 | Continuous mining machine walking gear control method |
-
2020
- 2020-01-20 CN CN202010064412.7A patent/CN111119015A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236766A (en) * | 2021-05-14 | 2021-08-10 | 徐州徐工基础工程机械有限公司 | Continuous mining machine walking gear control method |
| CN113236766B (en) * | 2021-05-14 | 2022-02-22 | 徐州徐工基础工程机械有限公司 | Continuous mining machine walking gear control method |
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Address after: 221004 No.10 tuolanshan Road, Xuzhou Economic and Technological Development Zone, Xuzhou City, Jiangsu Province Applicant after: XUZHOU XUGONG ROAD-CONSTRUCTION MACHINERY Co.,Ltd. Address before: 221004 No. 10, Mount Blue Road, Xuzhou Economic Development Zone, Jiangsu, China Applicant before: XUZHOU XUGONG ROAD-CONSTRUCTION MACHINERY Co.,Ltd. |