A mobile desert soil treatment machine and a method of controlling the same

Abstract

The application discloses a mobile desert soil treatment machine and a control method thereof. The mobile desert soil treatment machine comprises atomizing rollers, a hydraulic system and a push shovel. The hydraulic system comprises roller driving hydraulic motors, an oil pressure detector and a controller. During operation of the mobile desert soil treatment machine, when the driving oil way oil pressure of the roller driving hydraulic motor increases, the oil pressure detector can output a detection signal to the controller; the controller makes the push shovel lifting cylinder elongate or shorten according to the received detection signal, so that the push shovel is lowered, the push shovel pushes more soil in front of the mobile desert soil treatment machine, and the atomizing roller load is reduced. In the opposite case, the atomizing roller load is further increased. In this way, the atomizing roller load can be controlled by controlling the lifting of the push shovel, the atomizing roller load change range or amplitude is reduced, the "machine choking" phenomenon is greatly reduced, and the operation stability of the mobile desert soil treatment machine is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of desert soil treatment, in particular to a mobile desert soil treatment machine, and a control method of the mobile desert soil treatment machine. BACKGROUND

[0002] A mobile desert soil treatment machine is disclosed in Chinese patent document CN118162456A, which comprises a frame, a walking system and a desert soil atomization system. The desert soil atomization system comprises an atomization bin plate, two atomization rollers and a roller driving device. The atomization bin plate forms an atomization bin with an opening below. The atomization rollers are rotatably mounted on the frame. The atomization rollers comprise atomization fins extending radially outward. In the extension direction of the rotation axis, the atomization fins of the front atomization roller and the atomization fins of the rear atomization roller are staggered. In this way, during the movement of the desert soil treatment machine, the two atomization rollers can be located below the surface of the desert soil to be treated and rotate relatively to bring the soil to be treated into the atomization bin by the atomization fins, atomize the surface soil, and further provide a premise for the atomization of the surface soil and the combination of the desert soil and the amendment, realize the surface treatment of the desert soil, and form a desert surface protective layer, i.e. desert surface passivation.

[0003] In order to facilitate desert soil treatment, the front part of the mobile desert soil treatment machine is further provided with a bulldozing device. During the walking of the mobile desert soil treatment machine, the bulldozing device can push the front part flat to facilitate walking.

[0004] In actual application of the above-mentioned mobile desert soil treatment machine, due to different soil compositions and uneven soil surfaces, the load of the atomization roller rotation operation changes greatly, which causes "machine stalling" and has to stop operation. After artificial cleaning of the desert soil atomization system, the machine is restarted for operation.

[0005] How to solve the problem of frequent and large changes in the load of the atomization roller rotation operation has become an important problem for the operation of the mobile desert soil treatment machine. SUMMARY

[0006] The present application aims to provide a mobile desert soil treatment machine that can solve the problem of frequent and large changes in the load of the atomization roller rotation operation.

[0007] Based on the above-mentioned mobile desert soil treatment machine, a control method of the mobile desert soil treatment machine is further provided.

[0008] A mobile desert soil treatment machine comprises a frame, a walking system, a desert soil atomization system and a push shovel system; the walking system is installed on the frame; the desert soil atomization system comprises at least two atomization rollers; and a hydraulic system is further included.

[0009] The push shovel system comprises a push shovel installed at the front of the frame.

[0010] The hydraulic system comprises a roller driving hydraulic motor, an oil pressure detector, a push shovel lifting oil cylinder, a push shovel lifting electric control valve and a controller; the roller driving hydraulic motor drives the atomization rollers to rotate; the push shovel lifting oil cylinder controls the push shovel lifting; the push shovel lifting electric control valve is connected between a hydraulic oil source and the push shovel lifting oil cylinder; the detection end of the oil pressure detector is connected with the driving oil circuit of the roller driving hydraulic motor, and the signal output end is connected with the signal end of the controller; and the control end of the controller is connected with the signal of the push shovel lifting electric control valve, so as to control the push shovel lifting electric control valve according to the driving oil pressure of the roller driving hydraulic motor, and further control the push shovel lifting.

[0011] During the operation of the mobile desert soil treatment machine, it is kept moving forward at a certain speed. When the load of the atomizing roller rotating operation is increased due to the hard soil layer or large particles, and the rotating speed of the atomizing roller is decreased, based on the characteristics of the hydraulic drive system, the oil pressure of the drive oil circuit (high pressure oil side) of the roller drive hydraulic motor will increase. Based on the increase of the oil pressure, the oil pressure detector can output a corresponding detection signal to the controller, which represents the increase of the load. The controller can determine the oil pressure and load change according to the received detection signal, and generate a control signal to control the push shovel lifting electro-hydraulic valve state. Then the push shovel lifting cylinder can be elongated or shortened, and the push shovel can be lowered, so that the push shovel pushes more soil in front of the mobile desert soil treatment machine, reduces the amount or thickness of the soil layer treated by the desert soil atomizing system behind the push shovel, and then reduces the load of the atomizing roller. On the contrary, during the movement of the mobile desert soil treatment machine, when the load of the atomizing roller rotating operation is reduced, and the rotating speed of the atomizing roller is increased, the oil pressure of the drive oil circuit of the roller drive hydraulic motor will be reduced accordingly. The oil pressure detector can output a corresponding detection signal to the controller, which represents the reduction of the load. The controller can determine the driving oil pressure or the size of the load according to the received detection signal, and then control the push shovel lifting electro-hydraulic valve state through the control signal, so that the push shovel lifting cylinder is extended or retracted, and the push shovel is raised. The push shovel pushes less soil in front of the mobile desert soil treatment machine, increases the amount of soil or soil layer treated by the desert soil atomizing system behind the push shovel, and then increases the load of the atomizing roller. In this way, the load of the atomizing roller can be controlled by controlling the lifting of the push shovel, the change range of the load of the atomizing roller is reduced, and the "machine choking" phenomenon is greatly reduced, so that the stability of the operation of the mobile desert soil treatment machine is greatly improved. At the same time, through the automatic balance of the load of the push shovel and the load of the atomizing roller, the operation efficiency of the mobile desert soil treatment machine can be improved, and the impact on the load of the roller drive hydraulic motor can be reduced, and the service life of the roller drive hydraulic motor can be improved.

[0012] In a further technical solution, the push shovel system comprises a left push shovel and a right push shovel; the inner ends of the left push shovel and the right push shovel are mounted on the front part of the frame, and the outer ends extend to both sides.

[0013] The hydraulic system further comprises a push shovel angle cylinder and a push shovel angle electro-hydraulic valve; the push shovel angle cylinder controls the inclination angle of the left push shovel and the right push shovel; the push shovel angle electro-hydraulic valve is connected between the hydraulic oil source and the push shovel angle cylinder; the control end of the controller is further connected with the signal of the push shovel angle electro-hydraulic valve, so as to control the push shovel angle electro-hydraulic valve according to the driving oil pressure of the roller drive hydraulic motor, and then control the inclination angle of the left push shovel and the right push shovel.

[0014] In this way, when the load of the atomizing roller rotating operation is increased, the outer end of the left push shovel and the right push shovel can be inclined backward or the inclination angle is increased, and then the more soil in front of the push shovel can be diverted to both sides by the "herringbone" diversion effect, thereby reducing the load of the push shovel and the load of the mobile desert soil treatment machine; on the contrary, the inclination angle of the left push shovel and the right push shovel backward can be reduced, so that more soil in front of the push shovel is kept, thereby improving the efficiency of the push shovel and the efficiency of the mobile desert soil treatment machine. More importantly, the load of the atomizing roller or the load of the mobile desert soil treatment machine can be controlled by controlling the inclination angle of the left push shovel and the right push shovel backward, thereby reducing the load variation range and improving the stability of the mobile desert soil treatment machine operation. The load impact on the roller driving hydraulic motor is reduced, and the service life of the roller driving hydraulic motor is improved.

[0015] In a further technical solution, the push shovel angle oil cylinders are arranged in pairs and correspond to control the left push shovel and the right push shovel respectively. In this way, the balance of the left push shovel and the right push shovel can be ensured, and the stability of the mobile desert soil treatment machine operation can be ensured.

[0016] In a further technical solution, a first synchronous diversion device is arranged between the working oil port of the push shovel angle electric control valve and the pair of push shovel angle oil cylinders. The first synchronous diversion device includes two closed hydraulic motors which are coaxially rotatable and have the same specifications. The first working oil ports of the two closed hydraulic motors are communicated with one working oil port of the push shovel angle electric control valve, and the second working oil ports of the two closed hydraulic motors are communicated with the rodless oil chambers of the pair of push shovel angle oil cylinders respectively. In this way, the synchronous action of the pair of push shovel angle oil cylinders can be ensured, and the reliability of the operation can be ensured.

[0017] In an optional technical solution, the push shovel lifting oil cylinders can also be arranged in pairs and correspond to control the left push shovel and the right push shovel respectively. Correspondingly, a second synchronous diversion device can be arranged between the working oil port of the push shovel lifting electric control valve and the pair of push shovel lifting oil cylinders. The second synchronous diversion device includes two closed hydraulic motors which are coaxially rotatable and have the same specifications. The first working oil ports of the two closed hydraulic motors are communicated with one working oil port of the push shovel lifting electric control valve, and the second working oil ports of the two closed hydraulic motors are communicated with the rodless oil chambers of the pair of push shovel lifting oil cylinders respectively.

[0018] In the preferred technical solution, at least two oil pressure detectors are provided, one detection end of the oil pressure detector is connected with the high pressure side oil path of the roller driving hydraulic motor, and the detection end of the other oil pressure detector is connected with the low pressure side oil path of the roller driving hydraulic motor; the controller controls the push shovel lifting electro-control valve according to the hydraulic oil pressure of the high pressure side and the low pressure side of the roller driving hydraulic motor. In this way, the controller controls the lifting electro-control valve according to the hydraulic oil pressure of the high pressure side and the low pressure side of the roller driving hydraulic motor, and controls the lifting electro-control valve according to the difference between the hydraulic oil pressure of the high pressure side and the low pressure side. In this way, the sensitivity of the controller to the change of the hydraulic oil pressure is improved, and the accuracy and precision of the push shovel control operation are improved.

[0019] In the optional technical solution, the two signal ends of the push shovel lifting electro-control valve are connected with the two control ends of the controller respectively, and / or the two signal ends of the push shovel angle electro-control valve are connected with the two control ends of the controller respectively. In this way, the bidirectional control of the push shovel lifting electro-control valve or the push shovel angle electro-control valve is realized, and the bidirectional control of the lifting or angle of the left push shovel and the right push shovel is realized.

[0020] The control method of the mobile desert soil treatment machine provided by the application is the control method of the first mobile desert soil treatment machine. The control method can include: when the driving oil pressure of the roller driving hydraulic motor is higher than a first threshold value, lowering the push shovel relative to the machine frame; and when the driving oil pressure of the roller driving hydraulic motor is lower than a second threshold value, raising the push shovel relative to the machine frame.

[0021] In the mobile desert soil treatment machine, the push shovel system can include a left push shovel and a right push shovel, and the inner ends of the left push shovel and the right push shovel are installed at the front of the machine frame. The hydraulic system further includes a push shovel angle oil cylinder and a push shovel angle electro-control valve, the push shovel angle oil cylinder controls the inclination angle of the left push shovel and the right push shovel, the push shovel angle electro-control valve is connected between the hydraulic oil source and the push shovel angle oil cylinder, and the control end of the controller is further connected with the signal of the push shovel angle electro-control valve to control the push shovel angle electro-control valve according to the driving oil pressure of the roller driving hydraulic motor, thereby controlling the inclination angle of the left push shovel and the right push shovel. When the driving oil pressure of the roller driving hydraulic motor is higher than a third threshold value, the inclination angle of the outer end of the left push shovel and the right push shovel is increased backward, and when the driving oil pressure of the roller driving hydraulic motor is lower than a fourth threshold value, the inclination angle of the outer end of the left push shovel and the right push shovel is decreased backward.

[0022] This control method allows for the control of the load on the atomizing rollers, or the overall load of the mobile desert soil treatment machine, by adjusting the backward tilt angle and lifting position of the left and right push shovels. This control over load variation range significantly improves the operational stability of the mobile desert soil treatment machine. Furthermore, it reduces the load impact on the roller-driven hydraulic motor, extending its service life. Attached Figure Description

[0023] Figure 1 An external perspective view of a mobile desert soil treatment machine provided in an embodiment of the present invention.

[0024] Figure 2 for Figure 1 The image shows a longitudinal cross-sectional view of a mobile desert soil treatment machine.

[0025] Figure 3 for Figure 1 The diagram shows the connection structure between the frame of the mobile desert soil treatment machine and the roller-driven hydraulic motor.

[0026] Figure 4 for Figure 1 The diagram shows the hydraulic control principle of a mobile desert soil treatment machine.

[0027] Figure 5 for Figure 4 A schematic diagram of the principle of the synchronous current splitter. Detailed Implementation

[0028] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that in this document, directional terms are used with reference to the operational status of the mobile desert soil treatment machine.

[0029] Please refer to Figure 1 , Figure 2 and Figure 3 , Figure 1 An external perspective view of a mobile desert soil treatment machine provided in an embodiment of the present invention; Figure 2 for Figure 1 The image shows a longitudinal sectional view of the mobile desert soil treatment machine. Figure 3 for Figure 1 The diagram shows the connection structure between the frame and the roller-driven hydraulic motor of the mobile desert soil treatment machine. The mobile desert soil treatment machine in this embodiment includes a frame 100, a walking system 200, a desert soil atomization system 300, and a pusher system 400; the walking system 200 is mounted on the frame 100; the desert soil atomization system 300 includes at least two atomizing rollers 320.

[0030] The walking system 200 is installed on the frame 100, which can facilitate the movement of the desert soil treatment machine and improve the processing efficiency. The walking system 200 can be a vehicle or a mechanical movement system, which can be a wheeled walking system or other structure walking system. In this embodiment, the walking system is a tracked walking system, and in order to adapt to the desert environment, the walking system includes walking tracks on both sides. The walking system can have its own power and can walk by itself; or it can not have its own power and can be towed by other equipment. In this embodiment, the walking system of the mobile desert soil treatment machine has its own power and can walk by itself.

[0031] The push shovel system 400 includes a push shovel installed at the front of the frame 100. As shown in Figure 1 and Figure 2 In this embodiment, the push shovel system 400 includes a left push shovel 410 and a right push shovel 420; the inner ends of the left push shovel 410 and the right push shovel 420 are installed at the front of the frame 100, and the outer ends extend to both sides; thereby forming a "person" shaped push shovel structure. It can be understood that the inner ends of the left push shovel 410 and the right push shovel 420 can be rotatably installed at the front of the frame 100, so that the outer ends can swing in the front-back direction relative to the frame 100, changing the inclination angle.

[0032] As shown in Figure 2 and Figure 3 In this embodiment, the mobile desert soil treatment machine includes three desert soil atomization systems 300 arranged in sequence from front to back. The desert soil atomization system 300 includes an atomization bin plate 310, two atomization rollers 320 and roller driving devices; the atomization bin plate 310 forms an atomization bin with an opening below. In special cases, the desert soil atomization system 300 can also be provided with more atomization rollers 320.

[0033] The desert soil atomization system 300 is also correspondingly provided with a roller driving hydraulic motor 510, which can be installed on the frame 100 for driving the atomization roller 320 to rotate. In this embodiment, the atomization roller 320 is provided with a separate roller driving hydraulic motor 510 to control the rotation speed of the atomization roller 320 respectively, and to ensure the power supply of the atomization roller 320.

[0034] During operation of the mobile desert soil treatment machine, it moves forward at a certain speed. At this time, the atomizing roller 320 can be positioned appropriately below the surface of the desert soil to be treated and rotated at an appropriate speed. The atomizing fins of the atomizing roller 320 carry the soil into the atomization chamber. The appropriate rotation speed causes the surface soil to atomize, providing a basis for the atomization and mixing of the soil amendment with the surface soil. This achieves surface treatment of the desert soil, forming a protective layer that passivates the desert surface. In one embodiment, the atomizing roller 320 can be positioned 200mm above the surface of the desert soil to be treated, thus enabling passivation treatment of the soil within a 200mm radius of the surface.

[0035] The load on mobile desert soil treatment machines varies greatly due to the atomizing rollers. Configuring the hydraulic system based on the maximum load would significantly increase the cost of the machine; conversely, reducing the hydraulic system configuration could lead to machine stalling, forcing a shutdown. This invention addresses this problem by researching, experimenting, and testing, and modifying the hydraulic system.

[0036] like Figure 4 As shown, Figure 4 for Figure 1 The diagram shows the hydraulic control principle of a mobile desert soil treatment machine. In this embodiment of the invention, the hydraulic system includes a roller-driven hydraulic motor 510, an oil pressure detector, a pusher lifting cylinder 520, a pusher lifting solenoid valve 540, and a controller 550.

[0037] The roller-driven hydraulic motor 510 drives the atomizing roller 320 to rotate. The pusher lifting cylinder 520 controls the lifting of the pusher. The pusher lifting solenoid valve 540 is connected between the hydraulic oil source and the pusher lifting cylinder 520. The detection end of the oil pressure detector is connected to the drive oil circuit of the roller-driven hydraulic motor 510, and the signal output end is connected to the signal end of the controller 550. In this embodiment, multiple oil pressure detectors can be set for each roller-driven hydraulic motor 510 to detect and acquire the drive oil pressure of each roller-driven hydraulic motor 510, preferably detecting high-pressure oil pressure. The pusher lifting solenoid valve 540 can be an on / off valve or a proportional valve to control the speed or amplitude of the pusher movement.

[0038] The control terminal of the controller 550 is connected to the pusher lifting solenoid valve 540 by signal, so as to control the pusher lifting solenoid valve 540 according to the oil pressure driven by the roller drive hydraulic motor 510, thereby controlling the lifting of the pusher.

[0039] During the operation of the mobile desert soil treatment machine, it moves forward at a certain speed. When the load of the atomizing roller increases due to the hard soil layer or large particles, and the rotation speed of the atomizing roller decreases, based on the characteristics of the hydraulic drive system, the oil pressure of the drive oil circuit (high pressure oil side) of the roller drive hydraulic motor 510 will increase. Based on the increase of the oil pressure, the oil pressure detector can output a corresponding detection signal to the controller 550, which represents the increase of the load. The controller can determine the change of the oil pressure and the load according to the received detection signal, and generate a control signal to control the state of the push shovel lifting electro-hydraulic valve 540. Then the push shovel lifting cylinder 520 can be extended or shortened, and the push shovel can be lowered, so that the push shovel pushes more soil in front of the mobile desert soil treatment machine, reduces the amount of soil or the thickness of the soil layer treated by the desert soil atomization system 300 behind the push shovel, and then reduces the load of the atomizing roller. On the contrary, during the movement of the mobile desert soil treatment machine, when the load of the atomizing roller decreases and the rotation speed of the atomizing roller increases, the oil pressure of the drive oil circuit of the roller drive hydraulic motor 510 will decrease accordingly. The oil pressure detector can output a corresponding detection signal to the controller 550, which represents the decrease of the load. The controller can determine the size of the driving oil pressure or the load according to the received detection signal, and then control the state of the push shovel lifting electro-hydraulic valve 540 through the control signal, so that the push shovel lifting cylinder 520 can be extended or shortened, and the push shovel can be lifted, so that the push shovel pushes less soil in front of the mobile desert soil treatment machine, increases the amount of soil or the thickness of the soil layer treated by the desert soil atomization system 300 behind the push shovel, and then increases the load of the atomizing roller. In this way, the load of the atomizing roller can be controlled by controlling the lifting of the push shovel, the change range of the load of the atomizing roller can be reduced, and the phenomenon of "machine choking" can be greatly reduced, and the stability of the operation of the mobile desert soil treatment machine can be greatly improved. At the same time, through the automatic balance of the load of the push shovel and the load of the atomizing roller, the operation efficiency of the mobile desert soil treatment machine can be improved, and the impact on the load of the roller drive hydraulic motor 510 can be reduced, and the service life of the roller drive hydraulic motor 510 can be improved.

[0040] In specific embodiments, the specific value of the lifting or lowering of the push shovel can be controlled according to the change range of the oil pressure. For example, when the maximum working pressure of the hydraulic system is 20 MPa, a reference oil pressure (such as 16 MPa) can be determined, and when the oil pressure exceeds the reference oil pressure by 0.5 MPa, the push shovel can be lowered by 2 cm. Of course, the specific data may need to be determined according to the performance of the treated soil.

[0041] The hydraulic system can also include a push shovel angle oil cylinder 560 and a push shovel angle electric control valve 570; the push shovel angle oil cylinder 560 controls the inclination angle of the left push shovel 410 and the right push shovel 420; the push shovel angle electric control valve 570 is connected between the hydraulic oil source and the push shovel angle oil cylinder 560; the control end of the controller 550 is also connected with the signal of the push shovel angle electric control valve 570, so as to drive the push shovel angle electric control valve 570 according to the driving oil pressure of the roller driving hydraulic motor 510, and then control the inclination angle of the left push shovel 410 and the right push shovel 420. In this way, when the load of the atomizing roller rotating operation increases, the outer end of the left push shovel 410 and the right push shovel 420 can be inclined backward or the inclination angle can be increased, and then the more soil in front of the push shovel can be diverted to both sides by using the "herringbone" diversion effect, thereby reducing the load of the push shovel and the load of the mobile desert soil treatment machine; on the contrary, the inclination angle of the left push shovel 410 and the right push shovel can be reduced, so that more soil in front of the push shovel is kept, thereby improving the efficiency of the push shovel and the efficiency of the mobile desert soil treatment machine. More importantly, the load of the atomizing roller or the whole machine load of the mobile desert soil treatment machine can be controlled by controlling the inclination angle of the left push shovel 410 and the right push shovel 420, so as to reduce the load variation range and improve the stability of the mobile desert soil treatment machine. In addition, the service life of the roller driving hydraulic motor 510 is also improved.

[0042] Of course, the change of the inclination angle of the left push shovel 410 and the right push shovel can also be controlled according to the oil pressure variation range.

[0043] As shown in Figure 4 , the push shovel angle oil cylinder 560 is arranged in pairs and respectively corresponds to the control of the left push shovel 410 and the right push shovel 420. In this way, the balance of the left push shovel 410 and the right push shovel 420 can be ensured, and the stability of the mobile desert soil treatment machine can be ensured. As shown in Figure 5 , this figure is a schematic diagram of the principle of the synchronous diversion device in Figure 4 . In one embodiment, a first synchronous diversion device 501 is arranged between the working oil port of the push shovel angle electric control valve 570 and the pair of push shovel angle oil cylinders 560. The first synchronous diversion device 501 includes two closed hydraulic motors which are coaxially rotatable and have the same specifications. The first working oil port A of the two closed hydraulic motors is communicated with one working oil port of the push shovel angle electric control valve 570, and the second working oil port (B) of the two closed hydraulic motors is respectively communicated with the rodless oil cavity of the pair of push shovel angle oil cylinders 560. In this way, the synchronous action of the pair of push shovel angle oil cylinders 560 can be ensured, and the reliability of the operation can be ensured.

[0044] Similarly, the push shovel lifting oil cylinder 520 can also be arranged in pairs and correspondingly control the left push shovel 410 and the right push shovel 420. Correspondingly, the working oil port of the push shovel lifting electro-hydraulic valve 540 and the two push shovel lifting oil cylinders 520 arranged in pairs can be provided with a second synchronous flow dividing device 502, and the second synchronous flow dividing device 502 comprises two coaxial rotating closed hydraulic motors with the same specifications, the first working oil ports of the two closed hydraulic motors are communicated with one working oil port of the push shovel lifting electro-hydraulic valve 540, and the second working oil ports of the two closed hydraulic motors are communicated with the rodless oil chambers of the two push shovel lifting oil cylinders 520 arranged in pairs.

[0045] In the preferred technical solution, the hydraulic system can be provided with at least two oil pressure detectors corresponding to each roller driving hydraulic motor 510, one detection end of the oil pressure detector is connected with the high-pressure side oil circuit of the roller driving hydraulic motor 510, and the detection end of the other oil pressure detector is connected with the low-pressure side oil circuit of the roller driving hydraulic motor 510; and the controller 550 controls the push shovel lifting electro-hydraulic valve 540 according to the hydraulic oil pressure of the high-pressure side and the low-pressure side of the roller driving hydraulic motor 510. In this way, the controller 550 controls the lifting electro-hydraulic valve according to the hydraulic oil pressure of the high-pressure side (cavity) and the low-pressure side (cavity) of the roller power hydraulic element, and can control the lifting electro-hydraulic valve according to the difference between the hydraulic oil pressure of the high-pressure side (cavity) and the low-pressure side (cavity). This can increase the sensitivity of the controller to the change of the hydraulic oil pressure, and improve the accuracy and precision of the control operation of the push shovel.

[0046] In the embodiment, the two signal ends of the push shovel lifting electro-hydraulic valve 540 are connected with the two control ends of the controller 550 respectively, and / or the two signal ends of the push shovel angle electro-hydraulic valve 570 are connected with the two control ends of the controller 550 respectively. In this way, bidirectional control of the push shovel lifting electro-hydraulic valve 540 or the push shovel angle electro-hydraulic valve 570 can be realized, and bidirectional control of the lifting or angle of the left push shovel 410 and the right push shovel 420 can be realized.

[0047] Correspondingly, the application provides a control method of a mobile desert soil treatment machine, and the mobile desert soil treatment machine is the mobile desert soil treatment machine described above. The control method can include: when the driving oil pressure of the roller driving hydraulic motor 510 is higher than a first threshold value, causing the push shovel to descend relative to the machine frame 100; and when the driving oil pressure of the roller driving hydraulic motor 510 is lower than a second threshold value, causing the push shovel to ascend relative to the machine frame 100.

[0048] As described above, in the mobile desert soil treatment machine, the push shovel system 400 can include a left push shovel 410 and a right push shovel 420, and the inner ends of the left push shovel 410 and the right push shovel 420 are installed at the front of the frame 100. The hydraulic system further includes a push shovel angle oil cylinder 560 and a push shovel angle electric control valve 570, the push shovel angle oil cylinder 560 controls the inclination angle of the left push shovel 410 and the right push shovel 420, and the push shovel angle electric control valve 570 is connected between the hydraulic oil source and the push shovel angle oil cylinder 560. The control end of the controller 550 is further connected with the signal of the push shovel angle electric control valve 570, so as to drive the push shovel angle electric control valve 570 according to the driving oil pressure of the roller driving hydraulic motor 510, and then control the inclination angle of the left push shovel 410 and the right push shovel 420. When the driving oil pressure of the roller driving hydraulic motor 510 is higher than a third threshold value, the outer end of the left push shovel 410 and the right push shovel 420 is inclined backward to increase the inclination angle; when the driving oil pressure of the roller driving hydraulic motor 510 is lower than a fourth threshold value, the outer end of the left push shovel 410 and the right push shovel 420 is inclined backward to decrease the inclination angle.

[0049] By using the control method, the load of the atomizing roller or the load of the mobile desert soil treatment machine can be controlled by controlling the inclination angle and the lifting position of the left push shovel 410 and the right push shovel 420, the change range or the change amplitude of the load can be controlled, and the stability of the operation of the mobile desert soil treatment machine can be greatly improved. In addition, the load impact on the roller driving hydraulic motor 510 can be reduced, and the service life of the roller driving hydraulic motor 510 can be prolonged.

[0050] The specific control strategy can be adjusted according to the above description. For example, a reference oil pressure (such as 16 MPa) can be determined, and the driving oil pressure (which can be the high-pressure side hydraulic oil pressure of the roller driving hydraulic motor 510, or the difference between the high-pressure side and the low-pressure side hydraulic oil pressure of the roller driving hydraulic motor 510) can be detected within a set time period. When the detected driving oil pressure exceeds the reference oil pressure by 0.5 MPa, the push shovel is lowered by 2 cm. In the next time period, the detection is still carried out. If the detected oil pressure still exceeds the reference oil pressure by 0.5 MPa, the push shovel is lowered by 2 cm again. If the detected oil pressure does not exceed the reference oil pressure by 0.5 MPa, the push shovel can be kept at the current position. If the detected oil pressure is lower than the reference oil pressure, and the difference between the detected oil pressure and the reference oil pressure exceeds 0.5 MPa, the push shovel is raised by 2 cm, and so on.

[0051] The specific embodiments provided by the present application are described in detail above. The principles and implementation modes of the present application are described by applying specific examples in this paper, and the above description of the embodiments is only used to help understand the core idea of the present application. It should be pointed out that for ordinary skilled persons in the technical field, some improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A mobile desert soil treatment machine comprising a frame (100), a traveling system (200), a desert soil atomization system (300) and a push shovel system (400); the traveling system (200) is installed on the frame (100); the desert soil atomization system (300) comprises at least two atomization rollers (320); characterized in that, Also include hydraulic system; The push shovel system (400) includes a push shovel mounted on the front of the frame (100); The hydraulic system includes a roller drive hydraulic motor (510), an oil pressure detector, a push shovel lifting cylinder (520), a push shovel lifting electric control valve (540) and a controller (550); The roller drive hydraulic motor (510) drives the atomizing roller (320) to rotate; The push shovel lifting cylinder (520) controls the push shovel lifting; The push shovel lifting electric control valve (540) is connected between the hydraulic oil source and the push shovel lifting cylinder (520); The detection end of the oil pressure detector is connected with the drive oil circuit of the roller drive hydraulic motor (510), and the signal output end is connected with the signal end of the controller (550); The control end of the controller (550) is connected with the signal of the push shovel lifting electric control valve (540), so as to control the push shovel lifting electric control valve (540) according to the drive oil pressure of the roller drive hydraulic motor (510), and then control the push shovel lifting.

2. The mobile desert soil treatment machine according to claim 1, wherein The push shovel system (400) includes a left push shovel (410) and a right push shovel (420); The left push shovel (410) and the right push shovel (420) are both mounted on the front of the frame (100); The hydraulic system further includes a push shovel angle cylinder (560) and a push shovel angle electric control valve (570); The push shovel angle cylinder (560) controls the inclination angle of the left push shovel (410) and the right push shovel (420); The push shovel angle electric control valve (570) is connected between the hydraulic oil source and the push shovel angle cylinder (560); The control end of the controller (550) is also connected with the signal of the push shovel angle electric control valve (570), so as to control the push shovel angle electric control valve (570) according to the drive oil pressure of the roller drive hydraulic motor (510), and then control the inclination angle of the left push shovel (410) and the right push shovel (420).

3. The mobile desert soil treatment machine of claim 2, wherein, The push shovel angle cylinders (560) are arranged in pairs and correspond to control the left push shovel (410) and the right push shovel (420) respectively.

4. The mobile desert soil treatment machine of claim 3, wherein, The working oil port of the push shovel angle electric control valve (570) is provided with a first synchronous shunt device (501) between the two push shovel angle cylinders (560) arranged in pairs, the first synchronous shunt device (501) includes two closed hydraulic motors which are coaxial and have the same specifications, the first working oil ports (A) of the two closed hydraulic motors are communicated with one working oil port of the push shovel angle electric control valve (570), and the second working oil ports (B) of the two closed hydraulic motors are respectively communicated with the rodless oil cavities of the two push shovel angle cylinders (560) arranged in pairs.

5. The mobile desert soil treatment machine of claim 4, wherein, The push shovel lifting cylinders (520) are arranged in pairs and correspond to control the left push shovel (410) and the right push shovel (420) respectively.

6. The mobile desert soil treatment machine of claim 5, wherein, A second synchronization shunt device (502) is arranged between the working oil port of the push shovel lifting electric control valve (540) and the two push shovel lifting oil cylinders (520) arranged in pairs, the second synchronization shunt device (502) comprises two closed hydraulic motors which are coaxial and have the same specifications, the first working oil ports of the two closed hydraulic motors are communicated with one working oil port of the push shovel lifting electric control valve (540), and the second working oil ports of the two closed hydraulic motors are communicated with the rodless oil chambers of the two push shovel lifting oil cylinders (520) arranged in pairs.

7. The mobile desert soil treatment machine according to any one of claims 1 to 6, characterized in that, One detection end of one oil pressure detector is connected with the high-pressure side oil circuit of the roller drive hydraulic motor (510), and the detection end of another oil pressure detector is connected with the low-pressure side oil circuit of the roller drive hydraulic motor (510). The controller (550) controls the push shovel lifting electric control valve (540) according to the hydraulic oil pressures of the high-pressure side and the low-pressure side of the roller drive hydraulic motor (510).

8. The mobile desert soil treatment machine according to any one of claims 2 to 6, characterized in that, The two signal ends of the push shovel lifting electric control valve (540) are connected with the two control ends of the controller (550) respectively, and / or the two signal ends of the push shovel angle electric control valve (570) are connected with the two control ends of the controller (550) respectively.

9. A control method of a mobile desert soil treatment machine, the mobile desert soil treatment machine being the mobile desert soil treatment machine of claim 1, characterized in that, when the driving oil pressure of the roller drive hydraulic motor (510) is higher than a first threshold value, the push shovel is caused to descend relative to the frame (100); when the driving oil pressure of the roller drive hydraulic motor (510) is lower than a second threshold value, the push shovel is caused to ascend relative to the frame (100).

10. The control method of the mobile desert soil treatment machine according to claim 9, characterized in that, in the mobile desert soil treatment machine, the push shovel system (400) comprises a left push shovel (410) and a right push shovel (420), and the inner ends of the left push shovel (410) and the right push shovel (420) are both mounted at the front of the frame (100); the hydraulic system further comprises a push shovel angle oil cylinder (560) and a push shovel angle electric control valve (570), the push shovel angle oil cylinder (560) controls the inclination angles of the left push shovel (410) and the right push shovel (420), the push shovel angle electric control valve (570) is connected between the hydraulic oil source and the push shovel angle oil cylinder (560), and the control end of the controller (550) is further connected with the signal of the push shovel angle electric control valve (570) to control the push shovel angle electric control valve (570) and then control the inclination angles of the left push shovel (410) and the right push shovel (420) according to the driving oil pressure of the roller drive hydraulic motor (510); when the driving oil pressure of the roller drive hydraulic motor (510) is higher than a third threshold value, the inclination angles of the outer ends of the left push shovel (410) and the right push shovel (420) are caused to increase backward; when the driving oil pressure of the roller drive hydraulic motor (510) is lower than a fourth threshold value, the inclination angles of the outer ends of the left push shovel (410) and the right push shovel (420) are caused to decrease backward.

Images