CN-121976452-A - Traction force self-distribution control system, traction force self-distribution control method and milling machine

CN121976452ACN 121976452 ACN121976452 ACN 121976452ACN-121976452-A

Abstract

The application discloses a traction self-distribution control system, a control method and a milling machine, which belong to the field of traction control, wherein the traction self-distribution control system comprises a plurality of support leg modules used for supporting loads, a lifting hydraulic module, a walking hydraulic module and a controller, the support leg modules comprise four support leg assemblies, the lifting hydraulic module is used for driving the corresponding support leg assemblies to adjust the heights, a pressure sensing module is arranged in each driving piece of the lifting hydraulic module, the four driving pieces are installed in a one-to-one correspondence manner with the support leg assemblies, the walking hydraulic module is used for driving the corresponding support leg assemblies to move, the controller is electrically connected with the pressure sensing module, the lifting hydraulic module and the walking hydraulic module and used for controlling the support leg modules to move or lift, the load of the support leg assemblies is directly fed back according to the values fed back by the pressure sensor module in each driving piece, the walking power of the support leg assemblies is adjusted according to the load, and the driving power is distributed according to the need, so that an unnecessary slipping phenomenon is prevented.

Inventors

HAN LU
SHA HONGWEI
SUN RUICHENG
CHEN ZEXIAN
MA RUIPENG
WANG JIAWEI

Assignees

徐工集团工程机械股份有限公司道路机械分公司

Dates

Publication Date: 20260505
Application Date: 20260120

Claims (9)

1. A traction self-distributing control system, comprising A plurality of leg modules for supporting a load, the leg modules comprising a plurality of leg assemblies; The lifting hydraulic module is used for driving the corresponding support leg assembly to adjust the height, each driving piece of the lifting hydraulic module is provided with a pressure sensing module, and a plurality of driving pieces are installed in one-to-one correspondence with a plurality of support leg assemblies; The walking hydraulic module is used for driving the corresponding support leg assembly to move; The controller is electrically connected with the pressure sensing module, the lifting hydraulic module and the walking hydraulic module and used for controlling the support leg module to move or lift; Wherein the controller is configured to match and distribute the walking driving power of the corresponding leg assembly according to the pressure value received by the corresponding leg assembly fed back by the pressure sensing module.
2. The traction self-distribution control system according to claim 1, wherein the driving member comprises a lift cylinder, and the pressure sensing module comprises a sensor fixed in a large oil cavity and a small oil cavity of the lift cylinder; The controller is coordinated and positioned to judge the pressure born by the corresponding support leg module according to the feedback values of the sensors in the lifting cylinders.
3. The traction self-distribution control system of claim 1, wherein the leg assembly includes a travel element, the controller configured to control the travel hydraulic module to actuate the travel element to move the leg assembly.
4. The traction self-distribution control system according to claim 1, wherein the lifting hydraulic module comprises a plurality of groups of lifting components, lifting valve groups, constant-pressure variable plunger pumps and oil tanks, and the plurality of groups of lifting components and the plurality of support leg assemblies are arranged in a one-to-one correspondence manner; The lifting assembly comprises a lifting oil cylinder and a balance valve, the pressure sensing module is arranged in the lifting assembly, The large cavity of the lifting cylinder is connected with the C1 port of the balance valve, the small cavity of the lifting cylinder is connected with the C2 port of the balance valve, the B port and the A port of the balance valve are connected with the lifting valve bank, the oil outlet of the lifting valve bank is connected with the oil return port of the oil tank, and the oil inlet of the lifting valve bank is connected with the oil outlet of the oil tank through the constant-pressure variable plunger pump; The controller is configured to control the lifting cylinder to adjust the supporting height corresponding to the supporting leg assembly according to the feedback pressure value corresponding to the pressure sensing module.
5. The traction self-distribution control system according to claim 1, wherein the traveling hydraulic module comprises a plurality of electric proportional variable plunger motors, an electric proportional variable plunger pump, and an oil tank, the plurality of electric proportional variable plunger motors being arranged in one-to-one correspondence with the plurality of leg assemblies; the inlet of the electric proportional variable plunger motor is connected with the outlet of the oil tank, the outlet of the electric proportional variable plunger motor is connected with a plurality of electric proportional variable plunger motors in a matching way, and the outlets of the electric proportional variable plunger motors and the outlet of the electric proportional variable plunger pump are connected with the oil return outlet of the oil tank; The controller is configured to control the electric proportional variable plunger pump to dispense an amount of oil pressure corresponding to the electric proportional variable plunger motor and to adjust power corresponding to the electric proportional variable plunger motor.
6. The traction self-distribution control system according to claim 5, wherein a speed reducer is mounted on a plurality of said electric proportional variable plunger motors for reducing the output rotational speed of said electric proportional variable plunger motors.
7. The traction self-distribution control system of claim 1, wherein the controller is configured to adjust a rate of change of travel drive power corresponding to the leg assembly based on the pressure sensing module feedback corresponding to the rate of change of pressure experienced by the leg assembly, the rate of change of pressure experienced by the leg assembly being proportional to the rate of change of travel drive power.
8. A control method applied to the traction self-distribution control system according to any one of claims 1 to 7, characterized by comprising Acquiring the pressure load born by the corresponding support leg assembly; The controller controls the lifting hydraulic module to adjust the supporting height corresponding to the supporting leg assembly according to the pressure load born by each corresponding supporting leg assembly, and controls the matched distribution of the walking driving power corresponding to the supporting leg assembly.
9. Milling machine, characterized by comprising a traction self-distribution control system according to any of claims 1 to 7 or/and by using a control method according to claim 8.

Description

Traction force self-distribution control system, traction force self-distribution control method and milling machine Technical Field The application relates to the technical field of traction control, in particular to a traction self-distribution control system, a traction self-distribution control method and a milling machine. Background The milling machine is a construction equipment for rebuilding and expanding the road surface by milling operation, and mainly depends on the rotary motion of a milling rotor to drive a milling cutter head to cut and crush the road surface and perform autonomous recovery. At present, in the milling process of large milling depth and harder pavement, most milling machines at home and abroad have the problems that one or a plurality of caterpillar tracks slip and the traction force of the whole machine is insufficient, and the construction quality and the construction efficiency are difficult to ensure. In the prior art, two schemes of hydraulic diversion anti-slip and electronic anti-slip are available at present, the hydraulic diversion anti-slip adopts a diverter valve, the full flow of a pump is forced to be evenly diverted to realize the anti-slip function, the scheme is limited by the influence of the diversion precision of the diverter valve, the anti-slip effect of a heavy load working condition is not ideal, in addition, the scheme is not suitable for the working conditions such as turning or roundabout construction, the electronic anti-slip scheme belongs to a passive anti-slip scheme, and slip can be judged only when slip occurs first, so that anti-slip control is carried out, the construction quality and the construction efficiency are influenced, and the anti-slip effect of the scheme is not ideal. The problem that the traction force of the whole machine cannot be guaranteed more efficiently due to the fact that the walking anti-slip effect is not ideal exists, the traction force is improved, and the problem that the walking anti-slip effect is to be overcome is achieved more effectively. Disclosure of Invention The present application is directed to a traction self-distribution control system, a traction self-distribution control method and a milling machine, which solve the above-mentioned drawbacks caused in the prior art. In order to achieve the above purpose, the application is realized by adopting the following technical scheme: In a first aspect, the present application discloses a traction self-distribution control system comprising A plurality of leg modules for supporting a load, the leg modules comprising a plurality of leg assemblies; The lifting hydraulic module is used for driving the corresponding support leg assembly to adjust the height, each driving piece of the lifting hydraulic module is provided with a pressure sensing module, and a plurality of driving pieces are installed in one-to-one correspondence with a plurality of support leg assemblies; The walking hydraulic module is used for driving the corresponding support leg assembly to move; The controller is electrically connected with the pressure sensing module, the lifting hydraulic module and the walking hydraulic module and used for controlling the support leg module to move or lift; Wherein the controller is configured to match and distribute the walking driving power of the corresponding leg assembly according to the pressure value received by the corresponding leg assembly fed back by the pressure sensing module. According to a further scheme of the application, the driving piece comprises a lifting oil cylinder, and the pressure sensing module comprises sensors fixed in a large oil cavity and a small oil cavity of the lifting oil cylinder; The controller is coordinated and positioned to judge the pressure born by the corresponding support leg module according to the feedback values of the sensors in the lifting cylinders. According to a further aspect of the application, the support leg assembly comprises a walking element, and the controller is configured to control the walking hydraulic module to drive the walking element to work so as to enable the support leg assembly to move. According to a further scheme of the application, the lifting hydraulic module comprises a plurality of groups of lifting assemblies, lifting valve groups, constant-pressure variable plunger pumps and an oil tank, wherein the lifting assemblies and the supporting leg assemblies are arranged in one-to-one correspondence; The lifting assembly comprises a lifting oil cylinder and a balance valve, the pressure sensing module is arranged in the lifting assembly, The large cavity of the lifting cylinder is connected with the C1 port of the balance valve, the small cavity of the lifting cylinder is connected with the C2 port of the balance valve, the B port and the A port of the balance valve are connected with the lifting valve bank, the oil outlet of the lifting valve bank is connected with the oil return port