CN102776827B - Milling machine and milling depth monitoring device thereof - Google Patents
Milling machine and milling depth monitoring device thereof Download PDFInfo
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- CN102776827B CN102776827B CN201210282424.2A CN201210282424A CN102776827B CN 102776827 B CN102776827 B CN 102776827B CN 201210282424 A CN201210282424 A CN 201210282424A CN 102776827 B CN102776827 B CN 102776827B
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- 238000003801 milling Methods 0.000 title claims abstract description 241
- 238000012806 monitoring device Methods 0.000 title claims abstract description 41
- 238000012544 monitoring process Methods 0.000 claims abstract description 34
- 238000005259 measurement Methods 0.000 claims description 12
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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 invention relates to the technical field of engineering machinery, in particular to a milling machine and a milling depth monitoring device thereof.
Background
The existing road maintenance equipment and the use of the existing road maintenance equipment are more and more along with the rapid development of roads in China, and the milling machine serving as the road maintenance equipment has more and more requirements and more extensive use. The milling machine is used as engineering construction equipment, and the number of construction personnel depends on the automation and intelligence level of the milling machine. The method at the present stage comprises the following steps: the milling depth needs to be monitored in real time, operators need to measure the milling depth on the left and right sides of equipment and adjust and control the milling depth through a leveling instrument, related patents include CN20110195451 a milling machine and a milling machine control method, but the method is open-loop control, and the operators need to measure a forming rear-path machine, so that the problems of too many construction workers and the like can be caused due to low automation level of real-time milling depth measurement and control, and the quality of a construction pavement is influenced.
Therefore, how to monitor and control the milling depth of the existing milling machine in real time so as to better meet the needs of actual construction on site is a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of this, the present invention is directed to a milling machine and a milling depth monitoring device thereof, so as to solve the problem that the real-time monitoring and control of the milling depth of the milling machine does not meet the actual construction requirement of the site.
In one aspect, the present invention provides a milling depth monitoring device, including:
the milling depth monitoring device is used for monitoring the actual milling depth of milling of the milling machine;
and the control device is connected with the milling depth monitoring device and is used for adjusting the lifting of the support legs of the milling machine according to the difference value between the actual milling depth and the preset milling depth.
Further, the milling depth monitoring device includes:
the distance measurement sensor group is used for monitoring the measured milling depth of the preset position;
the inclination angle sensor is used for measuring the inclination angle of the milling machine body relative to the horizontal plane;
the slope sensor group is used for monitoring the transverse and/or longitudinal slope of the road surface before milling;
a computing device for calculating the actual milling depth as a function of the measured milling depth, the inclination of the milling machine body relative to the horizontal plane and the transverse and/or longitudinal gradient of the road surface before milling.
Further, the ranging sensor group includes:
the first distance sensor is used for monitoring a first distance between the road surface at the preset position and a monitoring point before milling;
the second distance sensor is used for monitoring a second distance between the road surface of the preset position and the monitoring point after milling; wherein,
the first calculating unit is used for calculating the difference value of the first distance and the second distance to obtain the measured milling depth.
Further, the inclination angle sensor is used for monitoring the transverse and/or longitudinal inclination angle of the milling machine body relative to the horizontal plane.
Further, the gradient sensor group includes:
the support leg oil cylinder stroke sensor is used for monitoring the stroke distance of the support oil cylinder;
and the second calculation unit is used for calculating the transverse and/or longitudinal gradient of the pavement before milling according to the inclination angle sensor, the data monitored by the support leg oil cylinder stroke sensor and the support leg oil cylinder distance.
Further, the computing device includes:
a third computing unit, which is connected to the first computing unit, the second computing unit and the inclination sensor, and which computes the actual milling depth from the measured milling depth, the lateral and/or longitudinal gradient of the road surface before milling and the lateral and/or longitudinal inclination of the milling machine body relative to the horizontal.
Further, the control device includes:
the man-machine conversation unit is connected with the controller and used for inputting the preset milling depth;
a support oil cylinder control unit; the controller is connected with the support leg oil cylinder and is used for controlling the support leg oil cylinder to lift;
the regulator is connected with the controller and the supporting leg oil cylinder control unit;
and the controller is used for calculating the difference value between the preset milling depth and the actual milling depth and adjusting the support leg oil cylinder control unit by using the regulator.
Further, the control device further includes:
the machine body display unit is connected with the controller and used for displaying the actual milling depth; wherein,
the machine body display unit comprises a first display and a second display which are used for displaying the depth of the two sides of the milled road surface respectively.
Further, the regulator is a PID regulator, the PID regulator is connected to the support oil cylinder control unit, and the PID regulator regulates the support oil cylinder according to the difference between the predetermined milling depth and the actual milling depth and the milling speed.
In another aspect, the invention further provides a milling machine, which is provided with the milling depth monitoring device.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a milling machine and a milling depth monitoring device thereof, which comprise a milling depth monitoring device, a milling depth monitoring device and a milling depth monitoring device, wherein the milling depth monitoring device is used for monitoring the actual milling depth of milling of the milling machine; calculating the measured depth according to the inclination angle correction of the milling machine body to obtain the actual milling depth so as to accurately monitor the actual milling depth; control device, with it is connected to mill and dig degree of depth monitoring devices, according to actually mill and dig degree of depth and predetermined mill and dig degree of depth difference, the stabilizer blade of adjustment milling machine goes up and down, and the actual degree of depth that mills according to milling machine mills and compares with predetermined milling degree of depth, reachs the regulating variable of the milling machine stabilizer blade that needs to adjust milling machine's stabilizer blade height, rethread milling degree of depth monitoring devices continues to measure actually and mills and dig the degree of depth, so circulate, reach real time monitoring milling machine and dig the degree of depth.
Drawings
Fig. 1 is a block diagram of a depth monitoring device of a milling machine according to an embodiment of the invention;
fig. 2 is a schematic structural view of the milling machine to which the embodiment of the present invention is applied;
fig. 3 is a schematic structural diagram of a distance measuring sensor group applied to a milling machine in the embodiment of the invention;
FIG. 4 is a block diagram of a slope sensor group according to an embodiment of the present invention;
fig. 5 is a flowchart of a specific monitoring according to an embodiment of the present invention.
Description of reference numerals: 1. milling and planing machine; 2. a body display unit; 3. a controller; 4. a tilt sensor; 5. a first ranging sensor; 51. a second ranging sensor; 6. a front support oil cylinder stroke sensor; 61. rear foot cylinder stroke sensor.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be noted that the description and sequence of descriptions of specific structures in this section are merely illustrative of specific embodiments and should not be construed as limiting the scope of the invention in any way.
In the description of this embodiment, the longitudinal direction is the longitudinal direction relative to the length direction of the milled road surface and the transverse direction is the transverse direction relative to the width direction of the milled road surface, wherein the transverse and/or longitudinal slope of the milled road surface is the transverse and/or longitudinal inclination of the milled road surface relative to the horizontal plane.
Referring to fig. 1 and 2, a milling depth monitoring device includes: the milling depth monitoring device is used for monitoring the actual milling depth milled by the milling machine 1; and the control device is connected with the milling depth monitoring device and is used for adjusting the lifting of the support legs of the milling machine 1 according to the difference value between the actual milling depth and the preset milling depth.
The actual milling depth of milling machine 1 is monitored in real time through milling depth monitoring device, then the real-time milling depth of milling machine 1 is compared with the preset milling depth, the stabilizer blade of the adjusting milling machine goes up and down, milling depth monitoring device continues to monitor the actual milling depth of milling machine 1 again, control device continues to mediate again, so repeatedly, the actual milling depth of milling machine 1 is consistent with the preset milling depth, intelligent monitoring is realized, and the requirements of site construction are met.
The milling depth monitoring device may be a leveling instrument or other device commonly used in the existing milling machine 1, or may be other devices for measuring the actual milling depth.
Preferably, as shown in fig. 1, the milling depth monitoring device includes: the distance measurement sensor group is used for monitoring the measured milling depth of the preset position; the inclination angle sensor 4 is used for measuring the inclination angle of the body of the milling machine 1 relative to the horizontal plane; the slope sensor group is used for monitoring the transverse and longitudinal slopes of the road surface before milling; a computing device for calculating the actual milling depth from the measured milling depth, the inclination of the milling machine body relative to the horizontal plane and the transverse and longitudinal gradients of the pre-milling road surface.
The measuring milling depth at the preset position can be conveniently and quickly measured by utilizing the distance measuring sensor group, then the inclination angle sensor 4 for measuring the inclination angle of the milling machine body relative to the horizontal plane is arranged on the milling machine 1, and then the transverse and longitudinal gradients of the milling road surface are monitored by the gradient sensor group so as to correct and calculate the actual milling depth relative to the measured milling depth.
Further preferably, the ranging sensor group includes: the first distance sensor 5 is used for monitoring a first distance between a road surface at a preset position before milling and a monitoring point; a second distance sensor 51 for monitoring a second distance between the road surface at the predetermined position after milling and the monitoring point; the first calculating unit calculates a difference value between the first distance and the second distance to obtain the measured milling depth.
Specifically, as shown in fig. 3, the milling depth measurement is divided into left and right measurement and control, which are independent measurement and control (left and right refer to directions shown in the drawing), and left measurement and milling depth (monitored by different monitoring points respectively) can be obtained by measuring with the first distance sensor 5 and the second distance sensor 51, and the left measurement and milling depth L1= (H2-H1); the measurement by the third and fourth distance sensors 5a, 51a yields the right-hand measured milling depth, which is L2= (H3-H4). The first distance sensor 5 and the second distance sensor 51 are arranged longitudinally in fig. 3, but not on a longitudinal line.
In addition, as shown in fig. 3, inclination sensors are also provided on the milling machine body for monitoring the transverse and longitudinal inclination of the milling machine body relative to the horizontal plane.
As shown in fig. 4, the gradient sensor group includes: the support leg oil cylinder stroke sensor is used for monitoring the stroke distance of the support oil cylinder; and the second calculation unit is used for calculating the transverse and longitudinal gradients of the pavement before milling according to the inclination angle sensor, the data monitored by the support leg oil cylinder stroke sensor and the support leg oil cylinder distance.
The inclination angle sensor 4 is used in this embodiment to monitor the transverse and longitudinal inclination angles of the milling machine body with respect to the horizontal plane, and then the transverse and longitudinal distances of the road surface before milling are measured according to the distance between the respective leg cylinders of the milling machine (after the milling machine leaves the factory, the distance between the leg cylinders is fixedly known) and the stroke of the leg cylinders of the milling machine, and the transverse and longitudinal inclination angles of the body with respect to the horizontal plane measured by the inclination angle sensor.
Preferably, as shown in fig. 1, the computing device includes: and the third calculation unit is connected with the first calculation unit, the second calculation unit and the inclination angle sensor and is used for calculating the actual milling depth of the milled road surface according to the measured milling depth, the transverse and longitudinal gradients of the milled road surface and the transverse and longitudinal inclination angles of the milling machine 1 body relative to the horizontal plane.
Specifically, an actual milling depth method is calculated, and milling depth L1= (H2-H1) is measured according to the left side; the right-side measured milling depth L2= (H3-H4), which can obtain the actual left-side milling depth L1' = (H2-H1) × τ, τ is a correction coefficient, if the fuselage is horizontal, the correction coefficient is 1, if the fuselage is not horizontal, the correction coefficient is calculated by the parameters of the data (including two front leg cylinders and two rear leg cylinders) measured by the front leg cylinder stroke sensor 6 and the rear leg cylinder stroke sensor 61, the longitudinal inclination angle of the fuselage relative to the horizontal plane, the distance between the front leg cylinder and the rear leg cylinder, and the longitudinal distance between the first distance measuring sensor and the second distance measuring sensor (or the longitudinal distance between the third distance measuring sensor and the fourth distance measuring sensor) measured by the front leg cylinder stroke sensor 6 and the rear leg cylinder stroke sensor 61; milling and planing depth on the right side: l2' = (H4-H3) × τ.
Of course, the measured milling depth obtained from one side can be combined with the measurement result of the inclination angle sensor to indirectly measure and control the depth of the other side L2= L1-B × tg (θ - β) according to the stroke sensors and the measurement results of the four leg cylinders and the distances between the four leg cylinders, wherein: b: milling the distance width between the left side and the right side;
θ: the inclination angle sensor measures the transverse inclination angle of the machine body relative to the horizontal plane;
beta: and (4) milling the transverse inclination angle of the road surface before milling.
Preferably, as shown in fig. 1, the control device includes: the man-machine conversation unit is connected with the controller and used for inputting the preset milling depth; a support oil cylinder control unit; the controller is connected with the support leg oil cylinder and is used for controlling the support leg oil cylinder to lift; and the controller is used for calculating the difference value between the preset milling depth and the actual milling depth and adjusting the supporting leg oil cylinder control unit by using the regulator.
The preset milling depth can be input into the controller through the man-machine conversation unit, then the controller compares the preset milling depth with the actual milling depth to adjust the height of the support legs, and when the height of the support legs is adjusted, the controller controls the support legs to ascend and descend through the regulator support leg oil cylinder control unit.
Further preferably, as shown in fig. 1, the control device further includes: the machine body display unit 2 is connected with the controller and is used for displaying the actual milling depth; the milling machine body display unit comprises a first display and a second display, wherein the first display and the second display are used for displaying the depths of two side surfaces of a milled road surface respectively, and the first display and the second display can be installed on two sides of the milling machine respectively.
By arranging the body display unit 2, the actual milling depth of the milling machine can be quickly seen on both sides of the milling machine, so that the control hand can adjust in time.
Further preferably, as shown in fig. 1 and 5, the regulator is a PID regulator, the PID regulator is connected to the foot cylinder control unit, and the PID regulator regulates the foot cylinder according to the difference between the predetermined milling depth and the actual milling depth and the milling speed.
The specific control process is, as shown in fig. 5, setting a predetermined milling depth of the milling machine 1 by means of a man-machine interaction unit; the controller 3 obtains a depth deviation according to the difference between the actual milling depth and the preset milling depth obtained by the milling depth monitoring device; the controller carries out operation on the depth deviation by a PID regulator (and combines the milling speed V) to obtain a control signal of the support leg electromagnetic valve; the support leg oil cylinder control unit controls the support legs of the milling machine to lift according to the control signal of the support leg electromagnetic valve; the lifting of the milling machine support legs causes the signals measured by the distance measuring sensor group, the inclination angle signals measured by the inclination angle sensor 4 and the longitudinal and transverse gradients (inclination angles) of the milled road surface to change, and the signals are calculated to obtain the real-time actual milling depth; finally, comparing the actual milling depth with the preset milling depth to calculate a difference value, and repeating the steps; the milling depth can be monitored in real time.
The embodiment of the invention also provides a milling machine which is provided with the milling depth monitoring device. Since the milling depth monitoring device has the above technical effects, the milling machine should also have corresponding technical effects, and the specific implementation process thereof is similar to that in the above embodiment, and will not be described again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A milling depth monitoring device, comprising:
the milling depth monitoring device is used for monitoring the actual milling depth milled by the milling machine (1);
a control device connected to the milling depth monitoring device for adjusting the lifting of the support foot of the milling machine (1) according to the difference between the actual milling depth and the predetermined milling depth, wherein the milling depth monitoring device comprises:
the distance measurement sensor group is used for monitoring the measured milling depth of the preset position;
the inclination angle sensor (4) is used for measuring the inclination angle of the body of the milling machine (1) relative to the horizontal plane;
the slope sensor group is used for monitoring the transverse and/or longitudinal slope of the road surface before milling;
and the calculating device is connected with the distance measuring sensor group, the inclination angle sensor (4) and the slope sensor group and is used for calculating the actual milling depth according to the measured milling depth, the inclination angle of the milling machine body relative to the horizontal plane and the transverse and/or longitudinal slope of the pavement before milling.
2. Milling depth monitoring device according to claim 1, characterised in that: the ranging sensor group includes:
a first distance sensor (5) for monitoring a first distance between the road surface of the predetermined position and a monitoring point before milling;
the second distance sensor (51) is used for monitoring a second distance between the road surface of the preset position and the monitoring point after milling; wherein,
the first calculating unit is used for calculating the difference value of the first distance and the second distance to obtain the measured milling depth.
3. Milling depth monitoring device according to claim 2, characterized in that: the inclination angle sensor (4) is used for monitoring the transverse and/or longitudinal inclination angle of the body of the milling machine (1) relative to the horizontal plane.
4. Milling depth monitoring device according to claim 3, characterized in that: the gradient sensor group includes:
the support leg oil cylinder stroke sensor is used for monitoring the stroke distance of the support oil cylinder;
and the second calculation unit is used for calculating the transverse and/or longitudinal gradient of the pavement before milling according to the inclination angle sensor, the data monitored by the support leg oil cylinder stroke sensor and the support leg oil cylinder distance.
5. Milling depth monitoring device according to claim 4, characterized in that: the computing device includes:
a third computing unit, which is connected to the first computing unit, the second computing unit and the inclination sensor, and which computes the actual milling depth as a function of the measured milling depth, the transverse and/or longitudinal gradient of the road surface before milling and the transverse and/or longitudinal inclination of the body of the milling machine (1) relative to the horizontal.
6. Milling depth monitoring device according to any one of claims 1 to 5, characterised in that: the control device includes:
the man-machine conversation unit is connected with the controller and used for inputting the preset milling depth;
a support oil cylinder control unit; the controller is connected with the stand bar oil cylinder and is used for controlling the stand bar oil cylinder;
the regulator is connected with the controller and the supporting leg oil cylinder control unit;
and the controller (3) is used for calculating the difference value between the preset milling depth and the actual milling depth and adjusting the support leg oil cylinder control unit by using the regulator.
7. Milling depth monitoring device according to claim 6, characterized in that: the control device further includes:
the machine body display unit (2) is connected with the controller and is used for displaying the actual milling depth; wherein,
the machine body display unit (2) comprises a first display and a second display which are used for displaying the depths of two sides of a milled road surface respectively.
8. Milling depth monitoring device according to claim 6, characterized in that: the regulator is a PID regulator, the PID regulator is connected with the support leg oil cylinder control unit, and the PID regulator regulates the support leg oil cylinder according to the difference value between the preset milling depth and the actual milling depth and the milling speed.
9. Milling machine, characterized in that it is provided with a milling depth monitoring device according to any one of claims 1 to 8.
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| CN201210282424.2A CN102776827B (en) | 2012-08-09 | 2012-08-09 | Milling machine and milling depth monitoring device thereof |
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| CN201210282424.2A CN102776827B (en) | 2012-08-09 | 2012-08-09 | Milling machine and milling depth monitoring device thereof |
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| CN102776827B true CN102776827B (en) | 2015-04-22 |
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| US11168717B2 (en) | 2019-12-23 | 2021-11-09 | Caterpillar Paving Products Inc. | Actuator calibration based on a fluid level of a fluid tank |
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| 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 |
| DE102018127222B4 (en) * | 2018-10-31 | 2021-06-24 | Wirtgen Gmbh | 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 automatic leveling method of milling system |
| 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 |
| 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 |
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| IT1315336B1 (en) * | 2000-05-11 | 2003-02-10 | Bitelli Spa | METHOD FOR THE INTEGRATED MANAGEMENT OF THE PARAMETERS RELATED TO THE MILLING OF ROAD SURFACES AND THE MILLING MACHINE CREATING SUCH |
| CN2594299Y (en) * | 2002-09-29 | 2003-12-24 | 兖州恒升机械有限公司 | road milling machine |
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| US11168717B2 (en) | 2019-12-23 | 2021-11-09 | Caterpillar Paving Products Inc. | Actuator calibration based on a fluid level of a fluid tank |
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