CN115233758B - Groove milling machine - Google Patents
Groove milling machine Download PDFInfo
- Publication number
- CN115233758B CN115233758B CN202211052898.8A CN202211052898A CN115233758B CN 115233758 B CN115233758 B CN 115233758B CN 202211052898 A CN202211052898 A CN 202211052898A CN 115233758 B CN115233758 B CN 115233758B
- Authority
- CN
- China
- Prior art keywords
- milling machine
- milling
- wire rope
- load
- slot milling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/08—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with digging wheels turning round an axis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/20—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels
- E02F3/205—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels with a pair of digging wheels, e.g. slotting machines
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/22—Component parts
- E02F3/24—Digging wheels; Digging elements of wheels; Drives for wheels
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/22—Component parts
- E02F3/24—Digging wheels; Digging elements of wheels; Drives for wheels
- E02F3/246—Digging wheels; Digging elements of wheels; Drives for wheels drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/22—Component parts
- E02F3/26—Safety or control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
- E02F5/145—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids control and indicating devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The application discloses a slot milling machine, relates to the field of engineering machinery, and is used for realizing accurate control of a cutter rest of the slot milling machine and preventing unbalanced loading. The method comprises the following steps: in the working process of the slot milling machine, the load of all milling wheels of the slot milling machine is adopted in real time; taking the load of all milling wheels as a parameter, and taking the maximum load of the loads of all milling wheels as a real-time load N of the slot milling machine; judging whether the real-time load of the slot milling machine meets a first setting formula (S1): n (N) 1 ≤N≤N 2 The method comprises the steps of carrying out a first treatment on the surface of the If the first setting formula (S1) is not satisfied, judging whether the real-time load N of the slot milling machine satisfies the second setting formula (S2): n (N)<N 1 The method comprises the steps of carrying out a first treatment on the surface of the If the second setting formula (S2) is satisfied, continuing to judge whether the tensile force F of the steel wire rope of the slot milling machine satisfies the following third setting formula (S3): f (F) 1 <F, performing the process; if the third set formula is not satisfied (S3), the wire rope is tightened to raise the milling head of the milling machine.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to a slot milling machine.
Background
The double-wheel milling is a grooving operation device for the underground diaphragm wall, and a working device is hung by a steel wire rope to excavate downwards and vertically in a slotted hole filled with slurry. During operation, the working device can apply downward pressure to the rock stratum at the bottom of the tank under the actions of the pulling force of the steel wire rope, the self weight of the working device, buoyancy and the like. Under the pressure, the milling wheel at the lower part of the working device is driven by the motor to mill the rock and soil at the bottom of the groove and remove the rock and soil from the groove hole. When the rock and soil at the lower part of the milling wheel is empty, the steel wire rope is released, and the working device is fed downwards to continue milling the rock and soil.
In the related art, there is a method for controlling automatic feeding of a double-wheel milling cutter frame, which controls the feeding state of a steel wire rope according to the tension and a set value of the steel wire rope.
The inventors found that at least the following problems exist in the prior art: in the prior art, the feeding and the lowering of the tool rest are controlled by the tension of the steel wire rope, so that the overload of the working device is easily caused, the reduction gearbox or the milling wheel driving device is damaged, or the working device is lightly loaded, and the optimal efficiency of the working device is not favorably achieved. When the slope stratum construction or the tool rest is inclined, the ground pressure borne by the milling wheels at both sides is changed into the bearing of the milling wheels at one side, and under the unbalanced load phenomenon, the tension of the original steel wire rope is still used for controlling, so that the single-side overload damage is easily caused, and the control failure occurs.
Disclosure of Invention
The application provides a slot milling machine, which is used for realizing the accurate control of a cutter rest of the slot milling machine and preventing unbalanced load.
The embodiment of the application provides a control method of a slot milling machine, which comprises the following steps:
in the working process of the slot milling machine, the load of all milling wheels of the slot milling machine is adopted in real time;
taking the load of all milling wheels as a parameter, and taking the maximum load of the loads of all milling wheels as a real-time load N of the slot milling machine;
judging whether the real-time load of the slot milling machine meets a first setting formula (S1): n (N) 1 ≤N≤N 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein N is 1 Setting a lower limit value for the load; n (N) 2 Setting an upper limit value for a first load;
if the first setting formula (S1) is not satisfied, judging whether the real-time load N of the slot milling machine is notThe following second setting formula (S2) is satisfied: n (N)<N 1 ；
If the second setting formula (S2) is satisfied, continuing to judge whether the tensile force F of the steel wire rope of the slot milling machine satisfies the following third setting formula (S3): f (F) 1 <F, wherein F 1 Setting a pulling force for a steel wire rope of the slot milling machine;
and if the third setting formula (S3) is not met, tightening the steel wire rope to lift the milling cutter frame of the milling machine.
In some embodiments, the slot milling machine control method further comprises the steps of:
and if the third setting formula (S3) is met, the steel wire rope is accelerated to be discharged, and the milling cutter frame of the milling machine is discharged.
In some embodiments, the slot milling machine control method further comprises the steps of:
if the second setting formula (S2) is not satisfied, continuing to judge whether the real-time load N of the slot milling machine satisfies the following fourth setting formula (S4): n (N) 2 <N≤N 3 The method comprises the steps of carrying out a first treatment on the surface of the Wherein N is 3 Setting an upper limit value for a second of the loads;
and if the fourth setting formula (S4) is satisfied, slowing down the descending speed of the steel wire rope.
In some embodiments, the slot milling machine control method further comprises the steps of:
and if the fourth setting formula is not satisfied (S4), tightening the steel wire rope to lift the milling cutter frame of the milling machine.
In some embodiments, the slot milling machine control method further comprises the steps of:
and if the first setting formula (S1) is met, maintaining the working state of the steel wire rope of the slot milling machine unchanged.
In some embodiments, the load of the cutterhead is the cutterhead pressure, then: the first setting formula (S1) specifically includes: p (P) 1 ≤P≤P 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein P is the real-time pressure of the slot milling machine, P 1 Setting a lower limit value for the pressure; p (P) 2 Setting an upper limit value for the first pressure; and/or the second deviceThe fixed formula (S2) is specifically as follows: p (P)<P 1 The method comprises the steps of carrying out a first treatment on the surface of the And/or, the fourth setting formula (S4) specifically includes: p (P) 2 <P≤P 3 The method comprises the steps of carrying out a first treatment on the surface of the Wherein P is 3 An upper limit value is set for the second of the pressures.
In some embodiments, the load of the cutterhead is the torque of the cutterhead, then: the first setting formula (S1) specifically includes: t (T) 1 ≤T≤T 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is the real-time torque of the slot milling machine, and T 1 Setting a lower limit value for torque; t (T) 2 Setting an upper limit value for the first torque; and/or, the second setting formula (S2) specifically includes: t (T)<T 1 The method comprises the steps of carrying out a first treatment on the surface of the And/or, the fourth setting formula (S4) specifically includes: t (T) 2 <T≤T 3 The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is 3 An upper limit value is set for the second torque.
In some embodiments, the number of cutterheads is more than two.
The embodiment of the application also provides a slot milling machine, which comprises:
a host;
the suspension arm is arranged on the host in a variable amplitude manner;
the driving mechanism comprises a driving piece and a steel wire rope; the driving piece is arranged on the host, one end of the steel wire rope is in driving connection with the driving piece, and the other end of the steel wire rope bypasses the suspension arm;
the tool rest is hoisted at the other end of the steel wire rope;
a cutterhead driving device assembly mounted on the cutterhead;
the milling device is in driving connection with the milling wheel driving device assembly;
a load detection element connected to the cutterhead drive assembly to detect a load of the cutterhead drive assembly;
a tension detecting element mounted to the boom or the wire rope and configured to detect a tension of the wire rope; and
and the speed detection element is arranged on the driving piece to detect the winding and unwinding speeds of the steel wire rope.
In some embodiments, the cutterhead drive assembly includes a first cutterhead drive and a second cutterhead drive, each mounted to the cutterhead, the cutterhead drive assembly including a first cutterhead and a second cutterhead; the first milling wheel driving device is in driving connection with the first milling wheel, and the second milling wheel driving device is in driving connection with the second milling wheel.
In some embodiments, the load detection element comprises:
a first pressure detecting element mounted to the first cutterhead driving device to detect a pressure of the first cutterhead driving device; and
and the second pressure detection element is arranged on the second milling wheel driving device so as to detect the pressure of the second milling wheel driving device.
In some embodiments, the load detection element comprises:
a first torque detecting element mounted to the first cutterhead driving device to detect a torque of the first cutterhead driving device; and
and the second torque detection element is arranged on the second milling wheel driving device so as to detect the torque of the second milling wheel driving device.
In some embodiments, the slot milling machine further comprises:
the controller is in communication connection with the load detection element, the tension detection element and the speed detection element; the controller is configured to control the winding and unwinding of the wire rope according to data transmitted by the load detection element, the tension detection element and the speed detection element.
In some embodiments, the slot milling machine further comprises:
the display is in communication connection with the controller; the display is configured to display a feed rate of the milling device.
In some embodiments, the tension detecting element is mounted to the boom tip.
In some embodiments, the driver comprises one of: and (5) hoisting and oil cylinders.
The working device of the slot milling machine works in slurry, the density of the slurry changes with different depths, and therefore, the buoyancy force exerted by the tool rest of the slot milling machine working device in the slurry changes. The uncertainty in buoyancy can affect the precise control of tool holder feed. By adopting the scheme provided by the embodiment of the application, the accurate control of the feeding of the cutter frame can be realized, and particularly, the control method of the milling machine provided by the technical scheme is used for collecting the pressure of the first milling wheel driving device and the load of the second milling wheel driving device of the milling machine in real time in the working process of the milling machine; and the maximum load in the loads of all milling wheels of the slot milling machine is used as a real-time load, and then the slot milling machine is controlled according to the real-time load N of the slot milling machine and the tension F of the steel wire rope so as to accurately control the retraction and release actions of the steel wire rope of the slot milling machine and further control whether the slot milling machine is fed. According to the technical scheme, through the specific judging step, the load of the slot milling machine is judged in real time, and whether the working depth of the slot milling machine is changed or not, the real-time load of the slot milling machine can be accurately calculated. The method realizes that the load of all milling wheels of the milling machine and the tension of the steel wire rope are used in real time, and whether the tool rest connected with the steel wire rope is clamped or not is judged in advance, so that the action direction of the tool rest is accurately controlled, the clamping phenomenon is eliminated, and the feeding is automatically carried out when the conditions are met, so that the milling machine works normally and stably; the feeding and the lowering of the tool rest are directly controlled by the real-time load of the milling wheel driving device, so that the overload or no-load phenomenon of the milling device is reduced or even avoided, the service lives of the reduction gearbox and the motor are prolonged, and the best efficiency of the work is brought into play.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a schematic structural diagram of a slot milling machine according to some embodiments of the present application.
Fig. 2 is a schematic diagram of a control portion of a slot milling machine according to some embodiments of the present application.
Fig. 3 is a logic schematic diagram of a control method of a slot milling machine according to some embodiments of the present application.
Fig. 4 is a schematic flow chart of a control method of a slot milling machine according to some embodiments of the present application.
Fig. 5 is a schematic structural diagram of a slot milling machine according to another embodiment of the present application.
Fig. 6 is a schematic diagram of a control portion of a slot milling machine according to another embodiment of the present application.
Fig. 7 is a logic diagram of a control method of a slot milling machine according to another embodiment of the present application.
Fig. 8 is a schematic flow chart of a control method of a slot milling machine according to another embodiment of the present application.
Detailed Description
The technical scheme provided by the application is described in more detail below with reference to fig. 1 to 8.
Referring to fig. 1 and 2, an embodiment of the present application provides a slot milling machine, which includes a main machine 1, a boom 2, a driving mechanism 3, a tool post 4, a milling wheel driving device assembly 5, a milling device 6, a load detection element 7, a tension detection element 8, and a speed detection element 9.
The host machine 1 is a main body part of the slot milling machine, and the host machine 1 walks on the ground so as to realize transition transportation of the slot milling machine. The main machine 1 also serves as a bearing foundation for other components, and the boom 2 is mounted on the main machine 1 in a variable amplitude. The driving mechanism 3 includes a driving piece 31 and a wire rope 32; the driving piece 31 is installed in host computer 1, and the one end and the driving piece 31 drive of wire rope 32 are connected, and the top of davit 2 is walked around to the other end of wire rope 32. The tool holder 4 is suspended from the other end of the wire rope 32. The speed detecting element 9 is mounted to the driving member 31 to detect the winding and unwinding speed of the wire rope 32. The tension detecting element 8 is mounted to the boom 2 and is configured to detect the tension of the wire rope 32.
The boom 2 is variable in amplitude relative to the main machine 1, and the angle of the boom 2 relative to the ground is changed to hoist the working devices such as the tool rest 4, the milling wheel driving device assembly 5, the milling device 6 and the like. Specifically, the drive mechanism 3 includes a driver 31, a wire rope 32, and a pulley assembly 33. The driving member 31 is specifically a winding mechanism. One end of the wire rope 32 is mounted on the hoisting mechanism, the tool holder 4 is suspended at the other end of the wire rope 32, and the middle part of the wire rope 32 bypasses a pulley assembly 33 mounted at the top of the boom 2. The hoisting height of the tool rest 4, that is, the working position of the tool rest 4 is changed by winding and unwinding the wire rope 32 by the hoisting mechanism. The wire rope 32 is hoisted and put down, the tool rest 4 descends, and the working depth of the slot milling machine is increased. The wire rope 32 is hoisted and the tool rest 4 is lifted, so that the working depth of the slot milling machine is shallower.
The speed of winding and unwinding the steel wire rope 32 is measured by adopting the speed detection element 9, the speed value obtained by measuring the speed detection element 9 can be calculated to obtain the winding and unwinding length of the steel wire rope 32, and then the height position of the tool rest 4 is calculated.
The tension experienced by the wire rope 32 is measured by the tension detecting element 8. The tension detecting element 8 is, for example, a pin sensor. Since the working device of the milling machine works in slurry, the density of the slurry is not constant but varies with the depth, and thus the buoyancy to which the tool holder 4 of the working device of the milling machine is subjected in the slurry varies. The tension applied to the wire rope 32 is detected by the tension detecting element 8. According to the technical scheme, the tension of the steel wire rope 32 is measured through the tension detection element 8, the controller 10 performs safe overload pre-judgment according to the tension value, and controls the feeding state of the tool rest 4 according to the judgment result; and, judge whether milling device 6 is empty or overload according to wire rope 32 pulling force's setting value, assist in participating in the feed control.
With continued reference to fig. 1 and 2, a cutterhead drive assembly 5 is mounted to the cutterhead 4. The milling device 6 is in driving connection with a milling wheel drive assembly 5. The milling device 6 comprises at least two milling wheels, such as in particular two milling wheels or more than three milling wheels. The parameter of the milling wheel with the largest real-time load among the milling wheels is taken as the real-time load of the slot milling machine. The number of the milling wheel driving device assemblies 5 and the number of the load detection elements are in one-to-one correspondence with the milling devices 6, and a plurality of milling wheel driving devices are correspondingly arranged with a plurality of milling wheels. For convenience of description, in the following embodiments, two cutterheads, two cutterhead driving devices, and two load detection elements are provided as examples.
Specifically, the cutterhead drive assembly 5 includes a first cutterhead drive 51 and a second cutterhead drive 52, each mounted to the cutterhead 4. The milling device 6 comprises a first milling wheel 61 and a second milling wheel 62. The first cutterhead drive 51 is in driving connection with a first cutterhead 61 and the second cutterhead drive 52 is in driving connection with a second cutterhead 62.
The load sensing element 7 is connected to the cutterhead drive assembly 5 to sense the load of the cutterhead drive assembly 5. The load is divided into pressure and torque. The load parameters of pressure and torque are described in detail later.
An implementation using pressure as the load parameter is first described.
The load detection element 7 includes a first pressure detection element 71 and a second pressure detection element 72; the first pressure detecting element 71 is mounted to the first cutterhead drive 51 to detect the pressure of the first cutterhead drive 51. The second pressure detecting element 72 is mounted to the second cutterhead drive 52 to detect the pressure of the second cutterhead drive 52.
The first cutterhead drive 51 is used to drive the operation of the first cutterhead 61. The second cutterhead drive 52 is used to drive the operation of the second cutterhead 62.
In some embodiments, the slot milling machine further comprises a controller 10, wherein the controller 10 is in communication connection with the load detection element 7, the tension detection element 8 and the speed detection element 9; the controller 10 is configured to control the winding and unwinding of the wire rope 32 based on data transmitted from the load detecting element 7, the tension detecting element 8, and the speed detecting element 9.
The controller 10 is mounted to the tool holder 4 at a location such as at the top or upper portion of the tool holder 4. Since the load sensing element 7 is provided in the cutterhead drive assembly 5, in particular the first cutterhead 61 is provided with a first pressure sensing element 71 and the second cutterhead 62 is provided with a second pressure sensing element 72. The first pressure detecting element 71 and the second pressure detecting element 72 are all in communication connection with the controller 10, and the distance between the first pressure detecting element 71 and the second pressure detecting element 72 and the controller 10 is short and the first pressure detecting element and the second pressure detecting element 72 are located in mud, so that the connection lines between the first pressure detecting element 71 and the second pressure detecting element 72 and the controller 10 are short, and the reliability of information transmission between the controller 10 and the first pressure detecting element 71 and the second pressure detecting element 72 is not affected due to bad working environments.
In addition, the tension detecting element 8 is mounted on the top end of the boom 2, and the speed detecting element 9 is mounted near the driving element 31, and although the tension detecting element 8 and the speed detecting element 9 are relatively far from the controller 10, since neither the tension detecting element 8 nor the speed detecting element 9 is located in the slurry, the signal lines between the tension detecting element 8, the speed detecting element 9, and the controller 10 do not affect the reliability of signal transmission even if they are long. In addition, the controller 10 is positioned at the top or upper region of the tool rest 4, so that the length of the signal lines among the tension detecting element 8, the speed detecting element 9 and the controller 10 is shortened as much as possible, and the signal transmission is more efficient and reliable.
In the above technical solution, the load detection element 7 is used to collect the working pressure of the milling wheel driving device assembly 5 and transmit the pressure value to the controller 10. The controller 10 controls the winding and unwinding of the steel wire rope 32 according to the pressure value, thereby realizing the feeding control of the tool rest 4.
In some embodiments, the slot milling machine further includes a display 11, the display 11 being in communication with the controller 10. The display 11 is configured to display the feed speed of the milling device 6. The speed detecting element 9 acquires the feeding speed of the wire rope 32 and transmits the speed value to the controller 10. The controller 10 calculates and processes the feeding speed of the tool rest 4 and sends the feeding speed to the display 11 for display so that the operator can know the feeding state in time.
Referring to fig. 3 and fig. 4, the embodiment of the application further provides a method for controlling a slot milling machine, and the method is implemented by adopting the slot milling machine provided by any one of the embodiments. The control method of the slot milling machine comprises the following steps:
and step 100, collecting the loads of all milling wheels of the slot milling machine in real time in the working process of the slot milling machine. Specifically, during operation of the slot milling machine, the pressure of the first wheel drive 51 and the pressure of the second wheel drive 52 of the slot milling machine are collected in real time.
As described above, the pressure of the first cutterhead drive 51 and the pressure of the second cutterhead drive 52 are detected using the load detection element 7. In particular, two load sensing elements 7 may be used to measure the pressure of the first cutterhead drive 51 and the pressure of the second cutterhead drive 52, respectively. The measured data is directly the pressure of the corresponding milling wheel driving device, so that the subsequent analysis and calculation are convenient. The load detection element 7 includes a first pressure detection element 71 and a second pressure detection element 72. The first pressure detecting element 71 is mounted to the first cutterhead driving device 51 to detect the pressure of the first cutterhead driving device 51; the second pressure detecting element 72 is mounted to the second cutterhead drive 52 to detect the pressure of the second cutterhead drive 52.
And step 200, taking the load of all milling wheels as a parameter, and taking the maximum load of the loads of all milling wheels as the real-time load N of the slot milling machine. Specifically, the real-time pressure P of the slot milling machine is calculated according to a set formula by taking the pressure of the first milling wheel driving device 51 and the pressure of the second milling wheel driving device 52 as parameters.
In some embodiments, the formula is set as: the real-time pressure P of the slot milling machine is the pressure with the greatest value of the pressure of the first milling wheel driving device 51 and the pressure of the second milling wheel driving device 52. After the milling device 6 is stuck, the stuck milling device 6 is subjected to a larger pressure. The real-time pressure P of the milling machine, which is the larger pressure of the first milling wheel driving device 51 and the second milling wheel driving device 52, can prevent the overload of the milling device 6; and can eliminate the jamming phenomenon by subsequently controlling the winding and unwinding operations of the wire rope 32 without requiring complicated recognition. In addition, if the tool rest 4 has a certain inclination, the working depths of the first milling wheel 61 and the second milling wheel 62 are different, and the real-time pressure P of the milling machine, which is the pressure of the first milling wheel driving device 51 and the pressure of the second milling wheel driving device 52, is used as the real-time pressure P of the milling machine, so that the milling wheel driving device with more severe working conditions is used as the factor of subsequent control, and the control is more accurate.
Step S300, judging whether the real-time load of the slot milling machine meets a first setting formula (S1): n (N) 1 ≤N≤N 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein N is 1 Setting a lower limit value; n (N) 2 An upper limit value is set for the first. Specifically, the milling groove is judgedWhether the real-time pressure P of the machine satisfies the following first setting formula (S1): p (P) 1 ≤P≤P 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein P is 1 Setting a lower limit value; p (P) 2 An upper limit value is set for the first. P (P) 1 、P 2 Are stored in the controller 10 described above after being preset. Under different working conditions, P can be changed for different milling difficulties, shapes and types of milling devices 6 1 、P 2 Is set at a set value of (a). Similarly, P described later 3 、F 1 The set values are also set values, and a plurality of groups of values can be set according to different milling difficulties, landforms and types of the milling device 6 under the working conditions and stored in the controller 10 or set in advance in actual conditions, and can also meet the control requirements.
Step S400, if the first setting formula (S1) is not satisfied, judging whether the real-time load N of the slot milling machine satisfies the following second setting formula (S2): n (N)<N 1 . Specifically, it is determined whether the real-time pressure P of the slot milling machine satisfies the following second setting formula (S2): p (P)<P 1 。
Step S500, if the second setting formula (S2) is satisfied, continuing to judge whether the tensile force F of the steel wire rope 32 of the slot milling machine satisfies the following third setting formula (S3): f (F) 1 <F, wherein F 1 A tension is set for the wire rope 32 of the slot milling machine. F (F) 1 The set value may be set in advance and stored in the controller 10.
In step S500, if the second setting formula (S2) is satisfied, it is indicated that the current milling wheel driving apparatus has a low working pressure, a low milling speed, and a low efficiency. At this time, the real-time tension value F of the wire rope 32 needs to be further compared with the set tension F of the wire rope 32 of the slot milling machine 1 Is of a size of (a) and (b).
a) When the tension value F of the wire rope 32 is smaller than the set tension F of the wire rope 32 1 When the tool rest 4 is in a state of being clamped by the residual rock and soil in the slotted hole, the controller 10 needs to control the winch to retract the steel wire rope 32, lift the tool rest 4 to a certain height, and then mill. The above step, step S600, tightens the wire rope 32 to lift the tool post 4 of the slot milling machine if the above third set formula (S3) is not satisfied.
b) When the tension value F of the steel wire rope 32 is greater than or equal to the set tension F of the steel wire rope 32 1 When this is the case, it is indicated that the tool holder 4 is not stuck, this time the milling speed is slower and the efficiency is lower. The controller 10 needs to control the winch to increase the release speed of the steel wire rope 32, increase the lowering speed of the tool rest 4 and improve the working efficiency. The above steps are step S700: if the third setting formula (S3) is satisfied, the lowering of the wire rope 32 is accelerated, and the tool holder 4 of the slot milling machine is lowered, i.e., the working depth of the tool holder 4 of the slot milling machine is increased.
In some embodiments, the slot milling machine control method further comprises the steps of:
step S800, if the second setting formula (S2) is not satisfied, continuing to judge whether the real-time load N of the slot milling machine satisfies the fourth setting formula (S4): n (N) 2 <N≤N 3 The method comprises the steps of carrying out a first treatment on the surface of the Wherein N is 3 An upper limit value is set for the second of the loads. Specifically, if the above second set formula (S2) is not satisfied, it is continuously determined whether the real-time pressure P of the slot milling machine satisfies the following fourth set formula (S4): p (P) 2 <P≤P 3 The method comprises the steps of carrying out a first treatment on the surface of the Wherein P is 3 Setting an upper limit value for the second;
step S900, if the fourth setting formula (S4) is satisfied, the lowering speed of the wire rope 32 is slowed down.
Specifically, if the fourth setting formula (S4) is satisfied, the fourth setting formula (S4) is: p (P) 2 ≤P≤P 3 This means that the milling wheel drive is now in high load operation, where the efficiency is higher, but there is a risk of damaging the milling device 6 and the milling wheel drive. To avoid unnecessary damage, the controller 10 controls the winding to reduce the release speed of the wire rope 32 and reduce the lowering speed of the tool post 4.
In some embodiments, the slot milling machine control method further comprises the steps of:
step S1000, if the fourth setting formula (S4) is not satisfied, the wire rope 32 is tightened to lift the cutter frame 4 of the slot milling machine.
Specifically, if the real-time pressure P of the slot milling machine does not satisfy the fourth setting formula (S4), the real-time pressure P of the slot milling machine is described>P 2 Description of milling at this timeThe wheel drive is in a severe overload condition and the likelihood of damage to the milling device 6 and the wheel drive is significantly increased, the controller 10 needs to immediately control the hoisting of the recovered wire rope 32, lifting the tool holder 4 to a certain height and then lowering for milling.
In some embodiments, the slot milling machine control method further comprises the steps of:
step S1100, if the first setting formula (S1) is satisfied, the working state of the steel wire rope 32 of the slotting machine is kept unchanged. Specifically, if the first setting formula (S1) is satisfied, it is indicated that the cutterhead driving device is in a better working state, so that the working efficiency can be ensured, and no overload risk exists. At this time, the controller 10 controls the winch to keep the current motion state, and the wire rope 32 lifts the tool rest 4 and keeps the current speed for feeding and milling.
According to the technical scheme, the feeding and lowering of the tool rest 4 are directly controlled through the milling wheel motor pressure value, so that the changes of slurry density, the specification of the tool rest 4 and the like can be avoided, and the control precision is improved; the milling wheel is prevented from running in the idle mode when the bucket is clamped, the efficiency is improved, the service lives of the reduction gearbox and the motor are prolonged, and the best efficiency of work is brought into play.
For the double-wheel slot milling machine, the pressure of the milling wheel to the ground is judged by the tension of the steel wire rope in the prior art. When the rock stratum is in a normal plane, the two milling wheels bear the earth pressure together; when the rock is ramped, the one-sided cutterhead is loaded with almost all of the ground pressure, while the other-sided cutterhead is less loaded with ground pressure. Therefore, in the prior art, the steel wire rope tension is adopted as a control parameter, and whether the single side is overloaded cannot be judged. However, the technical scheme provided by the application can effectively identify the unbalanced load phenomenon, because the pressure of the overload side milling wheel is obviously increased when unbalanced load occurs, the technical scheme of the application controls the tool rest to slow down or lift the tool rest according to the pressure value of two sides, thereby effectively avoiding the occurrence of the single side overload phenomenon, further avoiding the control misjudgment caused by the deflection or inclined rock of the tool rest 4, avoiding the overload of the single side milling wheel, prolonging the service life of the working device, avoiding the deflection of the slotted hole milling, avoiding the single wheel overload work and improving the reliability; the influence of buoyancy and the weight of the tool rest 4 with different specifications is avoided, and the precision is improved.
A specific implementation using torque as a load parameter is described below.
Referring to fig. 5 and 6, this embodiment is substantially the same as the implementation described above with pressure as the load parameter, but with the following differences: the load detecting element 7 includes a first torque detecting element 71 'and a second torque detecting element 72', such as torque sensors, all of which are employed. Or a pressure sensor is adopted, and a torque value is obtained through calculation. The following functional relationship exists between torque T and pressure P:where q is motor displacement and η is efficiency. The first torque detecting element 71' is mounted to the first cutterhead drive 51 to detect the torque of the first cutterhead drive 51. A second torque sensing element 72' is mounted to the second cutterhead drive 52 to sense the torque of the second cutterhead drive 52.
For the same contents, please refer to the above description, and the description is omitted here.
Accordingly, the control method using torque as the load parameter is also substantially the same as the control method using pressure as the control parameter described above, except that the parameter to be compared is torque.
Referring to fig. 7 and 8, when torque is used as a load parameter, the control method of the slot milling machine provided by the embodiment of the application is as follows.
In step S100', the torque of the first milling wheel driving device 51 and the torque of the second milling wheel driving device 52 of the slot milling machine are collected in real time during the operation of the slot milling machine.
As described above, the torque of the first cutterhead drive 51 and the torque of the second cutterhead drive 52 are detected using the load detection element 7. In particular, two load sensing elements 7 may be used to measure the pressure of the first cutterhead drive 51 and the pressure of the second cutterhead drive 52, respectively. The measured data is directly the pressure of the corresponding milling wheel driving device, so that the subsequent analysis and calculation are convenient. The load detection element 7 includes a first torque detection element 71 'and a second torque detection element 72'. The first torque detecting element 71' is mounted to the first cutterhead driving device 51 to detect the pressure of the first cutterhead driving device 51; a second torque sensing element 72' is mounted to the second cutterhead drive 52 to sense the pressure of the second cutterhead drive 52.
In step S200', the real-time torque T of the slot milling machine is calculated according to the set formula by taking the torque of the first milling wheel driving device 51 and the torque of the second milling wheel driving device 52 as parameters.
In some embodiments, the formula is set as: the torque with the large value of the torque of the first milling wheel driving device 51 and the torque of the second milling wheel driving device 52 is used as the real-time torque T of the slot milling machine. After one of the milling wheels in the milling device 6 has been jammed, the jammed milling wheel has a larger torque. The real-time torque T of the slot milling machine, which is the larger torque of the first milling wheel driving device 51 and the torque of the second milling wheel driving device 52, can prevent overload of the milling device 6; and can eliminate the jamming phenomenon by controlling the winding and unwinding operations of the wire rope 32 subsequently under the condition of no need of complex recognition; in addition, if the tool rest 4 has a certain inclination, the working depths of the first milling wheel 61 and the second milling wheel 62 are different, and the torque of the first milling wheel driving device 51 and the torque of the second milling wheel driving device 52 are larger as the real-time torque T of the slot milling machine, so that the control is more accurate by taking the milling wheel driving device with more severe working condition as the factor of subsequent control.
Step S300', judging whether the real-time torque T of the slot milling machine meets the following first setting formula (S1): t (T) 1 ≤T≤T 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is 1 Setting a lower limit value; t (T) 2 An upper limit value is set for the first. T (T) 1 、T 2 Are stored in the controller 10 described above after being preset. Under different working conditions, T can be changed for different milling difficulties, shapes and types of milling devices 6 1 、T 2 Is set at a set value of (a). Similarly, T is described below 3 、F 1 Also set values, a plurality of groups of values can be set according to different milling difficulties, landforms and types of the milling device 6 under the working condition and stored inThe control requirements may also be met in the controller 10, or in practice set in advance.
Step S400', if the first setting formula (S1) is not satisfied, determining whether the real-time torque T of the slot milling machine satisfies the following second setting formula (S2): t < T1.
Step S500', if the second set formula (S2) is satisfied, continuing to determine whether the tension F of the wire rope 32 of the slot milling machine satisfies the following third set formula (S3): f (F) 1 <F, wherein F 1 A tension is set for the wire rope 32 of the slot milling machine. F (F) 1 The set value may be set in advance and stored in the controller 10.
In step S500', if the second setting formula (S2) is satisfied, it is indicated that the current working torque of the wheel driving apparatus is low, the milling speed is low, and the efficiency is low. At this time, the real-time tension value F of the wire rope 32 needs to be further compared with the set tension F of the wire rope 32 of the slot milling machine 1 Is of a size of (a) and (b).
a) When the tension value F of the wire rope 32 is smaller than the set tension F of the wire rope 32 1 When the tool rest 4 is in a state of being clamped by the residual rock and soil in the slotted hole, the controller 10 needs to control the winch to retract the steel wire rope 32, lift the tool rest 4 to a certain height, and then mill. The above step, step S600', tightens the wire rope 32 to lift the tool holder 4 of the slot milling machine if the above third set formula (S3) is not satisfied.
b) When the tension value F of the steel wire rope 32 is greater than or equal to the set tension F of the steel wire rope 32 1 When this is the case, it is indicated that the tool holder 4 is not stuck, this time the milling speed is slower and the efficiency is lower. The controller 10 needs to control the winch to increase the release speed of the steel wire rope 32, increase the lowering speed of the tool rest 4 and improve the working efficiency. The above steps are step S700': if the third setting formula (S3) is satisfied, the lowering of the wire rope 32 is accelerated, and the tool holder 4 of the slot milling machine is lowered, i.e., the working depth of the tool holder 4 of the slot milling machine is increased.
In some embodiments, the slot milling machine control method further comprises the steps of:
step S800', if the second setting formula (S2) is not satisfied, continuing to judge the fact of the slot milling machineWhether the torque T satisfies the following fourth setting formula (S4): t (T) 2 <T≤T 3 The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is 3 Setting an upper limit value for the second;
step S900', if the fourth setting formula (S4) is satisfied, the descent speed of the wire rope 32 is slowed down.
If the fourth setting formula (S4) is satisfied, the fourth setting formula (S4) is: t (T) 2 ≤T≤T 3 This means that the milling wheel drive is now in high load operation, where the efficiency is higher, but there is a risk of damaging the milling device 6 and the milling wheel drive. To avoid unnecessary damage, the controller 10 controls the winding to reduce the release speed of the wire rope 32 and reduce the lowering speed of the tool post 4.
In some embodiments, the slot milling machine control method further comprises the steps of:
step S1000', if the fourth set formula is not satisfied (S4), tightens the wire rope 32 to lift the cutter head 4 of the slot milling machine.
If the real-time torque T of the slot milling machine does not satisfy the fourth setting formula (S4), the real-time torque T of the slot milling machine is greater than T2, which indicates that the milling wheel driving device is in a serious overload state, the possibility of damage to the milling device 6 and the milling wheel driving device is significantly increased, and the controller 10 needs to immediately control the winch to recover the wire rope 32, lift the tool rest 4 to a certain height, and then lower the tool rest for milling.
In some embodiments, the slot milling machine control method further comprises the steps of:
step S1100', if the first setting formula (S1) is satisfied, the working state of the wire rope 32 of the slot milling machine is maintained unchanged. If the first setting formula (S1) is satisfied, the milling wheel driving device is in a better working state, so that the working efficiency can be ensured, and the overload risk is avoided. At this time, the controller 10 controls the winch to keep the current motion state, and the wire rope 32 lifts the tool rest 4 and keeps the current speed for feeding and milling.
According to the technical scheme, through the milling wheel torque value, the feeding and the lowering of the tool rest 4 are directly controlled, so that the changes of slurry density, the specification of the tool rest 4 and the like can be avoided, and the control precision is improved; the milling wheel is prevented from running in the idle mode when the bucket is clamped, the efficiency is improved, the service lives of the reduction gearbox and the motor are prolonged, and the best efficiency of work is brought into play. And, during operation the holder body is subjected to gravity in the slurry, ground counter-supporting forces, wire rope tension, buoyancy forces, and side wall friction forces, wherein the buoyancy forces are varied, and the friction forces are unknown and varied. Ground supporting force is a key factor for controlling the lowering speed of construction, in the prior art, the ground supporting force is reversely calculated through the tension value of the steel wire rope, and an accurate value cannot be obtained due to the change of buoyancy and friction force. According to the technical scheme, the ground anti-supporting force is directly judged according to the load condition acted on the driving device, and the changing buoyancy and friction force are not needed to be considered.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present application.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be replaced with others, which may not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (8)
1. A slot milling machine, comprising:
a host (1);
a boom (2) mounted on the main unit (1) in a variable amplitude;
a driving mechanism (3) comprising a driving member (31) and a wire rope (32); the driving piece (31) is arranged on the host machine (1), one end of the steel wire rope (32) is in driving connection with the driving piece (31), and the other end of the steel wire rope (32) bypasses the suspension arm (2);
the tool rest (4) is hung at the other end of the steel wire rope (32);
a cutterhead drive assembly (5) mounted to the cutterhead (4);
a milling device (6) in driving connection with the milling wheel drive assembly (5);
a load detection element (7) connected to the cutterhead drive assembly (5) to detect the load of the cutterhead drive assembly (5);
a tension detecting element (8) mounted to the boom (2) or the wire rope (32) and configured to detect a tension of the wire rope (32); and
a speed detecting element (9) mounted on the driving member (31) for detecting the winding and unwinding speed of the wire rope (32);
wherein the slot milling machine is configured to perform the following control method: during the working process of the slot milling machine, the load of all milling wheels of the slot milling machine is collected in real time; taking the load of all milling wheels as a parameter, and taking the maximum load of the loads of all milling wheels as a real-time load N of the slot milling machine; judging whether the real-time load of the slot milling machine meets a first setting formula (S1): n (N) 1 ≤N≤N 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein N is 1 Setting a lower limit value for the load; n (N) 2 Setting an upper limit value for a first load; if the first setting formula (S1) is not satisfied, judging whether the real-time load N of the slot milling machine satisfies the following second setting formula (S2): n (N)<N 1 The method comprises the steps of carrying out a first treatment on the surface of the If the second setting formula (S2) is satisfied, continuing to judge whether the tensile force F of the steel wire rope of the slot milling machine satisfies the following third setting formula (S3): f (F) 1 <F, wherein F 1 Setting a pulling force for a steel wire rope of the slot milling machine; and if the third setting formula (S3) is not met, tightening the steel wire rope to lift the milling cutter frame of the milling machine.
2. The slot milling machine according to claim 1, wherein the milling wheel drive assembly (5) comprises a first milling wheel drive (51) and a second milling wheel drive (52) both mounted to the tool holder (4), the milling device (6) comprising a first milling wheel (61) and a second milling wheel (62); the first milling wheel driving device (51) is in driving connection with the first milling wheel (61), and the second milling wheel driving device (52) is in driving connection with the second milling wheel (62).
3. Slot milling machine according to claim 2, characterized in that the load detection element (7) comprises:
a first pressure detecting element (71) mounted to the first cutterhead drive device (51) to detect a pressure of the first cutterhead drive device (51); and
a second pressure detecting element (72) mounted to the second cutterhead drive (52) to detect a pressure of the second cutterhead drive (52).
4. Slot milling machine according to claim 2, characterized in that the load detection element (7) comprises:
a first torque detecting element (71') mounted to the first cutterhead drive (51) to detect torque of the first cutterhead drive (51); and
a second torque sensing element (72') mounted to the second cutterhead drive (52) to sense torque of the second cutterhead drive (52).
5. The slot milling machine of claim 1, further comprising:
the controller (10) is in communication connection with the load detection element (7), the tension detection element (8) and the speed detection element (9); the controller (10) is configured to control the retraction and the extension of the steel wire rope (32) according to data transmitted by the load detection element (7), the tension detection element (8) and the speed detection element (9).
6. The slot milling machine of claim 5, further comprising:
a display (11) in communication with the controller (10); the display (11) is configured to display the feed speed of the milling device (6).
7. The slot milling machine according to claim 1, characterized in that the tension detecting element (8) is mounted to the top end of the boom (2).
8. The slot milling machine according to claim 1, wherein the driving member (31) comprises one of the following: and (5) hoisting and oil cylinders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211052898.8A CN115233758B (en) | 2021-11-30 | 2021-11-30 | Groove milling machine |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111441851.6A CN114000557B (en) | 2021-11-30 | 2021-11-30 | Slotter control method and slotter |
| CN202211052898.8A CN115233758B (en) | 2021-11-30 | 2021-11-30 | Groove milling machine |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111441851.6A Division CN114000557B (en) | 2021-11-30 | 2021-11-30 | Slotter control method and slotter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115233758A CN115233758A (en) | 2022-10-25 |
| CN115233758B true CN115233758B (en) | 2023-10-03 |
Family
ID=79930946
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111441851.6A Active CN114000557B (en) | 2021-11-30 | 2021-11-30 | Slotter control method and slotter |
| CN202211052898.8A Active CN115233758B (en) | 2021-11-30 | 2021-11-30 | Groove milling machine |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111441851.6A Active CN114000557B (en) | 2021-11-30 | 2021-11-30 | Slotter control method and slotter |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN114000557B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114482170B (en) * | 2022-03-28 | 2023-09-12 | 上海华兴数字科技有限公司 | Control method and system of double-wheel slot milling machine, electronic equipment and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103770224A (en) * | 2014-01-29 | 2014-05-07 | 徐工集团工程机械股份有限公司 | Feeding device of double-wheel slot milling machine and double-wheel slot milling machine |
| CN103806486A (en) * | 2014-03-11 | 2014-05-21 | 徐工集团工程机械股份有限公司 | Automatic feed control method, system and controller for double-wheel milling cutter frame |
| CN103807238A (en) * | 2014-03-10 | 2014-05-21 | 徐工集团工程机械股份有限公司 | Hydraulic control feeding system and hydraulic control feeding method |
| CN203779705U (en) * | 2014-01-29 | 2014-08-20 | 徐工集团工程机械股份有限公司 | Feeding device of double-wheel slot milling machine and double-wheel slot milling machine |
| CN104018537A (en) * | 2014-05-30 | 2014-09-03 | 徐工集团工程机械股份有限公司 | Slot milling machine and correction detection method of mill support of slot milling machine |
| CN105369817A (en) * | 2014-08-06 | 2016-03-02 | 中联重科股份有限公司 | A slot milling machine milling control treatment method, device and system and a slot milling machine |
| CN109457748A (en) * | 2018-12-28 | 2019-03-12 | 江苏徐工工程机械研究院有限公司 | A kind of two-wheel flute milling machine |
| CN110258697A (en) * | 2019-06-25 | 2019-09-20 | 江苏徐工工程机械研究院有限公司 | A kind of milling wheel component and two-wheel flute milling machine |
| CN110593336A (en) * | 2019-08-28 | 2019-12-20 | 上海中联重科桩工机械有限公司 | Method, device and system for controlling engineering machinery tunneling and engineering machinery |
| CN113250261A (en) * | 2020-12-31 | 2021-08-13 | 中铁科工集团装备工程有限公司 | Working angle deviation-correcting control system of double-wheel slot milling machine |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2749333B1 (en) * | 1996-06-04 | 1998-08-28 | Sol Comp Du | TELESCOPIC CHASSIS APPARATUS FOR Digging TRENCHES IN THE GROUND |
| EP3819434B1 (en) * | 2019-11-06 | 2022-02-16 | BAUER Maschinen GmbH | Method and wall milling device for creating a milled slot in the ground |
-
2021
- 2021-11-30 CN CN202111441851.6A patent/CN114000557B/en active Active
- 2021-11-30 CN CN202211052898.8A patent/CN115233758B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103770224A (en) * | 2014-01-29 | 2014-05-07 | 徐工集团工程机械股份有限公司 | Feeding device of double-wheel slot milling machine and double-wheel slot milling machine |
| CN203779705U (en) * | 2014-01-29 | 2014-08-20 | 徐工集团工程机械股份有限公司 | Feeding device of double-wheel slot milling machine and double-wheel slot milling machine |
| CN103807238A (en) * | 2014-03-10 | 2014-05-21 | 徐工集团工程机械股份有限公司 | Hydraulic control feeding system and hydraulic control feeding method |
| CN103806486A (en) * | 2014-03-11 | 2014-05-21 | 徐工集团工程机械股份有限公司 | Automatic feed control method, system and controller for double-wheel milling cutter frame |
| CN104018537A (en) * | 2014-05-30 | 2014-09-03 | 徐工集团工程机械股份有限公司 | Slot milling machine and correction detection method of mill support of slot milling machine |
| CN105369817A (en) * | 2014-08-06 | 2016-03-02 | 中联重科股份有限公司 | A slot milling machine milling control treatment method, device and system and a slot milling machine |
| CN109457748A (en) * | 2018-12-28 | 2019-03-12 | 江苏徐工工程机械研究院有限公司 | A kind of two-wheel flute milling machine |
| CN110258697A (en) * | 2019-06-25 | 2019-09-20 | 江苏徐工工程机械研究院有限公司 | A kind of milling wheel component and two-wheel flute milling machine |
| CN110593336A (en) * | 2019-08-28 | 2019-12-20 | 上海中联重科桩工机械有限公司 | Method, device and system for controlling engineering machinery tunneling and engineering machinery |
| CN113250261A (en) * | 2020-12-31 | 2021-08-13 | 中铁科工集团装备工程有限公司 | Working angle deviation-correcting control system of double-wheel slot milling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114000557B (en) | 2022-10-14 |
| CN115233758A (en) | 2022-10-25 |
| CN114000557A (en) | 2022-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1773706B1 (en) | Hoisting-cable drive comprising a single bottom-hook block and two winches | |
| US8297597B2 (en) | Method for lift compensation | |
| CN115233758B (en) | Groove milling machine | |
| CN104310259B (en) | System and method for controlling floating of main winch of rotary drilling rig and rotary drilling rig | |
| EP2971493B1 (en) | A petroleum well injection system for an intervention cable with a well tool run into or out of a well during a well operation | |
| CN114620631B (en) | Steel wire rope protection control system and method for rotary drilling rig | |
| KR101071967B1 (en) | Method and machine for dynamic ground compaction | |
| CN107539877A (en) | Hook load weighing-appliance | |
| JP2009126613A (en) | Piling machine | |
| CN109457748B (en) | Double round slot milling machine | |
| CN102434091B (en) | Rotary drilling rig, power head shock absorption system and shock absorption method thereof | |
| US11480014B2 (en) | Automatic force adjustment control system for mobile drilling machines | |
| CN104024561B (en) | For steel wire rope to be adjusted the method and system subsea well from pontoon | |
| JP2019190063A (en) | Earth drill | |
| CN219281691U (en) | Fishing device for engineering percussion drill bit | |
| CN111271047B (en) | Global speed control method and device for improving drilling efficiency and safety factor | |
| JP7362427B2 (en) | Construction machinery load measuring device | |
| US8977440B2 (en) | Body movement mitigation in earth-moving vehicles | |
| CN117027081A (en) | Milling and excavating feeding system, milling and excavating feeding method and milling and excavating equipment | |
| CN218175938U (en) | Weight detection device convenient to leveling | |
| SE2150708A1 (en) | Drill rig, safety arrangement on a drill rig and a method of safely handling a drill string | |
| JP3330799B2 (en) | Excavator winch control | |
| CN116161539A (en) | Method for preventing wire rope of winding drum from being disordered during grab bucket traveling | |
| CN116335555A (en) | Control method of iron driller and iron driller | |
| US20070273196A1 (en) | Method and apparatus for utilizing the full capacity of a particular type of mine hoist for excavating deep shafts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |