CN102730563B - Wheeled crane and electronic control steering hydraulic control system thereof - Google Patents
Wheeled crane and electronic control steering hydraulic control system thereof Download PDFInfo
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- CN102730563B CN102730563B CN201210233089.7A CN201210233089A CN102730563B CN 102730563 B CN102730563 B CN 102730563B CN 201210233089 A CN201210233089 A CN 201210233089A CN 102730563 B CN102730563 B CN 102730563B
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Abstract
The invention discloses an electronic control steering hydraulic control system which comprises a hydraulic oil tank communicated with a system oil return oil line, a hydraulic pump, proportional valves, an energy storage device and a directional control valve, wherein the hydraulic pump takes pressure oil liquid from the hydraulic oil tank and outputs the pressure oil liquid to a system pressure oil line; the proportional valves are respectively arranged between a steering cylinder and the system pressure oil line as well as between the steering cylinder and the system oil return oil line to control the stretching of the steering cylinder; the energy storage device is arranged on the system pressure oil line on an upper stream side of the proportional valve; and the directional control valve is arranged between the system pressure oil line and the hydraulic pump or the hydraulic oil tank for communication. According to the electronic control steering hydraulic control system disclosed by the invention, the self driving state parameter of a vehicle is collected by a vehicle body controller; after information is processed by the controller, a control signal is sent to switch the working position of the directional control valve so as to solve the unloading problem of the energy storage device and the pressure oil line connected with the energy storage device; and therefore, the service life of a hydraulic element is prolonged while energy is saved. In addition, the invention also discloses a wheeled crane adopting the electronic control steering hydraulic control system.
Description
Technical field
The present invention relates to field of hydraulic control, particularly a kind of wheel crane and automatically controlled steering hydraulic control system thereof.
Background technology
In the process of moving, reliable, safe automatically controlled steering swivel system is the key ensureing normal vehicle operation to vehicle.At present, large-tonnage full ground wheel crane adoption rate valve hydraulic control pump, to the fuel feeding turning to loop, realizes the multiaxis multi-mode steering action on chassis.Due to vehicle own structural characteristics, the feed apparatus that turns to of automatically controlled steering swivel system is placed in vehicle front side usually, and controls the steering cylinder of vehicle rear axletree, and the apportioning valve controlling this steering cylinder is placed in vehicle rear-side, and both are communicated with by pressure oil circuit.In view of said structure feature, there is following shortcoming in this automatically controlled steering swivel system:
1., because pressure oil circuit is longer, in automatically controlled steering swivel system, pressure oil liquid to be delivered to apportioning valve required time longer for Hydraulic Pump, makes vehicle cannot carry out handling maneuver immediately, thus cause the corresponding delayed of automatically controlled steering swivel system;
2. the liquid stream momentary spike flowing through pressure oil circuit from Hydraulic Pump easily causes the shake of Vehicular turn, is unfavorable for the normal traveling of vehicle;
3. when engine off vehicle stops, the pressure oil liquid in pressure oil circuit fails to be back to hydraulic reservoir rapidly, makes Hydraulic Pump be in band and carries state.Again during start the engine, Hydraulic Pump needs relatively high power by pressure oil liquid pump-in pressure oil circuit in hydraulic reservoir, therefore, can cause the waste of energy to overcome existing load.In addition, under being in high pressure conditions for a long time, the service life of pressure oil circuit and Hydraulic Pump will be shortened.
In order to solve above-mentioned shortcoming in automatically controlled steering swivel system, providing a kind of automatically controlled steering hydraulic control system, refer to Fig. 1 in prior art, Fig. 1 shows automatically controlled steering system hydraulic control system schematic diagram.
As shown in Figure 1, when after engine starting, drive Hydraulic Pump 02 that pressure oil liquid is delivered to pressure oil circuit from hydraulic reservoir 01, pressure oil liquid flows in energy storage 03 and the steering cylinder 05 that controlled by apportioning valve 04, thus controls the handling maneuver of vehicle.The program is provided with energy storage 03 between steering cylinder 05 and Hydraulic Pump 02, before the pressure oil liquid sent at Hydraulic Pump 02 not yet arrives steering cylinder 05, pressure oil liquid in energy storage 03 flows into steering cylinder 05 via apportioning valve 04, makes vehicle generation handling maneuver with charging pressure.Obviously, the program is by the timely compensation of energy storage 03 and the effect of absorption liquid stream spike, and actv. solves Vehicular turn response lag and jitter problem when adopting traditional automatically controlled steering swivel system.But, after the program still fails to overcome the stopping of engine off vehicle, the aforementioned adverse consequences that the pressure oil liquid in pressure oil circuit cannot be back to hydraulic reservoir rapidly and cause.
In view of this, urgently for existing automatically controlled steering swivel system Curve guide impeller, with to solve in prior art engine off vehicle be about to stop time, the off-load of energy storage and the oil feed line be directly connected with it, thus eliminate the pressure of Hydraulic Pump and oil feed line, finally reach the service life and energy-conservation object that extend Hydraulic Elements.
Summary of the invention
For above-mentioned defect, the object of the present invention is to provide and a kind of automatically controlledly turn to hydraulic control system, to solve engine off vehicle by the stop timing, energy storage and the unloading being communicated with it pressure oil circuit, thus the service life extending Hydraulic Elements while energy-conservation.
Automatically controlled steering hydraulic control system of the present invention, comprising:
Hydraulic reservoir, connected system oil return circuit;
Hydraulic Pump, gets pressure oil liquid from described hydraulic reservoir pump and exports system pressure oil circuit to;
Apportioning valve, is arranged on steering cylinder and between system pressure oil circuit and oil return circuit, to control the flexible of described steering cylinder;
Energy storage, is arranged on the system pressure oil circuit of described apportioning valve upstream side; It is characterized in that, also comprise:
Directional control valve, is arranged on described energy storage and between described Hydraulic Pump and described hydraulic reservoir, to control conducting between the system pressure oil circuit at described energy storage place and described Hydraulic Pump or described hydraulic reservoir.
Preferably, also comprise controller, described controller sends the switching signal of control position to described directional control valve according to engine speed; And be configured to: when engine speed is greater than predetermined value, described directional control valve is positioned at the first control position, and described energy storage is communicated with described Hydraulic Pump; When engine speed is less than or equal to predetermined value, described directional control valve is positioned at the second control position, and described energy storage is communicated with described hydraulic reservoir.
Preferably, when described engine speed is less than or equal to predetermined value, described delaying time of controller sends described switching signal.
Preferably, described engine speed predetermined value is specially 400-500r/min.
Preferably, described directional control valve is specially two-bit triplet solenoid directional control valve, described two-bit triplet solenoid directional control valve comprises the first hydraulic fluid port, the second hydraulic fluid port and the 3rd hydraulic fluid port, described first hydraulic fluid port is communicated with described Hydraulic Pump, described second hydraulic fluid port is communicated with described energy storage, and described 3rd hydraulic fluid port is communicated with described hydraulic reservoir.
Preferably, arrange check valve between described Hydraulic Pump and described directional control valve, the oil inlet of described check valve is communicated with described Hydraulic Pump, and the oil outlet of described check valve is communicated with described energy storage.
Preferably, between described Hydraulic Pump and described hydraulic reservoir, by pass valve is set.
Preferably, described energy storage is specially pneumatic accumulator.
Preferably, described by pass valve is specially pilot overflow valve.
The present invention also provides a kind of wheel crane, comprises the steering control system of control wheel axle steer, and described steering control system is specially above-mentioned automatically controlled steering hydraulic control system.
Provided by the inventionly automatically controlledly turn to hydraulic control system, comprise the hydraulic reservoir of connected system oil return circuit, self-hydraulic fuel tank pump is got pressure oil liquid and is exported the Hydraulic Pump of system pressure oil circuit to, be arranged on steering cylinder and between system pressure oil circuit and oil return circuit to control the flexible apportioning valve of steering cylinder, be arranged on the energy storage on the system pressure oil circuit of apportioning valve upstream side, and be arranged on the directional control valve that energy storage place system pressure oil circuit is communicated with between Hydraulic Pump or hydraulic reservoir.
Engine ignition vehicle launch, directional control valve switches to the control position being communicated with energy storage and Hydraulic Pump, and hydraulic reservoir internal pressure fluid is pumped into energy storage by Hydraulic Pump.Start in vehicle travel process to turn to moment, the pressure oil liquid of Hydraulic Pump pump-in pressure oil circuit not yet arrives steering cylinder, and now in energy storage, the pressure oil liquid of savings provides pressure oil liquid via apportioning valve to steering cylinder, ensure that the promptness of handling maneuver; Engine off vehicle is about to stop, and Hydraulic Pump quits work, and directional control valve is switched to the control position being communicated with energy storage and hydraulic reservoir, now energy storage and be attached thereto pressure oil circuit internal pressure fluid via in oil return circuit inflow hydraulic reservoir.
Compare to prior art, the present invention is provided with directional control valve at energy storage and between Hydraulic Pump and hydraulic reservoir, engine off vehicle is by the stop timing, energy storage flows into hydraulic reservoir with the pressure oil liquid in the pressure oil circuit be attached thereto rapidly via oil return circuit, Hydraulic Elements are made to be in not subjected to pressure state, pressure oil circuit also can not leak because being in high pressure conditions for a long time, thus avoids and to be in band when Hydraulic Pump starts again and to carry a state.Therefore, in the present invention, automatically controlled steering hydraulic control system extends the service life of Hydraulic Elements under energy-conservation prerequisite.
In preferred version of the present invention, also comprise controller, after controller obtains engine speed Treatment Analysis, send the switching signal of control position to directional control valve; And be configured to: when engine speed is more than or equal to predetermined value, directional control valve is positioned at the first control position, and energy storage is communicated with Hydraulic Pump; When driving engine is less than predetermined value, directional control valve is positioned at the second control position, and energy storage is communicated with hydraulic reservoir.By this autonomous cruise speed system, avoid engine off vehicle by the stop timing, because human element fails timely switching direction control cock, and fail the aforementioned adverse consequences that causes with the pressure oil circuit off-load be communicated with it to energy storage.
In another preferred version in the present invention, the engine speed that controller obtains is by being more than or equal to after predetermined value is down to and is less than predetermined value, sending control position switching signal to directional control valve after delaying time of controller certain hour, its objective is as guaranteeing that the stability of front steering mode of operation worked as by vehicle.
Accompanying drawing explanation
Fig. 1 shows the schematic diagram of existing automatically controlled steering hydraulic control system;
Fig. 2 shows the schematic diagram of automatically controlled steering hydraulic control system in specific embodiment;
Fig. 3 shows the control flow chart of the directional control valve shown in Fig. 2.
In figure:
1 hydraulic reservoir, 2 Hydraulic Pumps, 3 by pass valves, 4 check valves, 5 directional control valves, 6 energy storages, 7 apportioning valves, 8 steering cylinders.
Detailed description of the invention
Core of the present invention is to provide a kind of automatically controlled steering hydraulic control system, to solve in prior art engine off vehicle by the stop timing, the unloading of energy storage and the pressure oil circuit be communicated with it, thus eliminate the consumption of energy when the pressure of Hydraulic Elements and Hydraulic Pump start again, finally realize energy-conservation while extend the service life of Hydraulic Elements object.
Without loss of generality, the detailed description of the invention of automatically controlled steering hydraulic control system is illustrated below in conjunction with Figure of description.
Refer to Fig. 2, Fig. 2 shows automatically controlled steering hydraulic control system schematic diagram in the present embodiment.
As described in Figure 2, automatically controlled steering hydraulic control system provided by the invention comprises the hydraulic reservoir 1 of connected system oil return circuit, self-hydraulic fuel tank 1 pump is got pressure oil liquid and is exported the Hydraulic Pump 2 of system pressure oil circuit to, be arranged on steering cylinder 8 and between system pressure oil circuit and oil return circuit to control the flexible apportioning valve 7 of steering cylinder 8, be arranged on the energy storage 6 on the system pressure oil circuit of apportioning valve 7 upstream side, and be arranged on the directional control valve 5 that energy storage 6 place system pressure oil circuit is communicated with between Hydraulic Pump 2 or hydraulic reservoir 1.
Engine ignition vehicle launch, directional control valve 5 switches to the control position being communicated with energy storage 6 and Hydraulic Pump 2, and hydraulic reservoir 1 internal pressure fluid is pumped into energy storage 6 by Hydraulic Pump 2.When starting to turn to moment in vehicle travel process, the pressure oil liquid of Hydraulic Pump 2 pump-in pressure oil circuit not yet arrives steering cylinder 8, and now in energy storage 6, the pressure oil liquid of savings provides pressure via apportioning valve 7 to steering cylinder 8, ensure that the promptness of handling maneuver; When engine off vehicle is about to stop, Hydraulic Pump 2 quits work, directional control valve 5 switches to the control position being communicated with energy storage 6 and hydraulic reservoir 1, and now energy storage 6 and the pressure oil liquid be attached thereto in pressure oil circuit flow in hydraulic oil liquid case 1 via oil return circuit.
When engine off vehicle is about to stop, by the switching of directional control valve 5 control position, energy storage 6 flows into rapidly hydraulic reservoir 1 with the pressure oil liquid in the pressure oil circuit be attached thereto via oil return circuit, ensure that whole oil supply loop is in not subjected to pressure state, pressure oil circuit also can not leak because being in high pressure conditions for a long time, thus avoids and to be in band when Hydraulic Pump 2 starts again and to carry a state.Therefore, in the present invention, automatically controlled steering hydraulic control system extends the service life of Hydraulic Elements while energy-conservation.
As shown in Figure 2, directional control valve 5 in this programme is specially two-bit triplet solenoid directional control valve, this two-bit triplet solenoid directional control valve comprises the first hydraulic fluid port, the second hydraulic fluid port and the 3rd hydraulic fluid port, wherein, first hydraulic fluid port is communicated with Hydraulic Pump 2, and the second hydraulic fluid port is communicated with energy storage 6, and the 3rd hydraulic fluid port is communicated with hydraulic reservoir 1, to be realized the change of energy storage and place system pressure oil circuit conducting relation thereof by the switching of control position, and the automatic control of this valve position switching can be realized.Refer to Fig. 3, Fig. 3 shows the control flow chart of directional control valve in this programme.
As shown in Figure 3, this programme middle controller can read engine speed in the CAN message sent by ECU, judges the state of driving engine, namely works or static, realizes the switching of two-bit triplet solenoid directional control valve control position with this.When engine speed is greater than predetermined value, the power-off of two-bit triplet solenoid directional control valve switches to the first control position, and namely energy storage 6 is communicated with Hydraulic Pump 2; When engine speed is less than or equal to predetermined value, controller sends switching signal, and now two-bit triplet solenoid directional control valve energising switches to the second control position, and namely energy storage 6 is communicated with hydraulic reservoir 1, energy storage 6 and the pressure oil circuit off-load be communicated with it.
This programme controls the switching of above-mentioned two-bit triplet solenoid directional control valve control position automatically by controller, this design prevents cause due to maloperation in the process of moving vehicle misroute to, thus improve the safety in vehicle travel process.In addition, by automatically controlling the labour intensity considerably reducing operator.In addition, it is emphasized that in the present invention also can adopt and differ from the mode pointed out in this programme and read engine speed, with the switching of Controlling solenoid valve control position, such as, adopt other known data acquisition modes such as speed sensor.
It should be noted that, two-bit triplet solenoid directional control valve specifically selected by the directional control valve in this programme, when meeting directional control valve function, also can adopt other any types.In addition, the predetermined value of the engine speed of the controller setting in this programme is specially 400-500r/min, is appreciated that this numerical value sets according to the concrete function parameter of the different model vehicle of this automatically controlled steering swivel system of configuration.It should be noted that, this predetermined value must be less than the idling speed of driving engine, thus guarantees that the off-load work of automatically controlled steering hydraulic control system can only complete under engine off state.
Further as shown in Figure 3, when the engine speed that controller reads is less than or equal to predetermined value, output switching signal after delaying time of controller certain hour, the energising of two-bit triplet solenoid directional control valve switches to the second control position, thus realizes the off-load of energy storage 6 and the pressure oil circuit be communicated with it in loop.This design is that of avoiding vehicle and not yet stops and switch operating position and cause the automatically controlled inefficacy turned to after two-bit triplet solenoid valves, thus guarantees that Current vehicle turns to the stability of mode of operation.It is emphasized that concrete delay time can change according to the change of the speed of response of hydraulic efficiency pressure system, experimentally data show, the reference time delay of 0.01-2s can meet the requirement of the automatically controlled steering swivel system of all vehicles.Preferably, the reference time delay of 0.1-0.5s can meet the requirement of basic vehicle.
Between Hydraulic Pump 2 and directional control valve 5, be provided with check valve 4 in this programme, the oil inlet of check valve 4 is communicated with Hydraulic Pump 2, and its oil outlet is communicated with energy storage 6.The object of this design is the flow direction in order to limiting pressure fluid, and the pressure oil liquid namely pumped by Hydraulic Pump 2 can only single flow direction energy storage 6 and steering cylinder 8, prevents the backflow because of pressure oil liquid to cause the damage of Hydraulic Pump.
The working process of automatically controlled steering hydraulic control system in this programme is described below in conjunction with Fig. 2 and Fig. 3:
One, after engine ignition vehicle launch, the engine speed that controller obtains is greater than predetermined value, and the power-off of two-bit triplet solenoid directional control valve switches to the first control position, and namely the first hydraulic fluid port is communicated with Hydraulic Pump 2 and energy storage 6 with the second hydraulic fluid port.Now Hydraulic Pump 2 is by the pressure oil liquid pump-in pressure oil circuit in hydraulic reservoir 1, and open along with pressure in pressure oil circuit constantly increases check valve 4, pressure oil liquid flows through check valve 4 and two-bit triplet solenoid directional control valve 5, enters energy storage 6.
When two, needing to carry out wheel shaft course changing control, apportioning valve 7 needs switch operating position and aperture to regulate according to turning to, and like this, pressure oil liquid flows into steering cylinder 8 via apportioning valve 7 again thus realizes the handling maneuver of vehicle.
Three, when engine off vehicle is by the stop timing, the engine speed that controller obtains is less than or equal to predetermined value, output switching signal after delaying time of controller certain hour, the energising of two-bit triplet solenoid directional control valve switches to the second control position, and namely the 3rd hydraulic fluid port is communicated with pressure oil liquid case 1 and energy storage 6 with the second hydraulic fluid port.Now, energy storage 6 and the pressure oil liquid in the pressure oil circuit be attached thereto, by two-bit triplet solenoid directional control valve, flow into hydraulic reservoir 1 via oil return circuit.
It should be noted that, the principle of work of apportioning valve 7 is same as the prior art, due to matching relationship between this apportioning valve 7 and corresponding steering cylinder 8 and not this Applicant's Abstract graph inventive point place, therefore does not illustrate the concrete structure of apportioning valve 7 in this programme.
In addition, in this programme, by pass valve 3 is set between Hydraulic Pump 2 and hydraulic reservoir 1, when the oil pressure in pressure oil circuit and steering cylinder reaches certain numerical value, by pass valve 3 is opened under this pressure effect, directly flow in hydraulic reservoir 1 through oil return circuit by the pressure oil liquid newly pumped into, this design keeps the pressure of steering cylinder 8 and oil supply loop within safe range.As can be seen here, the pressure of whole system is all within the pressure unloading scope of by pass valve 3, and pressure can not raise always and damage hydraulic component.
It is emphasized that the energy storage 6 in this programme is specially pneumatic accumulator, by pass valve 3 is specially pilot overflow valve, under the prerequisite of function meeting both Hydraulic Elements above-mentioned, can also select other types.
Except aforementioned automatically controlled steering hydraulic control system, the present invention also provides a kind of wheel crane, comprises the steering control system of control wheel axle steer, and this steering control system is specially above-mentioned automatically controlled steering hydraulic control system.Be appreciated that basic function parts and the principle of work of this wheel crane of formation are substantially identical with prior art, those skilled in the art can realize completely based on prior art, therefore repeats no more herein.
The foregoing is only the preferred embodiment for the present invention, do not form limiting the scope of the present invention.Any any amendment done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within claims of the present invention.
Claims (10)
1. an automatically controlled steering hydraulic control system, comprising:
Hydraulic reservoir, connected system oil return circuit;
Hydraulic Pump, gets pressure oil liquid from described hydraulic reservoir pump and exports system pressure oil circuit to;
Apportioning valve, is arranged on steering cylinder and between system pressure oil circuit and oil return circuit, to control the flexible of described steering cylinder;
Energy storage, is arranged on the system pressure oil circuit of described apportioning valve upstream side; It is characterized in that, also comprise:
Directional control valve, is arranged on described energy storage and between described Hydraulic Pump and described hydraulic reservoir, to control conducting between the system pressure oil circuit at described energy storage place and described Hydraulic Pump or described hydraulic reservoir.
2. automatically controlled steering hydraulic control system according to claim 1, is characterized in that, also comprise controller, and described controller sends the switching signal of control position to described directional control valve according to engine speed; And be configured to: when engine speed is greater than predetermined value, described directional control valve is positioned at the first control position, and described energy storage is communicated with described Hydraulic Pump; When engine speed is less than or equal to predetermined value, described directional control valve is positioned at the second control position, and described energy storage is communicated with described hydraulic reservoir.
3. automatically controlled steering hydraulic control system according to claim 2, is characterized in that, when described engine speed is less than or equal to predetermined value, described delaying time of controller sends described switching signal.
4. automatically controlled steering hydraulic control system according to claim 3, is characterized in that, described engine speed predetermined value is specially 400-500r/min.
5. automatically controlled steering hydraulic control system according to claim 4, it is characterized in that, described directional control valve is specially two-bit triplet solenoid directional control valve, described two-bit triplet solenoid directional control valve comprises the first hydraulic fluid port, the second hydraulic fluid port and the 3rd hydraulic fluid port, described first hydraulic fluid port is communicated with described Hydraulic Pump, described second hydraulic fluid port is communicated with described energy storage, and described 3rd hydraulic fluid port is communicated with described hydraulic reservoir.
6. automatically controlled steering hydraulic control system according to any one of claim 1 to 5, it is characterized in that, arrange check valve between described Hydraulic Pump and described directional control valve, the oil inlet of described check valve is communicated with described Hydraulic Pump, and the oil outlet of described check valve is communicated with described energy storage.
7. automatically controlled steering hydraulic control system according to claim 6, is characterized in that, arranges by pass valve between described Hydraulic Pump and described hydraulic reservoir.
8. automatically controlled steering hydraulic control system according to claim 7, is characterized in that, described energy storage is specially pneumatic accumulator.
9. automatically controlled steering hydraulic control system according to claim 8, is characterized in that, described by pass valve is specially pilot overflow valve.
10. a wheel crane, comprises the steering control system of control wheel axle steer, it is characterized in that, described steering control system is automatically controlled steering hydraulic control system as claimed in any one of claims 1-9 wherein.
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| CN201210233089.7A CN102730563B (en) | 2012-07-06 | 2012-07-06 | Wheeled crane and electronic control steering hydraulic control system thereof |
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| CN201210233089.7A CN102730563B (en) | 2012-07-06 | 2012-07-06 | Wheeled crane and electronic control steering hydraulic control system thereof |
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| CN103030065B (en) * | 2012-12-26 | 2014-11-19 | 三一重工股份有限公司 | Hydraulic locking control system, hydraulic assembly of crane, and crane |
| CN103407488B (en) * | 2013-08-30 | 2017-02-08 | 徐州重型机械有限公司 | Wheel type crane and steering hydraulic control system thereof |
| CN103465956B (en) * | 2013-09-27 | 2015-11-25 | 徐州重型机械有限公司 | Steering control valve, engineering truck steering swivel system and turn to the method for protecting against shock |
| CN106029470A (en) * | 2013-12-19 | 2016-10-12 | 沃尔沃建筑设备公司 | A hydraulic load sensing system |
| KR20160025340A (en) * | 2014-08-27 | 2016-03-08 | 주식회사 두산 | Hudraulic circuit for forklift |
| CN107934784A (en) * | 2017-11-24 | 2018-04-20 | 徐州重型机械有限公司 | A kind of fuel tank pressue device, control method and its crane |
| CN110203274A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | The automatic steering system and its method of automatic harvester |
| CN111943048B (en) * | 2020-07-30 | 2023-04-11 | 湖南双达机电有限责任公司 | Control method and control system of hoisting machinery, hydraulic system and hoisting machinery |
| CN114715266B (en) * | 2022-03-31 | 2023-06-20 | 湖南三一华源机械有限公司 | Steering brake assembly, control method and control device thereof and engineering vehicle |
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