A method for controlling the movement of a wheeled excavator integrated road milling machine

Abstract

This invention discloses a travel control method for a wheeled excavator integrated road milling machine. The method includes a control signal input circuit mounted on the operating handle. A first control signal is input to the vehicle controller via this circuit. The vehicle controller activates the milling mode of the integrated machine based on the first control signal, at which point the throttle gear control unit is disabled. Then, a second control signal, containing the required travel speed information for the integrated machine, is input to the vehicle controller via the control signal input circuit. The vehicle controller controls the travel of the integrated machine based on the second control signal. This method allows for the modification of existing wheeled excavator integrated road milling machines. By adding a control signal input circuit, the travel speed can be changed from foot-operated to manual control, improving control accuracy and reducing the workload of the control operation.

Description

Technical Field

[0001] This invention relates to the field of excavator-related technologies, and in particular to a method for controlling the movement of a wheeled excavator integrated with a road milling machine. Background Technology

[0002] The wheeled excavator-mounted road milling machine is a high-efficiency road construction equipment integrating multiple functions. It typically uses a wheeled excavator as a base platform and performs various operations such as road milling, sweeping, and cutting by installing different attachments. During road milling, by installing milling attachments, damaged asphalt or concrete pavement can be milled to remove the old or broken pavement layers, preparing for the laying of new pavement. Road milling utilizes the rotating cutter drum on the milling machine attachment, with the cutter teeth penetrating deep into the road surface to cut. The milled material is collected by a conveying device, completing the milling process.

[0003] In existing automatic transmission wheeled excavators both domestically and internationally, the travel control in working mode generally uses a manual throttle knob to control engine speed and a foot-operated electronic throttle pedal to control travel speed. The main control circuit involves the manual throttle knob selecting the appropriate throttle gear, i.e., the required engine speed, based on the operational needs. Then, by pressing the electronic throttle pedal, changes in pedal angle output different analog voltage signals. The controller uses these signal changes to control the opening of the main pump proportional valve and the travel proportional valve, thereby controlling the travel speed of the wheeled excavator in working mode.

[0004] When existing wheeled excavators are converted into integrated road milling machines, they require slow movement during operation, with speed adjustments made constantly based on milling depth and road surface hardness. Conventional foot-controlled electronic throttles for speed control suffer from poor accuracy due to machine vibrations and foot tremors, making it difficult to maintain speed after adjustments. Furthermore, deeper milling operations can create significant resistance, preventing the machine from moving forward with conventional controls. Additionally, prolonged operation requires the operator to constantly maintain precise control of the throttle pedal, leading to considerable fatigue. Summary of the Invention

[0005] In order to overcome at least one of the defects mentioned above in the 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 can be changed from foot-operated control to manual control, thereby improving control accuracy and reducing the workload of control operation.

[0006] The technical solution adopted by this invention to solve its problem is:

[0007] A method for controlling the travel of a wheeled excavator integrated road milling machine includes:

[0008] Vehicle controller;

[0009] The throttle gear control unit is electrically connected to the vehicle controller;

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

[0011] The control signal input circuit inputs a first control signal to the vehicle controller. The vehicle controller activates the 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 disable. Then, the control signal input circuit inputs a second control signal to the vehicle controller. The second control signal is a signal containing the walking speed information required by the integrated machine. The vehicle controller controls the integrated machine to walk according to the second control signal.

[0012] Furthermore: the control signal input circuit includes a travel throttle control unit and a travel throttle input circuit. The travel throttle input circuit outputs the second control signal. The travel throttle control unit is disposed on the travel throttle input circuit. The travel throttle input circuit has multiple second signal input terminals. The travel throttle control unit is connected to different second signal input terminals. The travel throttle input circuit outputs different travel speed requests to the vehicle controller.

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

[0014] Furthermore: the control signal input circuit includes a multi-position switch and a switch circuit. The switch circuit outputs the first control signal. The switch circuit is provided with several different first signal input terminals, and each first signal input terminal corresponds to one switch. 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 hydraulic lines. 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 high-displacement state.

[0016] Furthermore, the system includes an engine electrically connected to the vehicle controller. After the vehicle controller synchronously controls the throttle gear control unit 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] Furthermore, 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 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 a main pump proportional valve. When the main pump proportional valve is opened to its maximum, the vehicle controller controls the main pump to operate at its maximum power.

[0019] Furthermore, it includes a travel proportional valve, which is electrically connected to the vehicle controller. The vehicle controller sends 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 integrated machine.

[0020] Furthermore: 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.

[0021] In summary, the walking control method for a wheeled excavator integrated road milling machine provided by this 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 integrated machine is rendered ineffective. This allows the walking speed of the integrated machine to be controlled by the added control signal input circuit. At the same time, for ease of operation, the speed control unit on the control signal input circuit is placed on the operating handle. This solves the problem of controlling the speed of the integrated machine in milling mode by foot pedal in the existing technology. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of an embodiment of the walking control method for a wheeled excavator road milling integrated machine according to the present invention. Detailed Implementation

[0024] To better understand and implement this invention, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings.

[0025] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0027] See Figure 1 This invention discloses a walking control method for a wheeled excavator road milling integrated machine, which realizes the control of the walking speed of the existing integrated machine. When the integrated machine is in milling mode, the walking speed of the integrated machine can be accurately controlled by this control method, especially the precise control of the walking speed at low speeds. In addition, the control operation unit is set on the operating handle, which is convenient to control and avoids the high-intensity problem of foot control.

[0028] This technical solution discloses a walking control method for a wheeled excavator integrated road milling machine, characterized by including a vehicle controller, a throttle gear control unit, and a control signal input circuit.

[0029] Among them, the vehicle controller is the existing main control unit on the integrated machine. In this solution, no changes are made to the vehicle controller itself, but different signals are input to the vehicle controller so that the vehicle controller can perform different controls on the integrated machine.

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

[0031] In actual operation, during milling, the operator can select an appropriate throttle gear based on the hardness of the road material, the milling depth, and the required work efficiency. For example, shallow milling may only require a lower engine speed; while deep milling or operation on particularly hard surfaces may require a higher engine speed to provide greater cutting force and torque. Therefore, the throttle gear control unit will set it 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 this technical solution, the control signal input circuit is located on the operating handle and electrically connected to the vehicle controller. During control, a first control signal is input to the vehicle controller via the control signal input circuit. The vehicle controller activates the milling working mode of the integrated machine based on the first control signal, at which point the synchronous throttle gear control unit of the vehicle controller is forced to disable. Then, a second control signal is input to the vehicle controller via the control signal input circuit. The second control signal contains the travel speed information required by the integrated machine, and the vehicle controller controls the movement of the integrated machine based on the second control signal.

[0033] Based on the above technical solution, by adding a control signal input circuit and electrically connecting it to the vehicle controller, the throttle gear control unit is disabled by the vehicle controller, 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 integrated machine travel information signal, so that the vehicle controller controls the travel speed.

[0034] In the above solution, the control signal input circuit is placed on the operating handle, which facilitates operation and, more importantly, enables precise operation, while freeing up the feet and reducing workload.

[0035] In this 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 located on the travel throttle input circuit, which has multiple second signal input terminals. The travel throttle control unit connects 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 solution, by setting up the travel throttle control unit and the travel throttle input circuit, after switching to the milling working mode, the travel throttle control unit and the travel throttle input circuit can replace the travel throttle pedal and be used to input a second control signal containing the travel speed information required by the integrated machine to the vehicle controller, so as to control the integrated machine to output the required speed.

[0037] In the above scheme, the travel throttle input circuit has multiple second signal input terminals. After the travel throttle control unit connects different second signal input terminals, the travel throttle input circuit will output different second control signals. The second control signals contain the travel speed information required by the integrated machine. The vehicle controller can control the integrated machine to travel according to the second control signals, so that the integrated machine travels at the required travel speed.

[0038] In the above scheme, the multiple second signal input terminals in the travel throttle input circuit can be implemented by connecting resistors with different resistance values ​​or by connecting different voltages.

[0039] In this technical solution, for ease of operation, the travel throttle control unit is a travel throttle knob or a travel throttle slide switch, and is located on the operating handle. After meeting the above conditions, the operator controls the travel throttle control unit by hand, outputting different voltage signals to the vehicle controller, thereby controlling the travel speed of the integrated machine. When the travel throttle control unit is adjusted to a designated position, releasing the hand maintains the current position, meaning the voltage signal input to the vehicle controller remains unchanged, thus maintaining a constant low travel speed. For fine-tuning the speed, only a slight adjustment of the travel throttle control unit is needed. Using manual control of the travel throttle control unit allows for both fine-tuning of the travel speed and achieving the machine's cruise function. A travel throttle knob is preferable for its ease of operation, high precision, and small footprint.

[0040] In this technical solution, the control signal input circuit includes a multi-position switch and a switching circuit, with the switching circuit outputting a first control signal. The switching circuit has several different first signal input terminals, with each first signal input terminal corresponding to one switch. Closing different switches results in the control signal input circuit outputting different first control signals.

[0041] The switching circuit is electrically connected to the vehicle controller and sends signals to the vehicle controller. The first control signal includes a signal controlling the throttle gear control unit. When the throttle gear control unit fails, it loses control of the engine, which facilitates the travel throttle input circuit in the control signal input circuit to control the travel speed of the integrated 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 travel motor are connected via hydraulic lines. The vehicle controller applies a high-level signal to the solenoid valve based on a second control signal, causing the solenoid valve to control the travel motor in a high-displacement state. The vehicle controller also outputs a high-level signal to the solenoid valve based on the received second control signal. Once 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 high-displacement state. This state not only reduces the travel speed of the integrated machine but also significantly increases the travel torque, making it suitable for milling surfaces, especially deep or hard surfaces.

[0043] This technical solution also includes an engine, which is electrically connected to the vehicle controller. When the throttle position control unit of the vehicle controller is forced to fail, the vehicle controller sends a throttle opening request signal to the engine and controls the engine's throttle opening to the maximum gear, i.e., the highest speed in normal operating conditions. This reduces the number of operation steps required when controlling the integrated machine's travel speed in the control signal input circuit, allowing subsequent travel speed control to be achieved simply by operating the travel throttle control unit. This reduces operation steps, lowers operational requirements, and facilitates more precise control of the travel speed.

[0044] This technical solution includes a main pump proportional valve, which is electrically connected to the vehicle controller. When the vehicle controller's synchronous throttle position control unit is forced to fail, the vehicle controller controls the main pump proportional valve to its maximum opening. Adjusting the main pump proportional valve to its maximum opening reduces the number of steps required to control the integrated machine's travel speed in the control signal input circuit. This allows subsequent travel speed control to be achieved solely through operation of the travel throttle control unit, reducing operational steps, lowering operational requirements, and facilitating more precise travel speed control.

[0045] On a wheeled excavator-type road milling machine, the main function of the main pump proportional valve is to precisely control the output flow of the hydraulic pump. The main pump proportional valve adjusts the displacement of the main pump, thereby achieving precise control over the machine's operating speed and force. This control method allows the excavator to more efficiently and accurately control the movement of the milling drum or milling chain during road milling operations, adapting to different working conditions and road surfaces.

[0046] The proportional valve is controlled by a current signal, and the input oil pressure is pilot pressure oil, enabling the hydraulic pump power output to match the engine speed. When the engine speed changes, the output flow of the hydraulic pump controlled by the proportional solenoid valve also changes 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 to allow the integrated machine to obtain a larger milling force, adapting to milling conditions. At the same time, adjusting the opening of the main pump proportional valve to the maximum value also reduces the number of operation steps when controlling the travel speed of the integrated machine in the control signal input circuit. This means that subsequent control of the travel speed only requires operation of the travel throttle control unit, reducing operation steps, lowering operation requirements, and facilitating more precise control of the travel speed.

[0047] This 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 its maximum, the vehicle controller controls the main pump to operate at its maximum power.

[0048] The main pump of the integrated excavator is a crucial component, primarily supplying pressurized oil to the hydraulic system to drive various hydraulic actuators. The main pump is typically engine-driven, converting mechanical energy into hydraulic energy to enable the excavator's movement, rotation, and the operation of its working devices. During road milling operations, the power provided by the main pump is critical to the milling effect, ensuring that milling devices such as the milling drum or milling chain have sufficient force to remove damaged sections of the road surface. The working pressure and flow rate of the main pump directly affect the efficiency and effectiveness of milling. Therefore, when milling deeper surfaces, it is usually necessary to adjust the throttle position knob to a higher engine speed to provide stronger hydraulic power and torque. Thus, in this solution, the throttle position adjustment unit is first disabled, and then the engine throttle opening and the main pump proportional valve opening are adjusted to their maximum values ​​to obtain the required milling capacity. The travel speed of the integrated excavator can then be individually controlled via the travel throttle control unit.

[0049] This technical solution also includes a travel proportional valve, which is electrically connected to the vehicle controller. The vehicle controller sends 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 integrated machine.

[0050] The main function of the travel proportional valve on the wheeled excavator road milling machine is to control the travel speed of the machine. The travel proportional valve receives electrical signals from the vehicle controller and adjusts the output pressure oil 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 proportion valve via a handle to ensure stable travel of the excavator under different working conditions. Especially in high-precision operations like road milling, fine adjustment of the proportion valve ensures the excavator operates according to a preset route and speed, improving accuracy and efficiency. In this solution, when milling deeper and harder surfaces, to achieve a slower travel speed for the integrated excavator controlled by the travel throttle in the control signal input circuit, and to obtain greater milling cutting force and torque, a second control signal containing the required travel speed information of the integrated excavator is input to the vehicle control system through the control signal input circuit, resulting in precise travel speed output.

[0052] Based on the above scheme, a pilot oil circuit for controlling travel is connected to the travel proportional valve. The travel proportional valve is connected to a main control valve via this pilot oil circuit, and the main control valve is connected to the travel motor. The main control valve on the integrated machine accurately 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 main control valve controls the travel motor to precisely obtain the required travel speed.

[0053] In this invention, by adjusting the circuit and adding a control signal input circuit, the milling mode of the vehicle controller is activated through the adjustment of a multi-position switch. This directly enables the engine and main pump to operate at maximum power, achieving high power output. Simultaneously, the operation of the solenoid valve not only enables low-speed travel but also increases the travel torque. When the road milling machine is milling hard or deep surfaces, it will not be unable to move forward due to excessive resistance. The manual travel throttle control unit participates in travel control, greatly improving the controllability of the wheeled excavator's road milling machine during low-speed travel. Placing the manual travel throttle control unit on an easily accessible operating handle allows for convenient fine-tuning of speed and cruise control, significantly improving operator comfort. When the wheeled excavator's road milling machine is not in operation, it can also be controlled via the multi-position switch to restore normal travel control, improving the machine's flexibility.

[0054] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. A method for controlling the movement of a wheeled excavator integrated road milling machine, characterized in that, include: Vehicle controller; The throttle gear control unit is electrically connected to the vehicle controller; The control signal input circuit is located on the operating handle and is electrically connected to the vehicle controller; The control signal input circuit inputs a first control signal to the vehicle controller. The vehicle controller activates the 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 disable. Then, the control signal input circuit inputs a second control signal to the vehicle controller. The second control signal is a signal containing the walking speed information required by the integrated machine. The vehicle controller controls the integrated machine to walk according to the second control signal.

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

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

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

5. The travel control method for a wheeled excavator integrated road milling machine according to claim 1, characterized in that: It also includes a solenoid valve and a travel motor. The solenoid valve is electrically connected to the vehicle controller, and the solenoid valve is connected to the travel motor through a hydraulic line. 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 high-displacement state.

6. The travel control method for a wheeled excavator integrated road milling machine according to claim 1 or 5, characterized in that: Includes an engine, which is electrically connected to the vehicle controller. After the vehicle controller synchronously controls the throttle gear control unit 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 travel control method for a wheeled excavator integrated 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 fail, the vehicle controller controls the opening of the main pump proportional valve to the maximum.

8. The travel control method for a wheeled excavator integrated road milling machine according to claim 7, characterized in that: It also includes a main pump, which is connected to a main pump proportional valve. When the main pump proportional valve is opened to its maximum, the vehicle controller controls the main pump to operate at its maximum power.

9. The travel control method for a wheeled excavator integrated road milling machine according to claim 6, characterized in that: The device includes a travel proportional valve, which is electrically connected to the vehicle controller. The vehicle controller sends 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 integrated machine.

10. The travel control method for a wheeled excavator integrated 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. The main control valve is connected to the travel motor.

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