Walking control method for road surface milling and planing all-in-one machine of wheel excavator

Abstract

The invention discloses a walking control method for a road surface milling and planing all-in-one machine of a wheel excavator, which comprises a control signal input circuit arranged on an operating handle, a first control signal is input to a vehicle control unit through the control signal input circuit, and the vehicle control unit activates a planing and milling working mode of the all-in-one machine according to the first control signal. At the moment, the vehicle control unit synchronously controls the accelerator gear control part to be forced to lose efficacy, then a second control signal is input into the vehicle control unit through the control signal input circuit, the second control signal is a signal containing walking speed information needed by the all-in-one machine, and the vehicle control unit controls the all-in-one machine to walk according to the second control signal. According to the walking control method for the road surface milling and planing all-in-one machine of the wheel excavator, an existing road surface milling and planing all-in-one machine of the wheel excavator can be modified, foot-operated walking speed control is changed into manual walking speed control by additionally arranging a control signal input circuit, the control precision is improved, and the working intensity of control operation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field related to excavators, and in particular to a walking control method for a wheeled excavator road milling machine. Background Art

[0002] The wheeled excavator road milling machine is a highly efficient road construction equipment that integrates multiple functions. It usually uses a wheeled excavator as the basic platform, and can achieve road milling, cleaning, cutting and other operations by installing different attachments. When milling the road surface, by installing the milling machine attachment, it can mill the damaged asphalt or concrete road surface, remove the old or damaged road surface layer, and prepare for paving new roads. Road milling uses the rotation of the knife drum on the milling machine attachment, and the knife teeth penetrate deep into the road surface for cutting. The milled material is collected by the conveying device to complete the milling.

[0003] The existing automatic gear wheel excavators at home and abroad generally use a hand-controlled throttle gear knob to control the engine speed in the working mode, and a walking foot-controlled electronic throttle pedal to control the walking speed. The main control circuit is that the hand-controlled throttle knob selects the appropriate throttle gear according to the operation requirements, that is, the required engine speed request. Then, by stepping on the electronic throttle pedal, different analog voltage signals are output through the change of the pedal angle. The controller controls the main pump proportional valve opening and the walking proportional valve opening according to the change of this electrical signal, thereby controlling the walking speed of the wheel excavator in the working mode.

[0004] When the existing wheeled excavator is converted into a road milling machine, the whole machine needs to move slowly when it is in operation, and the speed needs to be fine-tuned at any time according to different working conditions such as the milling depth or the hardness of the road surface. At this time, according to the conventional technical solution, if the walking speed is controlled by the foot-controlled electronic throttle, the walking speed accuracy is too poor due to the vibration of the machine itself and the shaking of the foot. It is also difficult to control when the speed needs to be fine-tuned and maintained. In addition, when the machine is in operation, sometimes the resistance is large due to reasons such as deep milling. Conventional walking control will cause the machine to be unable to move forward due to excessive resistance. And due to long-term operation, the operator's right foot needs to keep finely controlling the accelerator pedal, which is also very tiring for the operator. Summary of the invention

[0005] In order to overcome at least one of the defects of the above-mentioned prior art, the present invention provides a walking control method for a wheeled excavator road milling machine, which can realize the modification of the existing wheeled excavator road milling machine. By adding a control signal input circuit, the walking speed controlled by foot is changed to the walking speed controlled by hand, thereby improving the control accuracy and reducing the control operation workload.

[0006] The technical solution adopted by the present invention to solve the problem is:

[0007] A walking control method for a wheeled excavator road milling machine, comprising:

[0008] Vehicle controller;

[0009] A throttle position control unit, electrically connected to the vehicle controller;

[0010] The control signal input circuit is arranged on the operating handle and is electrically connected to the vehicle controller;

[0011] A first control signal is input into the vehicle controller through the control signal input circuit, and the vehicle controller activates the planing and milling working mode of the integrated machine according to the first control signal. At this time, the vehicle controller synchronously controls the throttle gear control unit to be forced to fail, and then a second control signal is input into the vehicle controller through the control signal input circuit. The second control signal is a signal containing the walking speed information required by the integrated machine, and the vehicle controller controls the walking of the integrated machine according to the second control signal.

[0012] Further: the control signal input circuit includes a walking throttle control unit and a walking throttle input circuit, the walking throttle input circuit outputs the second control signal, the walking throttle control unit is arranged on the walking throttle input circuit, the walking throttle input circuit has multiple second signal input terminals, the walking throttle control unit is connected to different second signal input terminals, and the walking throttle input circuit outputs different walking speed requests to the vehicle controller.

[0013] Furthermore: the travel throttle control unit is a travel throttle knob or a travel throttle sliding switch, and is arranged on the operating handle.

[0014] Furthermore: the control signal input circuit includes a multi-bit switch and a switch circuit, the switch circuit outputs the first control signal, and a number of different first signal input terminals are arranged on the switch circuit, and one first signal input terminal corresponds to one switch, and when different switches are closed, the control signal input circuit outputs different first control signals.

[0015] Furthermore: it also includes a solenoid valve and a travel motor, the solenoid valve is electrically connected to the vehicle controller, and the solenoid valve and the travel motor are connected through a hydraulic pipeline; the vehicle controller applies a high level to the solenoid valve according to the second control signal, and the solenoid valve controls the travel motor to be in a large displacement state.

[0016] Further: it includes an engine, which is electrically connected to the vehicle controller. After the vehicle controller synchronously controls the throttle gear control unit to be forced to fail, the vehicle controller sends a throttle opening request signal to the engine and controls the throttle opening of the engine to be adjusted to the maximum gear.

[0017] Further: it includes a main pump proportional valve, which is electrically connected to the vehicle controller. After the vehicle controller synchronously controls the throttle gear control unit to be forced to fail, the vehicle controller controls the opening of the main pump proportional valve to the maximum.

[0018] Furthermore: it also includes a main pump, which is connected to the main pump proportional valve. When the opening of the main pump proportional valve is maximum, the vehicle controller controls the main pump to be in a maximum working power state.

[0019] Further: it includes a walking proportional valve, which is electrically connected to the vehicle controller. The vehicle controller transmits different walking proportional valve opening signals to the walking proportional valve according to the second control signal, and controls the opening of the walking proportional valve. The opening of the walking proportional valve directly determines the walking speed of the all-in-one machine.

[0020] Furthermore: the travel proportional valve is connected to a pilot oil circuit for controlling travel, the travel proportional valve is connected to a main control valve through the pilot oil circuit, and the main control valve is connected to the travel motor.

[0021] In summary, the walking control method of a wheeled excavator road milling machine provided by the present invention has the following technical effects:

[0022] By adding a control signal input circuit and electrically connecting it to the vehicle controller, the original throttle gear control unit of the all-in-one machine is forced to become invalid through the control signal input circuit, so that the walking speed of the all-in-one machine can be controlled by the added control signal input circuit. At the same time, for the convenience of control operation, at least the operating unit for controlling the walking speed on the control signal input circuit is set on the operating handle to facilitate control operation, thereby solving the problem of controlling the speed of the all-in-one machine by foot pedal in the planing and milling mode in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The present invention is a principle block diagram of an embodiment of a walking control method of a wheeled excavator road milling machine. DETAILED DESCRIPTION

[0024] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0027] See also Figure 1 The present invention discloses a travel control method for a wheeled excavator road milling machine, which can control the travel speed of an existing integrated machine. When the integrated machine is in the milling mode, the control method can accurately control the travel speed of the integrated machine, especially the precise control of the travel speed for low-speed driving. In addition, the control operation part is arranged on the operating handle, which is convenient for control and avoids the high-intensity problem of control by foot pedal.

[0028] A walking control method for a wheeled excavator road milling machine according to the technical solution is characterized in that it includes a vehicle controller, a throttle position control unit and a control signal input circuit.

[0029] Among them, the vehicle controller is the existing general control unit on the all-in-one machine. In this solution, no improvement is made to the vehicle controller itself, but only different signals are input to the vehicle controller to enable the vehicle controller to achieve different control over the all-in-one machine.

[0030] The throttle gear control unit is also an existing structural component on the integrated machine, which is electrically connected to the vehicle controller. Generally, on the existing integrated machine, the main function of the throttle gear control unit on the wheeled excavator road milling integrated machine is to adjust the engine speed to adapt to different working conditions. Each gear on the throttle gear control unit usually corresponds to a different engine speed setting. When the operator adjusts the throttle gear control unit, a corresponding electrical signal is sent to the vehicle controller (MCU), and the vehicle controller sends a throttle development request signal to the engine controller (ECU) based on this signal, thereby further controlling the output speed and torque of the engine.

[0031] In actual operation, when planing and milling, the operator can select the appropriate throttle gear according to the hardness of the road material, the milling depth and the requirements of the working efficiency. For example, when performing shallow milling, only a lower engine speed may be required; while when performing deep milling or working on a particularly hard road surface, the engine speed may need to be increased to provide greater cutting force and torque, so the throttle gear control unit will be set to a higher speed gear to provide stronger power. Of course, in this solution, the throttle gear control unit needs to be controlled according to the control signal on the control signal input circuit.

[0032] In the technical solution, the control signal input circuit is arranged on the operating handle and is electrically connected to the vehicle controller. During control, the first control signal is input to the vehicle controller through the control signal input circuit, and the vehicle controller activates the planing and milling working mode of the integrated machine according to the first control signal. At this time, the vehicle controller synchronously controls the throttle gear control unit to be forced to fail. Then, the second control signal is input to the vehicle controller through the control signal input circuit. The second control signal is a signal containing the walking speed information required by the integrated machine. The vehicle controller controls the walking of the integrated machine according to the second control signal.

[0033] Based on the above technical solution, a control signal input circuit is added and electrically connected to the vehicle controller. The throttle gear control part is controlled by the vehicle controller to fail, so that the added control signal input circuit can take over the engine throttle control. The control signal input circuit added to the operating handle accurately inputs the required signal of the all-in-one machine's walking information, so that the vehicle controller controls the walking speed.

[0034] In the above scheme, the control signal input circuit is arranged on the operating handle, which is convenient for operation and more importantly, convenient for precise operation, while freeing up the foot movements and reducing the work intensity.

[0035] In the technical solution, the control signal input circuit includes a travel throttle control unit and a travel throttle input circuit. The travel throttle input circuit outputs a second control signal. The travel throttle control unit is arranged on the travel throttle input circuit, and the travel throttle input circuit has a plurality of second signal input terminals. The travel throttle control unit is connected to different second signal input terminals, and the travel throttle input circuit outputs different travel speed requests to the vehicle controller.

[0036] According to the above technical scheme, through the setting of the travel throttle control unit and the travel throttle input circuit, after switching to the planing and milling working mode, the travel throttle control unit and the travel throttle input circuit can replace the travel throttle pedal, and are used to input a second control signal containing the travel speed information required by the all-in-one machine to the vehicle controller, so as to control the all-in-one machine to output the required speed.

[0037] In the above scheme, the running throttle input circuit has multiple second signal input terminals. After the running throttle control unit is connected to different second signal input terminals, the running throttle input circuit will output different second control signals. The second control signal contains the walking speed information required by the all-in-one machine. The vehicle controller can control the walking of the all-in-one machine according to the second control signal, so that the all-in-one machine can walk at the required walking speed.

[0038] In the above solution, in the running throttle input circuit, the multiple second signal input terminals can be realized by connecting resistors with different resistance values, or by connecting different voltages.

[0039] In the present technical solution, for the convenience of operation, the travel throttle control unit is a travel throttle knob or a travel throttle sliding switch, and is arranged on the operating handle. After the above conditions are met, the operator controls the travel throttle control unit by hand, and outputs different voltage signals to the vehicle controller, thereby controlling the travel speed of the all-in-one machine. The travel throttle control unit is adjusted to the specified position, and the current position can be maintained by releasing the hand, that is, the voltage signal input to the vehicle controller remains unchanged, thereby maintaining a constant low-speed travel speed. If the speed needs to be fine-tuned, it is only necessary to slightly adjust the travel throttle control unit. Using the hand to control the travel throttle control unit can not only finely control the travel speed, but also realize the cruising function of the whole machine. The travel throttle control unit preferably adopts a travel throttle knob, which is easy to operate, has high operating accuracy, and occupies little space.

[0040] In the technical solution, the control signal input circuit includes a multi-bit switch and a switch circuit, and the switch circuit outputs a first control signal. The switch circuit is provided with a number of different first signal input terminals, and each first signal input terminal corresponds to a switch. When different switches are closed, the control signal input circuit outputs different first control signals.

[0041] The switch circuit is electrically connected to the vehicle controller and transmits a signal to the vehicle controller. The first control signal includes a signal for controlling the throttle gear control unit, which controls the throttle gear control unit to fail, causing the throttle gear control unit to lose control of the engine, making it easier for the travel throttle input circuit in the control signal input circuit to control the travel speed of the all-in-one machine.

[0042] This technical solution also includes a solenoid valve and a travel motor. The solenoid valve is electrically connected to the vehicle controller, and the solenoid valve and the travel motor are connected through a hydraulic pipeline. The vehicle controller applies a high level to the solenoid valve according to the second control signal, and the solenoid valve controls the travel motor to be in a large displacement state. The vehicle controller will output a high level to the solenoid valve according to the received second control signal. After the solenoid valve is energized, the corresponding pilot oil circuit is connected to the travel motor, forcing the travel motor to always be in a large displacement state. This state will not only reduce the travel speed of the all-in-one machine, but also greatly increase the travel torque, which is suitable for planing and milling road surfaces, especially planing and milling deeper or harder roads.

[0043] The technical solution also includes an engine, which is electrically connected to the vehicle controller. After the vehicle controller synchronously controls the throttle gear control unit and is forced to fail, the vehicle controller sends a throttle opening request signal to the engine, and controls the throttle opening of the engine to be adjusted to the maximum gear, that is, the highest gear speed in the normal working state, reducing the operation steps when the control signal input circuit controls the walking speed of the integrated machine, so that the subsequent control of the walking speed only needs to operate the walking throttle control unit, reducing the operation steps, reducing the operation requirements, and facilitating more accurate control of the walking speed.

[0044] In this technical solution, a main pump proportional valve is included, and the main pump proportional valve is electrically connected to the vehicle controller. After the vehicle controller synchronously controls the throttle gear control unit to be forced to fail, the vehicle controller controls the main pump proportional valve to open to the maximum. The main pump proportional valve opening is also adjusted to the maximum value, reducing the operation steps when the control signal input circuit controls the walking speed of the integrated machine, so that the subsequent control of the walking speed only needs to operate the walking throttle control unit, reducing the operation steps, reducing the operation requirements, and facilitating more accurate control of the walking speed.

[0045] On a wheeled excavator road milling machine, the main pump proportional valve is mainly used to finely control the output flow of the hydraulic pump. The main pump proportional valve adjusts the displacement of the main pump, thereby achieving precise control of the machine's movement speed and force. This control method enables the excavator to more efficiently and accurately control the movement of the milling drum or milling chain during road milling operations to adapt to different working conditions and road conditions.

[0046] The proportional valve is controlled by a current signal, and the input oil pressure is the pilot pressure oil, which can achieve a hydraulic pump power output that matches the engine speed. When the engine speed changes, the output flow of the hydraulic pump controlled by the proportional solenoid valve will also change accordingly, ensuring that the power of the hydraulic pump is basically consistent with the actual power of the engine. In this way, the excavator can maintain good working performance and fuel efficiency under any operating conditions. In this solution, because the throttle gear control unit is forced to fail, the opening of the main pump proportional valve is adjusted to the maximum by control, so that the integrated machine can obtain a larger planing and milling force and adapt to the planing and milling conditions. At the same time, the opening of the main pump proportional valve is also adjusted to the maximum value, which can also reduce the operating steps when the control signal input circuit controls the walking speed of the integrated machine, so that the subsequent control of the walking speed only needs to operate the walking throttle control unit, reducing the operating steps and reducing the operating requirements, so as to facilitate more accurate control of the walking speed.

[0047] The technical solution also includes a main pump, which is connected to a main pump proportional valve. When the main pump proportional valve is opened to the maximum, the vehicle controller controls the main pump to be in a maximum working power state.

[0048] The main pump of the integrated machine is an important part of the equipment. It mainly provides pressure oil for the hydraulic system to drive various hydraulic actuators of the excavator. The main pump is usually driven by the engine to convert mechanical energy into hydraulic energy, thereby realizing the movement of the excavator's travel, rotation and working device. When performing road milling operations, the power provided by the main pump is crucial to the milling effect. It ensures that the milling devices such as the milling drum or the milling chain have sufficient power to remove the damaged parts of the road surface. The working pressure and flow of the main pump directly affect the efficiency and effect of milling. Therefore, when milling deeper roads, it is usually necessary to adjust the throttle gear knob to a higher engine speed to provide stronger hydraulic power and torque. Therefore, in this scheme, the throttle gear adjustment unit is firstly invalidated, and then the throttle opening of the engine and the opening of the main pump proportional valve are adjusted to the maximum state, so as to obtain the required milling capacity, and then the travel throttle control unit can be used to control the travel speed of the integrated machine separately.

[0049] This technical solution also includes a travel proportional valve, which is electrically connected to the vehicle controller. The vehicle controller transmits different travel proportional valve opening signals to the travel proportional valve according to the second control signal, and controls the opening of the travel proportional valve. The opening of the travel proportional valve directly determines the travel speed of the all-in-one machine.

[0050] The function of the travel proportional valve on the wheeled excavator road milling machine is mainly to control the travel speed of the machine. The travel proportional valve receives the electrical signal from the vehicle controller and adjusts the output pressure oil volume according to the signal strength, thereby controlling the speed of the travel motor and enabling the excavator to perform travel operations accurately.

[0051] When the excavator needs to perform road milling operations, the operator can control the travel proportional valve through the handle to keep the excavator moving stably in different working conditions. Especially when performing operations such as road milling that require high precision, by finely adjusting the proportional valve, it can be ensured that the excavator operates according to the preset route and speed, thereby improving the accuracy and efficiency of the operation. In this solution, when milling deeper and harder roads, in order to achieve a slower travel speed of the integrated machine during milling through the travel throttle control unit in the control signal input circuit, in order to obtain a larger milling cutting force and torque, a second control signal containing the travel speed information required by the integrated machine is input to the vehicle control system through the control signal input circuit to obtain an accurate travel speed output.

[0052] Based on the above scheme, the travel proportional valve is connected to a pilot oil circuit for controlling travel, and the travel proportional valve is connected to a main control valve through the pilot oil circuit, and the main control valve is connected to the travel motor. The main control valve on the integrated machine correctly distributes the hydraulic oil generated by the main pump to various actuators, such as cylinders and motors, according to the operator's instructions, thereby controlling various actions of the integrated machine. In this scheme, the travel motor is controlled by the main control valve to accurately obtain the required travel speed.

[0053] In the technical solution of the present invention, a control signal input circuit is added through the adjustment of the circuit, and the milling mode of the vehicle controller is activated through the adjustment of the multi-position switch, so that the engine and the main pump can be directly operated at the maximum power state to achieve high-power output. At the same time, the operation of the solenoid valve not only realizes low-speed walking, but also improves the walking torque. When the road milling machine mills a harder or deeper road surface, it will not be unable to move forward due to large resistance. The manual walking throttle control unit participates in the walking control, which greatly improves the controllability of the wheeled excavator road milling machine during low-speed walking operation. The manual walking throttle control unit is placed on the operating handle within reach, which is convenient for fine-tuning the speed at any time and realizing the cruise function, greatly improving the operator's comfort. When the wheeled excavator road milling machine is walking normally and does not need to work, it can also be controlled by the multi-position switch to restore the controller to normal walking control, thereby improving the flexible use of the machine.

[0054] The technical means disclosed in the scheme of the present invention are not limited to the technical means disclosed in the above-mentioned implementation mode, but also include technical schemes composed of any combination of the above-mentioned technical features. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims

1. A walking control method for a wheeled excavator road milling machine, characterized in that: include: Vehicle controller; A throttle position control unit, electrically connected to the vehicle controller; The control signal input circuit is arranged on the operating handle and is electrically connected to the vehicle controller; A first control signal is input into the vehicle controller through the control signal input circuit, and the vehicle controller activates the planing and milling working mode of the integrated machine according to the first control signal. At this time, the vehicle controller synchronously controls the throttle gear control unit to be forced to fail, and then a second control signal is input into the vehicle controller through the control signal input circuit. The second control signal is a signal containing the walking speed information required by the integrated machine, and the vehicle controller controls the walking of the integrated machine according to the second control signal.

2. The walking control method of the wheeled excavator road milling machine according to claim 1, characterized in that: The control signal input circuit includes a traveling throttle control unit and a traveling throttle input circuit. The traveling throttle input circuit outputs the second control signal. The traveling throttle control unit is arranged on the traveling throttle input circuit. The traveling throttle input circuit has multiple second signal input terminals. The traveling throttle control unit is connected to different second signal input terminals. The traveling throttle input circuit outputs different traveling speed requests to the vehicle controller.

3. The walking control method of the wheeled excavator road milling machine according to claim 2, characterized in that: The travel throttle control unit is a travel throttle knob or a travel throttle sliding switch, and is arranged on the operating handle.

4. The walking control method of the wheeled excavator road milling machine according to claim 1 or 2, characterized in that: The control signal input circuit includes a multi-bit switch and a switch circuit. The switch circuit outputs the first control signal. The switch circuit is provided with a plurality of different first signal input terminals, and each first signal input terminal corresponds to a switch. When different switches are closed, the control signal input circuit outputs different first control signals.

5. The walking control method of the wheeled excavator road milling machine according to claim 1, characterized in that: It also includes a solenoid valve and a travel motor, wherein the solenoid valve is electrically connected to the vehicle controller, and the solenoid valve is connected to the travel motor through a hydraulic pipeline; the vehicle controller applies a high level to the solenoid valve according to the second control signal, and the solenoid valve controls the travel motor to be in a large displacement state.

6. The walking control method of the wheeled excavator road milling machine according to claim 1 or 5, characterized in that: It includes an engine, which is electrically connected to the vehicle controller. After the vehicle controller synchronously controls the throttle gear control unit to be forced to fail, the vehicle controller sends a throttle opening request signal to the engine and controls the throttle opening of the engine to be adjusted to the maximum gear.

7. The walking control method of the wheeled excavator road milling machine according to claim 6, characterized in that: It includes a main pump proportional valve, which is electrically connected to the vehicle controller. After the vehicle controller synchronously controls the throttle gear control unit to be forced to fail, the vehicle controller controls the main pump proportional valve to open to the maximum.

8. The walking control method of the wheeled excavator road milling machine according to claim 7, characterized in that: It also includes a main pump, which is connected to the main pump proportional valve. When the main pump proportional valve is opened to the maximum, the vehicle controller controls the main pump to be in a maximum working power state.

9. The walking control method of the wheeled excavator road milling machine according to claim 6, characterized in that: It includes a walking proportional valve, which is electrically connected to the vehicle controller. The vehicle controller transmits different walking proportional valve opening signals to the walking proportional valve according to the second control signal, and controls the walking proportional valve opening. The walking proportional valve opening directly determines the walking speed of the all-in-one machine.

10. The walking control method of the wheeled excavator road milling machine according to claim 9, characterized in that: The travel proportional valve is connected to a pilot oil circuit for controlling travel, the travel proportional valve is connected to a main control valve through the pilot oil circuit, and the main control valve is connected to a travel motor.

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