Milling machine and control method for milling machine

Abstract

The present invention provides a milling machine and a control method for a milling machine. The milling machine comprises a frame, a power system, an electric power system, a transmission mechanism, an actuation system, and a control system. The power system is detachably connected to an input end of the transmission mechanism, and the electric power system and the actuation system are respectively connected to output ends of the transmission mechanism. The control system is used for: when the milling depth is not greater than a first preset depth, connecting the transmission mechanism to the power system and controlling the power system to provide a driving force, or disconnecting the transmission mechanism from the power system and controlling the power system to provide a driving force; and is used for: when the milling depth is greater than the first preset depth, connecting the transmission mechanism to the power system and controlling the power system to provide a driving force or controlling the power system and the electric power system to simultaneously provide a driving force. In this way, three driving modes, i.e., power system-based drive, electric power system-based drive, and hybrid drive based on both a power system and an electric power system are provided, thereby expanding driving modes, and it is flexible and convenient to use.

Description

Milling machines and their control methods

[0001] This application claims priority to Chinese Patent Application No. 202410678190.6, filed on May 28, 2024, entitled “Milling Machine and Control Method for Milling Machine”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of road milling machine technology, specifically to a milling machine and a control method for the milling machine. Background Technology

[0003] Road milling machines are one of the main types of machinery used in asphalt pavement maintenance and construction. They are primarily used for excavating and renovating asphalt concrete layers on highways, urban roads, airports, and freight yards. They can also be used to remove defects such as ruts, oil ripples, cracks, and wear, as well as to excavate potholes and trenches, roughen cement pavements, and mill and level uneven surfaces. Using road milling machines to mill damaged old pavement layers before laying new ones is a very economical and modern maintenance method. Due to its high efficiency, simple construction process, easy control of milling depth, convenient and flexible operation, good maneuverability, and the ability to directly recycle the milled material, it is widely used in urban municipal roads and highway maintenance projects.

[0004] However, in related technologies, road milling machines are usually driven by an internal combustion engine or by electricity alone. That is, the road milling machine can only be driven by a single driving force, which is not flexible enough. For example, in milling operations with a large milling depth, only the internal combustion engine can provide driving force. In order to meet the work requirements, a more powerful internal combustion engine is usually required. This results in the milling machine being noisier, having higher fuel consumption, and larger displacement during use, which is very harmful to the health of the workers. Summary of the Invention

[0005] In view of this, the present invention aims to provide a milling machine and a control method for the milling machine, so as to solve the problem that the existing milling machine can only be driven by a single driving force, which is not flexible enough.

[0006] In a first aspect, the present invention provides a milling machine, including a frame and a power system, an electrical system, a transmission mechanism, an execution system, and a control system disposed on the frame;

[0007] The power system is disconnectably connected to the input end of the transmission mechanism, and the power system and the execution system are respectively connected to the output end of the transmission mechanism;

[0008] The power system, the electrical system, and the transmission mechanism are all electrically connected to the control system. The control system is used to connect the transmission mechanism to the power system and control the power system to provide driving force to the execution system when the milling depth is not greater than a first preset depth, or to disconnect the transmission mechanism from the power system and control the electrical system to provide driving force to the execution system. The control system is also used to connect the transmission mechanism to the power system and control the power system or the power system and the electrical system to provide driving force to the execution system simultaneously when the milling depth is greater than the first preset depth.

[0009] In some embodiments, the execution system includes a driving mechanism and an auxiliary mechanism;

[0010] The transmission mechanism has output terminals that are respectively matched and connected to the driving mechanism and the auxiliary mechanism. The auxiliary mechanism is at least connected to the driving mechanism to control the steering of the driving mechanism.

[0011] In some embodiments, the driving mechanism includes a driving pump, a driving motor, and a driving component. The input end of the driving pump is connected to the output end of the transmission mechanism, and the output end of the driving pump is connected to the driving component through the driving motor.

[0012] And / or, the auxiliary mechanism includes an auxiliary pump, which is connected to the travel mechanism via a steering cylinder.

[0013] In some embodiments, the execution system includes a milling mechanism, which includes a milling pump, a milling motor, and a milling assembly. The transmission mechanism has an output end that is matched and connected to the input end of the milling pump, and the output end of the milling pump is connected to the milling assembly via the milling motor.

[0014] And / or, the execution system includes a material conveying mechanism, which includes a material conveying pump, a material conveying motor, and a material conveying assembly. The transmission mechanism has an output end that is matched and connected to the input end of the material conveying pump, and the output end of the material conveying pump is connected to the material conveying assembly through the material conveying motor.

[0015] In some embodiments, the transmission mechanism includes a clutch and a transfer case; the clutch is electrically connected to the control system and can be disconnected between the input ends of the power system and the transfer case, and the power system and the actuation system are respectively connected to the output ends of the transfer case.

[0016] In some embodiments, the power system includes an engine, the output of which is disconnectably connected to the input of the transmission mechanism;

[0017] And / or, the power system includes a generator and a power battery electrically connected to the control system, one end of the generator being connected to the output end of the transmission mechanism, and the other end of the generator being connected to the power battery, the power battery being used to provide driving force to the execution system;

[0018] And / or, the first preset depth is 1cm-3cm.

[0019] Secondly, the present invention provides a control method for a milling machine, the method comprising:

[0020] Step S1: When the milling depth is determined to be no greater than the first preset depth, control the transmission mechanism to connect with the power system and control the power system to provide driving force to the execution system, or control the transmission mechanism to disconnect from the power system and control the power system to provide driving force to the execution system;

[0021] Step S2: When the milling depth is determined to be greater than the first preset depth, control the transmission mechanism to connect with the power system, and control the power system or the power system and the electric system to provide driving force to the execution system simultaneously.

[0022] In some embodiments, step S1 specifically includes:

[0023] Step S101: Determine the power quantity of the power system;

[0024] Step S102: When d = 0, b ≥ 20%b max When necessary, the transmission mechanism is disconnected from the power system, and the power system is controlled to provide driving force to the execution system;

[0025] When d = 0, b < 20%b max At that time, the transmission mechanism is connected to the power system, and the power system is controlled to provide driving force to the execution system, and the power system charges the electrical system until b > 50%. max When this occurs, the transmission mechanism is disconnected from the power system, and the electrical system is controlled to provide driving force to the execution system;

[0026] When 0 < d ≤ h1, b ≥ 50%b max When necessary, the transmission mechanism is disconnected from the power system, and the power system is controlled to provide driving force to the execution system;

[0027] When 0 < d ≤ h1, b < 50%b max At the same time, the transmission mechanism is connected to the power system, and the power system is controlled to provide driving force to the execution system, and the power system charges the electrical system until b ≥ 85% of b. maxWhen this occurs, the transmission mechanism is disconnected from the power system, and the electrical system is controlled to provide driving force to the execution system;

[0028] Where d is the milling depth, h1 is the first preset depth, and b is the power of the power system. max This represents the maximum capacity of the power system.

[0029] In some embodiments, step S2 specifically includes:

[0030] Step S201: Determine the power quantity of the power system;

[0031] Step S202: Determine the load rate of the power system;

[0032] Step S203: When d > h1, control the transmission mechanism to connect with the power system, and control the power system to provide driving force to the execution system, and when c ≥ 95%c max b≥50%b max At the same time, the power system is controlled to operate, so that the power system and the power system simultaneously provide driving force to the execution system;

[0033] Where d is the milling depth, h1 is the first preset depth, and b is the power of the power system. max Let c be the maximum capacity of the power system, and c be the load factor of the power system. max This represents the maximum load rate of the power system.

[0034] In some embodiments, step S203 includes:

[0035] When h1 < d ≤ h2, the transmission mechanism is connected to the power system, and the power system is controlled to provide driving force to the execution system, and when c < 75%c max b < 95% max At that time, the power system is controlled to charge the electrical system, and at 75% c max ≤c<95%c max Or b≥95%b max When this occurs, the power system is controlled to stop charging the electrical system;

[0036] When d > h2, the transmission mechanism is connected to the power system, the power system is controlled to provide driving force to the execution system, and the power system is controlled not to charge the power system.

[0037] Where h2 is the second preset depth, and the second preset depth is greater than the first preset depth.

[0038] The technical solution provided by the embodiments of the present invention has the following advantages compared with the prior art:

[0039] The milling machine and its control method provided by this invention, by setting a frame and mounting a power system, an electric system, a transmission mechanism, an execution system, and a control system on the frame, allows the input ends of the power system and the transmission mechanism to be disconnected, while the electric system and the execution system are respectively connected to the output ends of the transmission mechanism. The power system, electric system, and transmission mechanism are all electrically connected to the control system. The control system is used to connect the transmission mechanism to the power system and control the power system to provide driving force to the execution system when the milling depth is not greater than a first preset depth, or to disconnect the transmission mechanism from the power system and control the electric system to provide driving force to the execution system. Furthermore, when the milling depth is greater than the first preset depth, the control system connects the transmission mechanism to the power system and controls the power system, or both the power system and the electric system, to provide driving force to the execution system simultaneously. This configuration allows the milling machine to select from three driving modes—power system drive, electric system drive, and a hybrid drive (power system and electric system simultaneously)—depending on the milling depth. Compared to existing technologies that rely solely on an internal combustion engine or electric power, this broadens the driving modes of the milling machine, making it more flexible and convenient to use. Meanwhile, when the milling depth exceeds the first preset depth, such as during milling operations with a large milling depth, the power system and electrical system can simultaneously provide driving force to the execution system, thus achieving a hybrid drive mode. Compared to existing technologies that rely solely on an internal combustion engine, this increases the overall machine's output power while maintaining the same power system, resulting in stronger milling capabilities, especially suitable for situations requiring high power output for short periods. Furthermore, while maintaining the same overall machine output power, it reduces the load on the power system, thereby lowering noise and fuel consumption during operation, reducing engine displacement, and benefiting the health of workers. Attached Figure Description

[0040] Figure 1 shows a schematic diagram of the structure of a milling machine provided in an embodiment of the present invention.

[0041] Figure 2 shows a partial structural schematic diagram of a milling machine provided in an embodiment of the present invention.

[0042] Figure 3 shows a schematic diagram of the transfer case of a milling machine provided in an embodiment of the present invention.

[0043] Figure 4 shows a schematic diagram of the connection between the execution system and the transfer case of a milling machine according to an embodiment of the present invention.

[0044] Figure 5 shows a flowchart of a control method for a milling machine provided in another embodiment of the present invention.

[0045] The components include: 1. Chassis; 2. Power system; 21. Engine; 3. Electrical system; 31. Generator; 4. Transmission mechanism; 41. Clutch; 42. Transfer case; 421. Output end; 5. Control system; 6. Hydraulic pump set; 7. Travel components; 8. Material conveying mechanism; 9. Milling mechanism. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Referring to Figures 1 to 4, an embodiment of the present invention provides a milling machine, including a frame 1 and a power system 2, an electrical system 3, a transmission mechanism 4, an execution system, and a control system 5 disposed on the frame 1.

[0048] Specifically, the input end of the power system 2 and the transmission mechanism 4 can be disconnected, while the power system 3 and the execution system are respectively connected to the output end of the transmission mechanism 4.

[0049] Referring to Figures 2 and 3, the transmission mechanism has multiple output ends, one of which, 421, is matched with the interface of the power system 3, and another output end 421 is matched with the interface of the execution system. The power system 3 and the execution system are respectively connected to the corresponding output ends 421 of the transmission mechanism 4 to achieve mechanical connection.

[0050] Specifically, the power system 2, the electric system 3, and the transmission mechanism 4 are all electrically connected to the control system 5. The control system 5 is used to connect the transmission mechanism 4 to the power system 2 and control the power system 2 to provide driving force to the execution system when the milling depth is not greater than the first preset depth, or to disconnect the transmission mechanism 4 from the power system 2 and control the electric system 3 to provide driving force to the execution system. The control system 5 is also used to connect the transmission mechanism 4 to the power system 2 and control the power system 2 or the power system 2 and the electric system 3 to provide driving force to the execution system when the milling depth is greater than the first preset depth.

[0051] In other words, depending on the milling depth, the milling machine can choose from three drive modes: power system drive, electric system drive, and hybrid drive of both power system and electric system. Compared with the existing technology of being driven solely by an internal combustion engine or solely by electric power, this broadens the drive modes of the milling machine and makes it more flexible and convenient to use.

[0052] Meanwhile, when the milling depth exceeds the first preset depth, such as during milling operations with a large milling depth, power system 2 and electric system 3 can simultaneously provide driving force to the execution system, thus achieving a hybrid drive mode. Compared with existing technologies that rely solely on internal combustion engines, this increases the overall machine's output power while maintaining the same power system, resulting in stronger milling capabilities, especially suitable for situations requiring high power output in a short period. Furthermore, while maintaining the same overall machine output power, it reduces the load on the power system, thereby lowering noise and fuel consumption during operation, reducing engine displacement, and benefiting the health of workers.

[0053] In practice, the control system 5 is used to control the actions of the entire vehicle, including but not limited to the state of the power system 2 (such as opening, closing, gear shifting, etc.), the state of the electric system 3 (such as opening, closing, gear shifting, etc.), and the state of the transmission mechanism 4 (such as connecting, disconnecting).

[0054] In some embodiments, the control system 5 may include a control panel. Specifically, the control panel may be located in the driver's cab of the vehicle frame 1. Alternatively, the control panel may be located at any other suitable location on the vehicle frame 1.

[0055] In some implementations, when the milling depth is not greater than the first preset depth, the control system 5 connects the transmission mechanism 4 to the power system 2 and controls the power system 2 to provide driving force to the execution system, that is, to realize the power drive mode.

[0056] It should be noted that when the milling depth is not greater than the first preset depth, while the power system 2 provides driving force to the execution system, the control system 5 can also control the power system 2 to charge the power system 3. In other words, when the milling depth is not greater than the first preset depth, the power system 2 can provide power to the execution system while simultaneously charging the power system 3. In this way, the excess energy of the power system 2 is converted into electrical energy and stored in the power system 3, making full use of the energy of the power system 2. This not only reduces the energy loss of the power system 2 during operation but also ensures the endurance of the power system 3, thereby improving the working performance of the milling machine.

[0057] In other implementations, when the milling depth is not greater than the first preset depth, the control system 5 disconnects the transmission mechanism 4 from the power system 2 and controls the power system 3 to provide driving force to the execution system, that is, to realize the electric drive mode of pure electric operation.

[0058] The milling machine needs to be moved to a different work site during operation. During this relocation, the milling machine's system enters driving mode, and the milling depth is zero.

[0059] For example, during relocation, the electric system 3 can provide driving force to the execution system, which is particularly suitable for small and medium-sized wheeled milling machines that require frequent relocation. This enables pure electric operation during relocation, eliminating the need to start the power system 2. Compared with the internal combustion engine-driven solutions in the prior art, this achieves zero fuel consumption and zero emissions, and also reduces working noise to a certain extent, which is beneficial to the health of the workers. Furthermore, it overcomes the range problem of existing technologies that rely solely on electric power, thus improving the working performance of the milling machine. Of course, during relocation, the power system 2 can also be selected to drive the machine, enabling power-driven relocation. This broadens the driving modes of the milling machine, allowing for flexible selection of driving force and convenient use.

[0060] For example, when performing milling operations with a small milling depth within a first preset depth, the milling can be driven by the electric system 3 to achieve pure electric drive milling operations, resulting in low noise and zero emissions. Alternatively, it can be directly driven by the power system 2 to achieve power-driven milling operations, thus broadening the driving modes of the milling machine. The driving force can be flexibly selected, making it convenient to use.

[0061] Furthermore, in the transfer and milling operation modes with smaller milling depths, the power system 2 can provide driving force while also charging the electric system 3, making full use of the energy of the power system 2, ensuring endurance, and improving the working performance of the milling machine.

[0062] In some implementations, when the milling depth is greater than the first preset depth, the control system 5 connects the transmission mechanism 4 to the power system 2 and controls the power system 2 or the power system 2 and the power system 3 to simultaneously provide driving force to the execution system.

[0063] In other words, when the milling depth exceeds the first preset depth, and a large-depth milling operation is performed, the driving force can be provided by the power system 2, or by both the power system 2 and the electric system 3 simultaneously, achieving a hybrid drive mode. Compared to existing technologies that rely solely on an internal combustion engine, this increases the overall machine's output power while maintaining the same power system 2 structure, adapting to conditions requiring high power output for short periods and resulting in stronger milling capabilities. Furthermore, while maintaining the same overall machine output power, it reduces the load on the power system 2, thereby lowering noise and fuel consumption during operation, reducing engine displacement, and ultimately benefiting the health of the workers.

[0064] In some implementations, when the milling depth is greater than the first preset depth, and the power system 2 and the electric system 3 drive simultaneously to achieve a hybrid drive mode, the control system 5 can also control the power system 2 to charge the electric system 3. In this way, the excess energy of the power system 2 is converted into electrical energy and stored in the electric system 3, making full use of the energy of the power system 2. This not only reduces the energy loss of the power system 2 during operation, but also ensures the endurance of the electric system 3, thereby improving the working performance of the milling machine.

[0065] The milling machine provided in this embodiment has a frame 1, and a power system 2, an electrical system 3, a transmission mechanism 4, an execution system, and a control system 5 are installed on the frame 1. The input end of the power system 2 and the transmission mechanism 4 can be disconnected, and the electrical system 3 and the execution system are respectively connected to the output end of the transmission mechanism 4. The power system 2, electric system 3, and transmission mechanism 4 are all electrically connected to the control system 5. The control system 5 is used to connect the transmission mechanism 4 to the power system 2 and control the power system 2 to provide driving force to the execution system when the milling depth is not greater than the first preset depth, or to disconnect the transmission mechanism 4 from the power system 2 and control the electric system 3 to provide driving force to the execution system. When the milling depth is greater than the first preset depth, the control system 5 is used to connect the transmission mechanism 4 to the power system 2 and control the power system 2 or the power system 2 and the electric system 3 to provide driving force to the execution system simultaneously. In this way, depending on the milling depth, the milling machine can select from three driving modes: power system drive, electric system drive, and hybrid drive of power system and electric system simultaneously. Compared with the existing technology of driving by internal combustion engine alone or by electric power alone, this broadens the driving modes of the milling machine and makes it more flexible and convenient to use. Meanwhile, when the milling depth exceeds the first preset depth, such as during milling operations with a large milling depth, power system 2 and electric system 3 can simultaneously provide driving force to the execution system, i.e., realizing a hybrid drive mode. Compared with the existing technology where the machine is driven solely by an internal combustion engine, this increases the overall output power of the machine while keeping power system 2 the same, resulting in stronger milling capabilities, especially suitable for situations requiring high power output for a short period. Furthermore, while maintaining the same overall output power, it reduces the load on power system 2, thereby reducing noise and fuel consumption during operation, decreasing engine displacement, and benefiting the health of workers.

[0066] In some embodiments, referring to Figures 2 to 4, the execution system includes a driving mechanism and an auxiliary mechanism (not shown). The transmission mechanism 4 has output terminals that are respectively matched and connected to the driving mechanism and the auxiliary mechanism, and the auxiliary mechanism is at least connected to the driving mechanism to control the steering of the driving mechanism.

[0067] In other words, among the multiple output ends of the transmission mechanism, one output end 421 is matched with the interface of the driving mechanism, and another output end 421 is matched with the interface of the auxiliary mechanism. The driving mechanism and the auxiliary mechanism are respectively connected to the corresponding output ends 421 of the transmission mechanism 4 to achieve mechanical connection.

[0068] The traveling mechanism is electrically connected to the control system 5. The traveling mechanism is used to drive the frame 1 to move, thereby enabling the milling machine to travel.

[0069] The auxiliary mechanism is electrically connected to the control system 5, and part of the auxiliary mechanism is also connected to the travel mechanism. The auxiliary mechanism is used to control the steering of the travel mechanism to achieve the steering of the milling machine.

[0070] In some embodiments, the travel mechanism includes a travel pump (one of the hydraulic pump groups 6 in FIG4), a travel motor (not shown), and a travel component 7. The input end of the travel pump is connected to the output end 421 corresponding to the transmission mechanism 4, and the output end 421 of the travel pump is connected to the travel component 7 through the travel motor.

[0071] In practice, the driving force provided by the power system 2 and / or the electric system 3 is sequentially delivered to the travel pump and the travel motor to the travel assembly 7 to enable the milling machine to travel.

[0072] In some implementations, the travel pump can be a hydraulic pump, the travel motor can be a hydraulic motor, and the travel component 7 can be a travel wheel. The structure is simple, easy to manufacture, and easy to assemble.

[0073] In some embodiments, the auxiliary mechanism includes an auxiliary pump (one of the hydraulic pump groups 6 in Figure 4), which is connected to the travel mechanism via a steering cylinder. The auxiliary pump has a simple structure, is easy to manufacture, and is convenient to assemble.

[0074] In practice, the driving force provided by the power system 2 and / or the electric system 3 is sequentially delivered to the driving component 7 via the auxiliary pump and the steering cylinder to achieve the steering function.

[0075] In some embodiments, the execution system includes a milling mechanism, which includes a milling pump (one of the hydraulic pump groups 6 in FIG4), a milling motor (not shown), and a milling assembly (not shown). The transmission mechanism 4 has an output end that is matched and connected to the input end of the milling pump, and the output end of the milling pump is connected to the milling assembly via the milling motor.

[0076] In other words, among the multiple output ends of the transmission mechanism, one of the output ends 421 is matched with the interface of the milling pump, and the milling pump is connected to the corresponding output end 421 of the transmission mechanism 4 to achieve mechanical connection.

[0077] The milling pump, milling motor, and milling assembly are all electrically connected to the control system 5. The milling mechanism is used to perform operations such as roughening, excavation, and milling of the road surface.

[0078] In practice, the driving force provided by the power system 2 and / or the electrical system 3 is sequentially transmitted through the milling pump and the milling motor to the milling assembly to perform roughening, excavation, milling and other operations on the road surface.

[0079] In some embodiments, the execution system includes a material conveying mechanism, which includes a material conveying pump (one of the hydraulic pump groups 6 in FIG4), a material conveying motor, and a material conveying assembly. The transmission mechanism 4 has an output end that is matched and connected to the input end of the material conveying pump, and the output end of the material conveying pump is connected to the material conveying assembly through the material conveying motor.

[0080] In other words, among the multiple output ends of the transmission mechanism, one of the output ends 421 is matched with the interface of the feed pump, and the feed pump is connected to the corresponding output end 421 of the transmission mechanism 4 to achieve mechanical connection.

[0081] The feed pump, feeder motor, and feed assembly are all electrically connected to the control system 5. The feed pump and feeder motor are used to drive the feed assembly to transport materials.

[0082] In practice, the driving force provided by the power system 2 and / or the electric system 3 is sequentially delivered to the material conveying assembly via the material pump and the material conveyor motor to realize the material conveying.

[0083] In some embodiments, the transmission mechanism 4 includes a clutch 41 and a transfer case 42. The clutch 41 is electrically connected to the control system 5 and can be disconnected between the power system 2 and the input end of the transfer case 42. The power system 3 and the actuation system are respectively connected to the output end 421 of the transfer case 42.

[0084] In its specific implementation, the clutch 41 comprises two openable and closable parts. One part of the clutch 41 is connected to the power system 2, and the other part is connected to the transfer case 42. The two parts of the clutch 41 are connected together in an openable and closable manner by a connecting member, such as a friction plate, and the connecting member is electrically connected to the control system 5. The control system 5 controls the opening and closing of the connecting member, thereby realizing the opening and closing of the two parts of the clutch 41, and thus realizing the connection and disconnection between the transmission mechanism 4 and the power system 2. The structure is simple and easy to implement.

[0085] Referring to Figure 3, the transfer case 42 has multiple output terminals. One output terminal 421 is matched with the interface of the power system 3, another output terminal 421 is matched with the interface of the travel pump, another output terminal 421 is matched with the interface of the auxiliary pump, another output terminal 421 is matched with the interface of the milling pump, and another output terminal 421 is matched with the interface of the material pump. That is, the power system 3, the travel pump, the auxiliary pump, the milling pump, and the material pump are respectively connected to the corresponding output terminal 421 of the transfer case 42 to achieve mechanical connection, which is convenient.

[0086] In some embodiments, the power system 2 includes an engine 21, the output end of which can be disconnected from the input end of the transmission mechanism 4. The structure is simple, easy to manufacture, and convenient to connect.

[0087] In some embodiments, the power system 3 includes a generator 31 and a power battery electrically connected to the control system 5. One end of the generator 31 is connected to the output end 421 of the transmission mechanism 4, and the other end of the generator 31 is connected to the power battery, which is used to provide driving force to the execution system.

[0088] Among them, the power battery can be, for example, a lithium battery.

[0089] In practice, the power battery can both provide electrical energy to the generator 31 and store the electrical energy generated by the generator 31 in power generation mode; that is, the electrical energy in the power battery can come from the generator 31. The electrical energy in the power battery can also come from the power grid, for example.

[0090] In other embodiments, the transmission mechanism may include a clutch, and the generator may be connected between the clutch and a hydraulic pump group consisting of a milling pump, a travel pump, a feed pump, and an auxiliary pump, thereby realizing a series connection of the engine, clutch, generator, and hydraulic pump group, making the structure more compact.

[0091] In some embodiments, the first preset depth is 1cm-3cm.

[0092] For example, the first preset depth is 3cm. Thus, during actual operation, when the milling depth is ≤3cm, the execution system can be powered by the engine 21 or driven purely by the power battery. Furthermore, when the engine 21 provides power, it can also charge the power battery via the generator 31, fully utilizing the energy of the engine 21 and reducing energy loss.

[0093] When the milling depth is greater than 3cm, the actuator can be driven by the engine 21, or by both the engine 21 and the power battery, to achieve hybrid drive.

[0094] Referring to Figures 1 to 5, an embodiment of the present invention provides a control method for a milling machine. This method can be executed by part or all of the milling machine described in the above embodiment, thereby allowing the milling machine to select from three driving modes according to the milling depth: power system drive, electric system drive, and hybrid drive of power system and electric system simultaneously. Compared with the prior art, which is driven by an internal combustion engine alone or by electric power alone, this method broadens the driving modes of the milling machine and is more flexible and convenient to use.

[0095] Referring to Figure 5, the method includes:

[0096] Step S1: When the milling depth is determined to be no greater than the first preset depth, control the transmission mechanism 4 to connect with the power system 2 and control the power system 2 to provide driving force to the execution system, or control the transmission mechanism 4 to disconnect from the power system 2 and control the power system 3 to provide driving force to the execution system, wherein the milling depth is d and the first preset depth is h1.

[0097] In practice, step S1 includes the following steps:

[0098] Step S101: Determine the electrical quantity of power system 3, where the electrical quantity of power system 3 is b, and the maximum capacity of the power system is b. max Specifically, the real-time charge level of the power battery is b, and the maximum capacity of the power battery is b. max .

[0099] Step S102: When d = 0, b ≥ 20%b max At this time, the control transmission mechanism 4 is disconnected from the power system 2, and the control power system 3 provides driving force to the execution system.

[0100] When d = 0, b < 20%b max At this time, the control transmission mechanism 4 is connected to the power system 2, and the power system 2 is controlled to provide driving force to the execution system, and the power system 2 charges the power system 3 until b > 50%. max At this time, the control transmission mechanism 4 is disconnected from the power system 2, and the control power system 3 provides driving force to the execution system.

[0101] In other words, when d = 0, during the transition, b ≥ 20% of b max At this time, engine 21 does not start; the power battery provides the driving force to drive the driving pump and auxiliary pump for driving and steering, achieving pure electric drive mode for site transfer. However, when b < 20% max When the engine 21 starts working, it provides driving force to drive the travel pump and auxiliary pump, and converts the excess energy of the engine 21 into energy stored in the power battery through the generator 31; when b > 50% maxAt this time, the engine 21 stops working, and the power battery starts working, providing pure electric drive to drive the driving pump and auxiliary pump, which facilitates the subsequent pure electric transfer.

[0102] When 0 < d ≤ h1, b ≥ 50%b max At this time, the control transmission mechanism 4 is disconnected from the power system 2, and the control power system 3 provides driving force to the execution system;

[0103] When 0 < d ≤ h1, b < 50%b max At this time, the control transmission mechanism 4 is connected to the power system 2, and the power system 2 is controlled to provide driving force to the execution system, and the power system 2 charges the power system 3 until b ≥ 85% of b. max At this time, the control transmission mechanism 4 is disconnected from the power system 2, and the control power system 3 provides driving force to the execution system.

[0104] It should be noted that 0 < d ≤ h1 represents thin-layer milling with a small milling depth.

[0105] Where h1 is 1cm-3cm. For example, h1 = 3cm. The following examples are explained and illustrated with h1 = 3cm.

[0106] In other words, when performing thin-layer milling, when b ≥ 50% of b max When the engine 21 is not running, the power battery provides the driving force to drive the milling pump, material pump, travel pump, and auxiliary pump to perform milling operations in pure electric mode. However, when b < 50% b max When the engine 21 starts working, it provides driving force to drive the milling pump, material pump, travel pump, and auxiliary pump; and the excess energy of the engine 21 is converted and stored in the power battery through the generator 31; when b≥85%b max When the engine 21 stops working, the power battery starts working, and the power battery provides driving force to drive the milling pump, material pump, travel pump and auxiliary pump to work, so as to facilitate subsequent pure electric milling operations.

[0107] Step S2: When the milling depth is determined to be greater than the first preset depth, control the transmission mechanism 4 to connect with the power system 2, and control the power system 2 or the power system 2 and the power system 3 to provide driving force to the execution system at the same time, wherein the milling depth is d and the first preset depth is h1.

[0108] It should be noted that there is no specific order between steps S1 and S2. In actual use, after determining the milling depth, select to execute the corresponding step S1 or step S2 based on the determined milling depth.

[0109] In some embodiments, step S2 specifically includes:

[0110] Step S201: Determine the power level of power system 3, where the power level of power system 3 is b; specifically, the real-time power level of the power battery is b, and the maximum capacity of the power battery is b. max .

[0111] Step S202: Determine the load rate of power system 2, where the load rate of power system 2 is c, and the maximum load rate of power system 2 is c. max Specifically, the load rate of engine 21 is c, and the maximum load rate of engine 21 is c. max .

[0112] Step S203: When d > h1, control the transmission mechanism 4 to connect with the power system 2, and control the power system 2 to provide driving force to the execution system, and when c ≥ 95%c max b≥50%b max At the same time, control the operation of power system 3 so that power system 3 and power system 2 simultaneously provide driving force for the execution system.

[0113] It should be noted that when h1 < d ≤ h2, it is a conventional milling condition. When d > h2, it is a deep milling condition with a larger milling depth. Here, h2 is the second preset depth, which is greater than the first preset depth.

[0114] In some implementations, h2 is 15cm-20cm; for example, h2 = 20cm. The following embodiments are explained and illustrated with h2 = 20cm.

[0115] In practical use, during regular milling or deep milling operations, engine 21 starts and provides power to drive the milling pump, material pump, travel pump, and auxiliary pump to perform the milling operation. Simultaneously, the load rate c of engine 21 is monitored.

[0116] Furthermore, during conventional milling or deep milling operations, when engine 21 is operating under conditions of c ≥ 95%c max b≥50%b max When the power battery starts working, the power battery and engine 21 provide power simultaneously to drive the milling pump, material pump, travel pump and auxiliary pump to work, realizing a hybrid drive mode. In this way, the excess energy of engine 21 can be converted into electrical energy and stored in the power battery, making full use of the energy of engine 21. This not only reduces the energy loss of engine 21 during operation, but also ensures the range of the power battery, thereby improving the milling capability of the milling machine.

[0117] It should be noted that during the process of engine 21 performing conventional milling or deep milling, when c ≥ 95%c maxb < 20% max At this time, the power battery does not start working.

[0118] In specific implementation, step S203 includes the following steps:

[0119] When h1 < d ≤ h2, the control transmission mechanism 4 is connected to the power system 2, and the power system 2 is controlled to provide driving force to the execution system, and when c < 75%c max b < 95% max At that time, the control power system 2 charges the power system 3, and at 75% c max ≤c<95%c max Or b≥95%b max At that time, the control power system 2 stops charging the power system 3.

[0120] In other words, when 3 < d ≤ 20 cm, during the conventional milling process of engine 21, if c < 75%c max b < 95% max At that time, the engine 21 charges the power battery, that is, the excess energy of the engine 21 is converted and stored in the power battery through the generator 31. And at 75%... max ≤c<95%c max Or b ≥ 95% of b max At that time, engine 21 stops charging the power battery.

[0121] When d > h2, the control transmission mechanism 4 is connected to the power system 2, and the power system 2 is controlled to provide driving force to the execution system, and the power system 2 is controlled not to charge the power system.

[0122] In other words, when d > 20cm, the engine 21 does not charge the power battery during the deep milling process.

[0123] The specific technical features are the same as those in the above embodiments and can bring the same or similar technical effects, and will not be repeated here. Please refer to the description of the above embodiments for details.

[0124] It should be noted that in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0125] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A milling machine, characterized in that, The vehicle comprises a vehicle frame and a power system, an electric power system, a transmission mechanism, an execution system and a control system arranged on the vehicle frame; The power system is disconnectably connected to the input end of the transmission mechanism, and the electric power system and the execution system are respectively connected to the output end of the transmission mechanism; The power system, the electric power system and the transmission mechanism are electrically connected to the control system, the control system is configured to, when the milling depth is not greater than a first preset depth, connect the transmission mechanism to the power system and control the power system to provide driving force for the execution system, or disconnect the transmission mechanism from the power system and control the electric power system to provide driving force for the execution system, and the control system is configured to, when the milling depth is greater than the first preset depth, connect the transmission mechanism to the power system and control the power system or the power system and the electric power system to provide driving force for the execution system.

2. Milling and grinding machine according to claim 1, characterized in that The execution system comprises a running mechanism and an auxiliary mechanism; The transmission mechanism has output ends respectively matched to the running mechanism and the auxiliary mechanism, and the auxiliary mechanism is connected to at least the running mechanism to control the steering of the running mechanism.

3. Milling and grinding machine according to claim 2, characterized in that The running mechanism comprises a running pump, a running motor and a running assembly, the input end of the running pump is connected to the corresponding output end of the transmission mechanism, and the output end of the running pump is connected to the running assembly through the running motor; And / or, the auxiliary mechanism comprises an auxiliary pump connected to the running mechanism through a steering oil cylinder.

4. Milling and grinding machine according to claim 2, characterized in that The execution system comprises a milling mechanism, the milling mechanism comprises a milling pump, a milling motor and a milling assembly, the transmission mechanism has an output end matched to the input end of the milling pump, and the output end of the milling pump is connected to the milling assembly through the milling motor; And / or, the execution system comprises a material conveying mechanism, the material conveying mechanism comprises a material conveying pump, a material conveying motor and a material conveying assembly, the transmission mechanism has an output end matched to the input end of the material conveying pump, and the output end of the material conveying pump is connected to the material conveying assembly through the material conveying motor.

5. Milling and grinding machine according to claim 1, characterized in that The transmission mechanism comprises a clutch and a transfer box, the clutch is electrically connected to the control system and is disconnectably connected between the power system and the input end of the transfer box, and the electric power system and the execution system are respectively connected to the output end of the transfer box.

6. Milling and grinding machine according to claim 1, characterized in that The power system comprises an engine, and the output end of the engine is disconnectably connected to the input end of the transmission mechanism; And / or, the electric power system comprises a generator and a power battery electrically connected to the control system, one end of the generator is connected to the output end of the transmission mechanism, the other end of the generator is connected to the power battery, and the power battery is configured to provide driving force for the execution system; And / or, the first preset depth is 1cm-3cm.

7. A control method of a milling machine as claimed in any one of the claims 1 - 6, characterized in that, The method comprises: Step S1: determining that the milling depth is not greater than a first preset depth, controlling the transmission mechanism to be connected with the power system, and controlling the power system to provide driving force for the execution system, or controlling the transmission mechanism to be disconnected from the power system, and controlling the electric power system to provide driving force for the execution system; Step S2: determining that the milling depth is greater than the first preset depth, controlling the transmission mechanism to be connected with the power system, and controlling the power system or the power system and the electric power system to simultaneously provide driving force for the execution system.

8. The control method of the milling machine according to claim 7, characterized in that, The steps of the step S1 specifically include: Step S101: determining the electric quantity of the electric power system; Step S102: when d=0, b≥20% b max the power system is disconnected, and the electric power system is controlled to provide driving force for the execution system; when d = 0, b < 20% b max the transmission mechanism is connected with the power system, and the power system is controlled to provide driving force for the execution system, and the power system is controlled to charge the electric power system until b > 50% b max the transmission mechanism is disconnected with the power system, and the electric power system is controlled to provide driving force for the execution system; When 0 < d < h1, b > 50% b max When 0 < d < h1, b > 50% b When 0 < d < h1, b > 50% b when 0 < d < h1, b < 50% b max control the transmission mechanism to be connected with the power system, control the power system to provide driving force for the execution system, and make the power system charge the electric power system until b ≥ 85% b max control the transmission mechanism to be disconnected with the power system, and control the electric power system to provide driving force for the execution system; Wherein, d is the milling depth, h1 is the first preset depth, b is the power of the power system, b max is the maximum power capacity of the power system.

9. The control method of the milling machine according to claim 7, characterized in that, The steps of the step S2 specifically include: Step S201: determining the electric quantity of the electric power system; Step S202: determining the load rate of the power system; Step S203: when d>h1, control the transmission mechanism to connect with the power system, and control the power system to provide driving force for the execution system, and when c≥95%c max , b≥50%b max , control the electric power system to work, so that the electric power system and the power system simultaneously provide driving force for the execution system; wherein d is a milling depth, h1 is a first preset depth, b is an electric quantity of the power system, b max is a maximum electric quantity of the power system, c is a load rate of the power system, c max is a maximum load rate of the power system.

10. Control method of a milling machine according to claim 9, characterized in that, The steps of the step S203 include: when h1 max ≤ d ≤ h2, controlling the transmission mechanism to be connected with the power system, and controlling the power system to provide driving force for the execution system, and when c max < 75% c max ≤ c < 95% c max or b ≥ 95% b max , controlling the power system to stop charging the electric power system; When d>h2, controlling the transmission mechanism to be connected with the power system, and controlling the power system to provide driving force for the execution system, and controlling the power system not to charge the electric power system; Wherein, h2 is a second preset depth, and the second preset depth is greater than the first preset depth.

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