CN102776827A - Milling machine and milling depth monitoring device thereof - Google Patents
Milling machine and milling depth monitoring device thereof Download PDFInfo
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- CN102776827A CN102776827A CN2012102824242A CN201210282424A CN102776827A CN 102776827 A CN102776827 A CN 102776827A CN 2012102824242 A CN2012102824242 A CN 2012102824242A CN 201210282424 A CN201210282424 A CN 201210282424A CN 102776827 A CN102776827 A CN 102776827A
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Abstract
The invention relates to the technical field of engineering machinery and discloses a milling machine and a milling depth monitoring device of the milling machine. The milling depth monitoring device comprises a milling depth detecting device and a control device; the milling depth detecting device detects the practical milling depth milled by the milling machine; the control device is connected with the milling depth detecting device, and used for regulating the supporting foot of the milling machine to ascend and descend according to the difference value of the practical milling depth and the predetermined milling depth. The milling depth detecting device detects the practical milling depth of the milling machine in real time and then compares the real-time milling depth of the milling machine with the predetermined milling depth, so as to regulate the supporting foot of the milling machine to ascend and descend; the milling depth detecting device continuously detects the practical milling depth of the milling machine and the control device continuously regulates repeatedly, so that the practical milling depth of the milling machine is consistent with the predetermined milling depth, so that intelligent monitoring is realized and the site operation requirements can be satisfied.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of milling machine and milling deep monitored device thereof.
Background technology
Existing fast development along with highway in China, maintenance of surface equipment and use are more and more, and milling machine is as pavement maintenance equipment, and its demand is increasing, uses more and more widely.And milling machine is as a kind of engineering construction equipment, and constructor's quantity depends on its automation and intelligent level.Present stage, way was: the milling degree of depth needs monitoring in real time; All need operating personnel to carry out milling depth survey and the milling degree of depth is regulated control about equipment through the levelling appearance; Related patent U.S. Patent No. has CN20110195451 milling machine and milling machine control method; But the method is a kind of open loop control; Want operating personnel that moulding way of escape machine is measured, so the milling degree of depth is measured in real time and the not high meeting of automatization level of control causes problems such as the constructor is too much, the pavement quality of influence construction simultaneously.
Therefore, how monitoring in real time and to control to the milling degree of depth of existing milling machine, so that adapt to the needs of on-the-spot practice of construction more, is the technical barrier that those skilled in the art need to be resolved hurrily.
Summary of the invention
In view of this, the present invention is intended to propose a kind of milling machine and milling deep monitored device thereof, does not satisfy the problem of on-the-spot practice of construction needs with monitoring in real time of the milling degree of depth and the control that solves milling machine.
On the one hand, the invention provides a kind of milling deep monitored device, comprising:
The milling depth monitor, the actual milling degree of depth of monitoring milling machine milling;
Control device is connected with said milling depth monitor, and according to the difference of the said actual milling degree of depth and the predetermined milling degree of depth, the leg of regulating said milling machine goes up and down.
Further, said milling depth monitor comprises:
The distance measuring sensor group is used to monitor the measurement milling degree of depth in precalculated position;
Obliquity sensor is used to measure the inclination angle of the relative horizontal plane of said milling machine fuselage;
The Slope Transducer group is used to monitor the horizontal and/or longitudinal grade in the preceding road surface of milling;
Calculation element, be used for according to the inclination angle of the said measurement milling degree of depth, the relative horizontal plane of said milling machine fuselage and the preceding road surface of said milling laterally and/or longitudinal grade calculate the said actual milling degree of depth.
Further, said distance measuring sensor group comprises:
First range sensor is used to monitor the road surface in said precalculated position before the milling and first distance of monitoring point;
The second distance sensor is used to monitor the road surface in said precalculated position after the milling and the second distance of monitoring point; Wherein,
First computing unit, the difference of calculating said first distance and said second distance obtains the said measurement milling degree of depth.
Further, said obliquity sensor is used to monitor the horizontal and/or vertical inclination angle of the relative horizontal plane of said milling machine fuselage.
Further, said Slope Transducer group comprises:
Leg oil cylinder stroke sensor is used to monitor support oil cylinder stroke distance;
Second computing unit, according to the data of said obliquity sensor, said leg oil cylinder stroke sensor monitors and the preceding road surface of the said milling of leg oil cylinder distance computation laterally and/or longitudinal grade.
Further, said calculation element comprises:
The 3rd calculating unit; Be connected with said obliquity sensor with said first computing unit, said second computing unit, according to the said measurement milling degree of depth, the preceding road surface of said milling laterally and/or longitudinal grade and the relative horizontal plane of said milling machine fuselage laterally and/or vertical inclination angle calculate the said actual milling degree of depth.
Further, said control device comprises:
The human-computer dialogue unit is connected with controller, is used to import the predetermined milling degree of depth;
Leg oil cylinder control module; Be connected with controller, be used to control the leg oil cylinder;
Adjuster is connected with said leg oil cylinder control module with controller;
Controller calculates the said predetermined milling degree of depth and said actual milling degree of depth difference, utilizes said adjuster to regulate said leg oil cylinder control module.
Further, said control device also comprises:
The fuselage display unit is connected with said controller, is used to show the said actual milling degree of depth; Wherein,
Said fuselage display unit comprises first display and second display that shows both sides, the road surface side degree of depth after the milling respectively.
Further, said adjuster is the PID adjuster, and said PID adjuster is connected with said leg oil cylinder control module, and said PID adjuster is according to the said predetermined milling degree of depth and said actual milling degree of depth difference and the said leg oil cylinder of milling speed regulation.
On the other hand, the present invention also provides a kind of milling machine, and said milling machine is provided with above-mentioned milling deep monitored device.
Compared with prior art, beneficial effect of the present invention is:
A kind of milling machine provided by the invention and milling deep monitored device thereof comprise the milling depth monitor, the actual milling degree of depth of monitoring milling machine milling; Calculate the degree of depth measured to obtain the actual grade of milling, so that the actual grade of milling is accurately monitored according to the fuselage inclination correction of milling machine; Control device is connected with said milling depth monitor, according to the said actual milling degree of depth and predetermined milling degree of depth difference; The leg of adjustment milling machine goes up and down, and compares according to the actual grade of milling machine milling and the milling degree of depth of being scheduled to, and draws the regulated quantity of the milling machine leg that need regulate; And the support foot hight of adjusting milling machine; Continue to measure the actual milling degree of depth through the milling depth monitor again, so circulation reaches the real-time monitoring milling machine milling degree of depth.
Description of drawings
Fig. 1 is the structured flowchart of embodiment of the invention milling machine deep monitored device;
Fig. 2 is applied to the structural representation on the milling machine for the embodiment of the invention;
Fig. 3 is applied to the structural representation on the milling machine for distance measuring sensor group in the embodiment of the invention;
Fig. 4 is the structured flowchart of gradient sensor groups in the embodiment of the invention;
Fig. 5 is the FB(flow block) of the concrete monitoring of the embodiment of the invention.
Description of reference numerals: 1, milling machine; 2, fuselage display unit; 3, controller; 4, obliquity sensor; 5, first distance measuring sensor; 51, second distance measuring sensor; 6, front support leg oil cylinder stroke sensor; 61, rear leg oil cylinder stroke sensor.
The specific embodiment
In order to make those skilled in the art understand technical scheme of the present invention better, the present invention is done further detailed description below in conjunction with accompanying drawing and specific embodiment.Should be pointed out that description and the description order to concrete structure only is the explanation to specific embodiment in this part, should not be regarded as that protection scope of the present invention is had any restriction.
Present embodiment when explanation vertically be relative milling road surface length direction for vertically, laterally be relative milling width of roadway direction for laterally, and wherein horizontal the and/or longitudinal grade in milling road surface is a milling road surface horizontal and/or vertical inclination angle with respect to the horizontal plane.
Please refer to Fig. 1 and Fig. 2, a kind of milling deep monitored device comprises: milling depth monitor, the actual milling degree of depth of monitoring milling machine 1 milling; Control device is connected with said milling depth monitor, and according to the said actual milling degree of depth and predetermined milling degree of depth difference, the leg of regulating milling machine 1 goes up and down.
Monitor the actual milling degree of depth of milling machine 1 in real time through the milling depth monitor, the real-time milling degree of depth and the predetermined milling degree of depth with milling machine 1 compares then, and the leg of regulating milling machine goes up and down; The milling depth monitor continues to monitor the actual milling degree of depth of milling machine 1 again; Control device continues to reconcile again, so repeatedly, so that the actual milling degree of depth of milling machine 1 is consistent with the milling degree of depth of being scheduled to; Realize intelligent monitoring, satisfy the site operation needs.
Wherein, the milling depth monitor can be equipment such as levelling appearance commonly used on the existing milling machine 1, also can be other devices of measuring the actual milling degree of depth.
Preferably, as shown in Figure 1, the milling depth monitor comprises: the distance measuring sensor group is used to monitor the measurement milling degree of depth in precalculated position; Obliquity sensor 4 is used to measure the inclination angle of the relative horizontal plane of milling machine 1 fuselage; The Slope Transducer group is used to monitor the horizontal and vertical gradient in the preceding road surface of milling; Calculation element is used for calculating the said actual milling degree of depth according to the horizontal and vertical gradient in inclination angle and the preceding road surface of said milling of the said measurement milling degree of depth, the relative horizontal plane of said milling machine fuselage.
Utilize the distance measuring sensor group can measure the measurement milling degree of depth of pre-position quickly and easily; Then through the obliquity sensor 4 of measuring the relative horizontal plane of fuselage inclination angle is set on milling machine 1 fuselage; Through the horizontal and vertical gradient on Slope Transducer group monitoring milling road surface, go out with respect to the actual milling degree of depth of measuring the milling degree of depth again with corrected Calculation.
Further preferably, the distance measuring sensor group comprises: first range sensor 5 is used to monitor first distance of the road surface and the monitoring point in the preceding precalculated position of milling; Second distance sensor 51 is used to monitor the road surface in precalculated position after the milling and the second distance of monitoring point; Wherein, first computing unit, the difference of calculating said first distance and said second distance obtains the said measurement milling degree of depth.
Be specially as shown in Figure 3; About dividing, the milling depth survey measures the milling degree of depth; About can be each other the solely observing and controlling direction of expression among the figure (about refer to); Measurement through first range sensor 5 and second distance sensor 51 can draw the left side measurement milling degree of depth (selecting the monitoring of different monitoring point respectively for use), and milling degree of depth L1=(H2-H1) is measured in the left side; Measurement through the 3rd range sensor 5a and the 4th range sensor 51a can draw the right side measurement milling degree of depth, and milling degree of depth L2=(H3-H4) is measured on the right side.First range sensor 5 is vertically arranged with second distance sensor 51 among Fig. 3, but not on a vertical line.
In addition, as shown in Figure 3, on the milling machine fuselage, also be provided with obliquity sensor, be used to monitor the horizontal and vertical inclination angle of the relative horizontal plane of milling machine fuselage.
As shown in Figure 4, the Slope Transducer group comprises: leg oil cylinder stroke sensor is used to monitor support oil cylinder stroke distance; Second computing unit is according to the horizontal and vertical gradient of data and the preceding road surface of the said milling of leg oil cylinder distance computation of said obliquity sensor, said leg oil cylinder stroke sensor monitors.
Present embodiment all uses inclination angle sensing 4 to monitor the horizontal and vertical inclination angle of the relative horizontal plane of milling machine fuselage; Then according to each leg oil cylinder spacing of milling machine (after milling machine dispatches from the factory; Leg oil cylinder spacing is fixing known) the horizontal and vertical inclination angle of the relative horizontal plane of fuselage measured with the leg oil cylinder stroke and the obliquity sensor of milling machine, that measures the preceding road surface of milling laterally reaches distance longitudinally.
Preferably; As shown in Figure 1; Said calculation element comprises: the 3rd calculating unit; Be connected with obliquity sensor with said first computing unit, second computing unit, calculate the actual milling degree of depth on milling road surface according to the said measurement milling degree of depth, the horizontal and vertical gradient in the preceding road surface of said milling and the horizontal and vertical inclination angle of the relative horizontal plane of said milling machine 1 fuselage.
It is specially, and calculates actual milling degree of depth method, measures milling degree of depth L1=(H2-H1) according to the left side; Milling degree of depth L2=(H3-H4) is measured on the right side; Can draw the left side * τ of actual milling degree of depth L1 '=(H2-H1); τ is a correction factor; During like standard of fuselage; Correction factor is 1, during like the non-level of fuselage, between the data that correction factor records through front support leg oil cylinder stroke sensor 6 and rear leg oil cylinder stroke sensor 61 (comprising two front support leg oil cylinders and two after-poppet oil cylinders), the relative horizontal plane vertical inclination angle of fuselage, front and back leg oil cylinder spacing, first distance measuring sensor and second distance measuring sensor vertically separation (or between the 3rd distance measuring sensor and the 4th distance measuring sensor vertically separation) calculation of parameter draw; The * τ of the right side milling degree of depth: L2 '=(H4-H3).
Certainly; Also can follow stroke sensor and the result of measurement and the spacing of four leg oil cylinders according to four leg oil cylinders; The measurement milling degree of depth that obtains by a side combine the measurement result of obliquity sensor carry out the indirect observing and controlling opposite side of computing degree of depth L2=L1-B*tg (θ-β), in the formula: B: milling left side and right side apart from width;
θ: the cross dip of the relative horizontal plane of fuselage that obliquity sensor is measured;
β: the cross dip on milling road surface before the milling.
Preferably, as shown in Figure 1, said control device comprises: the human-computer dialogue unit, be connected with controller, and be used to import the predetermined milling degree of depth; Leg oil cylinder control module; Be connected with controller, be used to control the leg oil cylinder; Controller calculates the said predetermined milling degree of depth and said actual milling degree of depth difference, utilizes adjuster to regulate said leg oil cylinder control module.
Can in controller, import the predetermined milling degree of depth through the human-computer dialogue unit; Controller compares according to the predetermined milling degree of depth and the actual milling degree of depth then; To regulate support foot hight; When regulating support foot hight, controller is through adjuster leg oil cylinder control module, and leg oil cylinder control module control leg goes up and down.
Further preferably, as shown in Figure 1, control device also comprises: fuselage display unit 2, be connected with controller, and be used to show the actual milling degree of depth; Wherein, said fuselage display unit comprises first display and second display that shows the milling road surface two avris degree of depth respectively, and first display and second display can be installed in the both sides of milling machine respectively.
Through fuselage display unit 2 is set, can see the actual milling degree of depth of milling machine in the milling machine both sides fast, in time adjust so that control hand.
Further preferably, like Fig. 1 and shown in Figure 5, adjuster is the PID adjuster, and the PID adjuster is connected with leg oil cylinder control module, and the PID adjuster is according to the predetermined milling degree of depth and actual milling degree of depth difference and the said leg oil cylinder of milling speed regulation.
Its concrete control procedure does, and is as shown in Figure 5, sets the predetermined milling degree of depth of milling machine 1 through the human-computer dialogue unit; The actual milling degree of depth that controller 3 obtains according to the milling depth monitor and the difference of the predetermined milling degree of depth obtain depth offset; Controller carries out the PID adjuster to depth offset and carries out computing (and combining milling speed V) and obtain leg solenoid control signal; Leg oil cylinder control module goes up and down according to leg solenoid control signal controlling milling machine leg; The milling machine leg goes up and down will cause the signal of distance measuring sensor group measurement, the dip angle signal that obliquity sensor 4 is measured, the cross fall (inclination angle) that vertically reaches on milling road surface to change, and these signals carry out computing and promptly obtain the real-time actual milling degree of depth; Again the actual milling degree of depth and the predetermined milling degree of depth are compared calculated difference at last, repeat above-mentioned steps; Reach the real-time monitoring milling degree of depth.
The embodiment of the invention also provides a kind of milling machine, and said milling machine is provided with above-mentioned milling deep monitored device.Because above-mentioned milling deep monitored device has above-mentioned technique effect, therefore, this milling machine also should possess the corresponding techniques effect, and its practical implementation process is similar to the above embodiments, does not give unnecessary details now.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a milling deep monitored device is characterized in that, comprising:
The milling depth monitor, the actual milling degree of depth of monitoring milling machine (1) milling;
Control device is connected with said milling depth monitor, and according to the difference of the said actual milling degree of depth and the predetermined milling degree of depth, the leg of regulating said milling machine (1) goes up and down.
2. milling deep monitored device as claimed in claim 1 is characterized in that: said milling depth monitor comprises:
The distance measuring sensor group is used to monitor the measurement milling degree of depth in precalculated position;
Obliquity sensor (4) is used to measure the inclination angle of the relative horizontal plane of said milling machine (1) fuselage;
The Slope Transducer group is used to monitor the horizontal and/or longitudinal grade in the preceding road surface of milling;
Calculation element, be used for according to the inclination angle of the said measurement milling degree of depth, the relative horizontal plane of said milling machine fuselage and the preceding road surface of said milling laterally and/or longitudinal grade calculate the said actual milling degree of depth.
3. milling deep monitored device as claimed in claim 2 is characterized in that: said distance measuring sensor group comprises:
First range sensor (5) is used to monitor the road surface in said precalculated position before the milling and first distance of monitoring point;
Second distance sensor (51) is used to monitor the road surface in said precalculated position after the milling and the second distance of monitoring point; Wherein,
First computing unit, the difference of calculating said first distance and said second distance obtains the said measurement milling degree of depth.
4. milling deep monitored device as claimed in claim 3 is characterized in that: said obliquity sensor (4) is used to monitor the horizontal and/or vertical inclination angle of the relative horizontal plane of said milling machine (1) fuselage.
5. milling deep monitored device as claimed in claim 4 is characterized in that: said Slope Transducer group comprises:
Leg oil cylinder stroke sensor is used to monitor support oil cylinder stroke distance;
Second computing unit, according to the data of said obliquity sensor, said leg oil cylinder stroke sensor monitors and the preceding road surface of the said milling of leg oil cylinder distance computation laterally and/or longitudinal grade.
6. milling deep monitored device as claimed in claim 5, it is characterized in that: said calculation element comprises:
The 3rd calculating unit; Be connected with said obliquity sensor with said first computing unit, said second computing unit, according to the said measurement milling degree of depth, the preceding road surface of said milling laterally and/or longitudinal grade and the relative horizontal plane of said milling machine (1) fuselage laterally and/or vertical inclination angle calculate the said actual milling degree of depth.
7. like each described milling deep monitored device of claim 1-6, it is characterized in that: said control device comprises:
The human-computer dialogue unit is connected with controller, is used to import the predetermined milling degree of depth;
Leg oil cylinder control module; Be connected with controller, be used to control the leg oil cylinder;
Adjuster is connected with said leg oil cylinder control module with controller;
Controller (3) calculates the said predetermined milling degree of depth and said actual milling degree of depth difference, utilizes said adjuster to regulate said leg oil cylinder control module.
8. milling deep monitored device as claimed in claim 7, it is characterized in that: said control device also comprises:
Fuselage display unit (2) is connected with said controller, is used to show the said actual milling degree of depth; Wherein,
Said fuselage display unit (2) comprises first display and second display that shows both sides, the road surface side degree of depth after the milling respectively.
9. milling deep monitored device as claimed in claim 7; It is characterized in that: said adjuster is the PID adjuster; Said PID adjuster is connected with said leg oil cylinder control module, and said PID adjuster is according to the said predetermined milling degree of depth and said actual milling degree of depth difference and the said leg oil cylinder of milling speed regulation.
10. a milling machine is characterized in that, said milling machine is provided with each described milling deep monitored device like claim 1-9.
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| CN103669188A (en) * | 2013-12-11 | 2014-03-26 | 中联重科股份有限公司 | Milling machine as well as steering control method, device and system of milling machine |
| CN104483985A (en) * | 2014-12-09 | 2015-04-01 | 镇江市高等专科学校 | Initial milling control system of road surface milling machine |
| CN109733492A (en) * | 2018-12-29 | 2019-05-10 | 长安大学 | A kind of milling and planing system method for automatically leveling |
| CN111119014A (en) * | 2018-10-31 | 2020-05-08 | 维特根有限公司 | Road milling machine and method for controlling a road milling machine |
| CN111455791A (en) * | 2020-04-08 | 2020-07-28 | 河南省高远公路养护技术有限公司 | Milling machine macro flatness control device and control method |
| US11168717B2 (en) | 2019-12-23 | 2021-11-09 | Caterpillar Paving Products Inc. | Actuator calibration based on a fluid level of a fluid tank |
| CN114150560A (en) * | 2021-12-03 | 2022-03-08 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
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| CN103669188A (en) * | 2013-12-11 | 2014-03-26 | 中联重科股份有限公司 | Milling machine as well as steering control method, device and system of milling machine |
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| CN111119014A (en) * | 2018-10-31 | 2020-05-08 | 维特根有限公司 | Road milling machine and method for controlling a road milling machine |
| CN111119014B (en) * | 2018-10-31 | 2021-11-19 | 维特根有限公司 | Road milling machine and method for controlling a road milling machine |
| CN109733492A (en) * | 2018-12-29 | 2019-05-10 | 长安大学 | A kind of milling and planing system method for automatically leveling |
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| CN111455791B (en) * | 2020-04-08 | 2021-10-08 | 河南省高远公路养护技术有限公司 | Control method of milling machine macro flatness control device |
| CN114150560A (en) * | 2021-12-03 | 2022-03-08 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
| CN114150560B (en) * | 2021-12-03 | 2023-02-03 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
| WO2023178832A1 (en) * | 2022-03-22 | 2023-09-28 | 湖南三一中益机械有限公司 | Milling machine tail door control method, milling working apparatus, and milling machine |
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