CN103276764B - Walking cruising proportion control device and excavator - Google Patents
Walking cruising proportion control device and excavator Download PDFInfo
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- CN103276764B CN103276764B CN201310202571.9A CN201310202571A CN103276764B CN 103276764 B CN103276764 B CN 103276764B CN 201310202571 A CN201310202571 A CN 201310202571A CN 103276764 B CN103276764 B CN 103276764B
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- valve
- oil
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- pilot valve
- spacer assembly
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Abstract
The invention discloses a walking cruising proportion control device and an excavator, and belongs to the field of mechanical control. The walking cruising proportion control device comprises a first walking control valve 3 which is connected with a main pump 2 through a first pilot valve 1, a controller 4 used for controlling opening and closing of pilot valves, a first pressure sensor D1 used for sensing pressure, and a third pilot valve 5. The first pressure sensor D1 is arranged in a pilot oil way of the first pilot valve 1 and is connected with the controller 4, the controller 4 is connected with the third pilot valve 5, the main pump 2 is connected with the third pilot valve 5, and the third pilot valve 5 is connected with the first walking control valve 3. According to the technical scheme, the pressure sensor senses the pressure of the oil way during walking, the controller controls the pressure in a cruising loop to be equal to that during walking, and therefore the aims of vehicle speed cruising and improvement of driving comfort are achieved.
Description
The invention belongs to plant equipment control field, relate to a kind of control device, particularly relate to a kind of proportional control apparatus and excavator of cruising of walking.
Background technology
At present, the running gear of crawler hypraulic excavator mainly adopts guide's foot valve hydraulic control mode to operate.During operation foot valve, pin need step down on foot valve pedal to realize the walking of excavator.Foot valve be in the nature mechanical type proportional pressure-reducing valve, need certain active force by its work.
During excavator walking, pin need step down on foot valve, and the active force operating foot valve is relatively large, and when excavating the walking of captain's distance, operator is easily tired, and operation comfort is lower.
Summary of the invention
In view of this, the invention provides a kind of proportional control apparatus and excavator of cruising of walking, by adding the pilot circuit that cruises controlled by electromagnetic proportional valve, can vehicle speed cruise be realized, improving driver comfort.
For achieving the above object, concrete technical scheme is as follows:
On the one hand, provide a kind of proportional control apparatus that cruises of walking, comprise the first travel control valve be connected with main pump by the first pilot valve, also comprise and control the controller of pilot valve folding, the first pressure sensor of induction pressure value and the 3rd pilot valve, described first pressure sensor is located in guide's oil circuit of described first pilot valve, described first pressure sensor is connected with described controller, described controller is connected with described 3rd pilot valve, described main pump is connected with described 3rd pilot valve, and described 3rd pilot valve is connected with described first travel control valve.
Preferably, also comprise the first spacer assembly and the second spacer assembly, first oil-out of described first pilot valve is connected by first oil-in of described first spacer assembly with described first travel control valve, and the second oil-out of described first pilot valve is connected with the second oil-in of described first travel control valve by described second spacer assembly.
Preferably, described 3rd pilot valve comprises the first electromagnetic proportional valve and the first reversal valve, described first electromagnetic proportional valve is connected with described controller, described main pump, the first electromagnetic proportional valve are connected successively with the first reversal valve, first oil-out of described first reversal valve is connected by first oil-in of described first spacer assembly with described first travel control valve, and the second oil-out of described first reversal valve is connected with the second oil-in of described first travel control valve by described second spacer assembly.
Preferably, the oil-out of described first electromagnetic proportional valve is connected with the first oil-in of described first reversal valve, and the second oil-in of described first reversal valve is connected by the first oil-in of described first spacer assembly or the second spacer assembly and described first pilot valve or the second oil-out.
Preferably, also comprise the second travel control valve be connected with main pump by the second pilot valve, and second pressure sensor and the 4th pilot valve, described second pressure sensor is located in guide's oil circuit of described second pilot valve, described second pressure sensor is connected with described controller, described controller is connected with described 4th pilot valve, and described 4th pilot valve is connected with described second travel control valve.
Preferably, also comprise the 3rd spacer assembly and the 4th spacer assembly, first oil-out of described second pilot valve, second oil-out is respectively by described 3rd spacer assembly, first oil-in of the 4th spacer assembly and described second travel control valve, second oil-in is connected, described 4th pilot valve comprises the second electromagnetic proportional valve and the second reversal valve, described second electromagnetic proportional valve is connected with described controller, described main pump, second electromagnetic proportional valve is connected successively with the second reversal valve, first oil-out of described second reversal valve, second oil-out is respectively by described 3rd spacer assembly, first oil-in of the 4th spacer assembly and described second travel control valve, second oil-in is connected.
Preferably, described first reversal valve and the second reversal valve are two-position three-way valve.
Preferably, described first spacer assembly, the second spacer assembly, the 3rd spacer assembly, the 4th spacer assembly are three-way shuttle valve or electromagnetic valve.
Preferably, described first travel control valve, the second travel control valve are three position four-way directional control valve.
On the other hand, provide a kind of excavator, comprise the proportional control apparatus that cruises of walking described above.
Relative to prior art, the advantage of technical scheme of the present invention has:
1, control walking by the force value of pressure sensor, can vehicle speed cruise be realized, improve driver comfort;
2) can be used for positive flow system, minus flow system, load sensitive system.Do not change machine system structure and control mode;
3) compact overall structure of the present invention, practical.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is that the walking of the embodiment of the present invention is cruised the structural representation of proportional control apparatus;
Fig. 2 is that the walking of the embodiment of the present invention is cruised the control flow chart of proportional control apparatus.
Wherein, 1 be the first pilot valve, 2 is walking cruise switch for main pump, 3 is the first travel control valve, 4 for controller, 5 be the 3rd pilot valve, 6 be the second pilot valve, 7 be the second travel control valve, 8 is the 4th pilot valve, 9.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
Below with reference to accompanying drawing, concrete explaination is done to embodiments of the invention.
The one walking of embodiments of the invention as shown in Figure 1 is cruised proportional control apparatus, comprise the first travel control valve 3 be connected with main pump 2 by the first pilot valve 1, control the controller 4 of pilot valve folding, the first pressure sensor D1 of induction pressure value and the 3rd pilot valve 5.First pressure sensor D1 is located in guide's oil circuit of the first pilot valve 1, and the first pressure sensor D1 is connected with controller 4, and controller 4 is connected with the 3rd pilot valve 5, and main pump 2 is connected with the 3rd pilot valve 5, and the 3rd pilot valve 5 is connected with the first travel control valve 3.
The present invention by the pressure in oil circuit during pressure sensor induction walking, and controls equal with when walking of the pressure that cruises in loop by controller, thus realizes vehicle speed cruise, raising driver comfort.
As shown in fig. 1, in an embodiment of the present invention, the first spacer assembly C1 and the second spacer assembly C2 is also comprised.First oil-out P1 of the first pilot valve 1 is connected with the first oil-in of the first travel control valve 3 by the first spacer assembly C1, and the second oil-out P2 of the first pilot valve 1 is connected with the second oil-in of the first travel control valve 1 by the second spacer assembly C2.
3rd pilot valve 5 comprises the first electromagnetic proportional valve A1 and the first reversal valve B1.First electromagnetic proportional valve A1 is connected with controller 4.Main pump 2, first electromagnetic proportional valve A1 is connected successively with the first reversal valve B1, and first oil-out of the first reversal valve B1, the second oil-out are connected by the first oil-in of the first spacer assembly C1, the second spacer assembly C2 and the first travel control valve 3, the second oil-in.The oil-out of the first electromagnetic proportional valve A1 is connected with first oil-in of the first reversal valve B1, and second oil-in of the first reversal valve B1 is connected by the first oil inlet P 1 of the first spacer assembly C1 or the second spacer assembly C2 and the first pilot valve 1 or the second oil-out P2.In an embodiment of the present invention, first oil-in of the first reversal valve B1 is connected with the first oil-out when normal walking, and second oil-in of the first reversal valve B1 is connected with the second oil-out P2 of the first pilot valve 1 by the second spacer assembly C2.
In addition, the second travel control valve 7 be connected with main pump 2 by the second pilot valve 6 is preferably also comprised, and the second pressure sensor D2 and the 4th pilot valve 8.Second pressure sensor D2 is located in guide's oil circuit of the second pilot valve 6, and the second pressure sensor D2 is connected with controller 4, and controller 4 is connected with the 4th pilot valve 5, and the 4th pilot valve 5 is connected with the second travel control valve 7.Also preferably include the 3rd spacer assembly C3 and the 4th spacer assembly C4.First oil-out P3, the second oil-out P4 of the second pilot valve 6 are connected respectively by the first oil-in of the 3rd spacer assembly C3, the 4th spacer assembly C4 and the second travel control valve 7, the second oil-in.4th pilot valve 8 comprises the second electromagnetic proportional valve A2 and the second reversal valve B2, second electromagnetic proportional valve A2 is connected with controller 4, main pump 2, second electromagnetic proportional valve A2 is connected successively with the second reversal valve B2, and first oil-out of the second reversal valve B2, the second oil-out are connected respectively by the first oil-in of the 3rd spacer assembly C3, the 4th spacer assembly C4 and the second travel control valve 7, the second oil-in.
In an embodiment of the present invention, preferably the first reversal valve B1 and the second reversal valve B2 is two-position three-way valve.First spacer assembly C1, the second spacer assembly C2, the 3rd spacer assembly C3, the 4th spacer assembly C4 are three-way shuttle valve or electromagnetic valve, are preferably three-way shuttle valve.First travel control valve 3, second travel control valve 7 is three position four-way directional control valve.Two-bit triplet reversal valve and three-way shuttle valve make to cruise guide's oil circuit and foot valve guide oil circuit does not interfere with each other, and can realize the pilot control to left and right walking spool.
In addition, in the present embodiment, preferred controller 4 is also provided with walking cruise switch 9, cruises for starting or closing.
Operating principle of the present invention is:
1) when operator operates the first pilot valve 1, second pilot valve 6, after excavator is exercised according to certain speed, start walking cruise switch 9(open state), after controller 4 receives instruction, be assigned to the first electromagnetic proportional valve A1, the corresponding electric current of the second electromagnetic proportional valve A2, thus the guide's oil circuit that cruises sets up corresponding pilot pressure, its size is equal with the pressure that first, second pressure sensor D1, D2 sense.
After operator shut-down operation first pilot valve 1, second pilot valve 6, travel control valve (3,7) still keeps original position constant under this pilot pressure promotes, and main pump 2 keeps former discharge capacity constant simultaneously, and excavator spends traveling in tempo.
2) when operator operates the pressure change of guide's oil circuit of the first pilot valve 1, second pilot valve 6, first pilot valve 1, second pilot valve 6 again can be transferred to controller 4 by pressure sensor D1, D2; Controller 4 makes walking cruise switch 9 reset (off status), electromagnetic proportional valve A1, A2 power-off, the guide's oil circuit pressure that cruises becomes 0, and the first pilot valve 1, second pilot valve 6 guide oil circuit works, and system reenters the first pilot valve 1, second pilot valve 6 state of a control.
3) in the process of walking, when operator direct hand-reset walking cruise switch 9, electromagnetic proportional valve A1, A2 power-off, its guide's oil circuit pressure that cruises controlled is 0, and excavator stops exercising, the corresponding adjustment of pumpage.
For excavator straight line moving backward:
When left and right running motor is exercised backward with certain speed, P2 and C2 communicates, and the first reversal valve B1 walks to retreat pilot pressure by right lateral and controls, and is switched to right position, and now the first electromagnetic proportional valve A1 and C2 communicates; Second reversal valve B2 walks to retreat pilot pressure by left lateral and controls, and be also switched to right position, now A2 and C4 communicates.
If now start walking cruise switch 9, controller 4 enters cruise mode after receiving instruction, according to the pressure signal that pressure sensor D1, D2 of left and right running motor gather, be assigned to the corresponding electric current of electromagnetic proportional valve A1, A2 respectively, thus the guide's oil circuit that cruises sets up corresponding pilot pressure.After operator shut-down operation, travel control valve 3,7 still keeps original position constant under this pilot pressure promotes, and main pump 2 keeps former discharge capacity constant simultaneously, and straight line moving backward spent in tempo by excavator.When after operator again operated pilot valve 1,6, the pressure change of guide's oil circuit can be transferred to controller 4 by sensor D1, D2; Controller 4 makes walking cruise switch 9 reset (off status), exits cruise mode, electromagnetic proportional valve A1, A2 power-off, and the guide's oil circuit pressure that cruises is 0, and pilot valve 1,6 guide's oil circuit works, and exercises forward.
Other operations are similar, do not repeat one by one.
Pilot valve 1,6 state of a control of embodiments of the invention is switched to the foundation of cruise control state:
Whether controller 4 receives triggering signal of cruising.Receive triggering signal and then enter cruise control state, do not receive triggering signal and be then still pilot valve 1,6 state of a control.
Cruise control state is switched to the foundation of pilot valve 1,6 state of a control:
1) whether controller 4 responds to pilot pressure sensor D1, the change of D2 pressure signal force value and fluctuation.There is pressure to change and fluctuate and then cancel cruise control state, enter pilot valve 1,6 state of a control.Then cruise control state is still without pressure signal fluctuation.
2) whether close walking cruise switch 9, close and then cancel cruise control state, enter pilot valve 1,6 state of a control.
As shown in Figure 2, the control method of embodiment of the present invention cruising device:
1) for the walking of controller 4 special setting is cruised program, when cruise mode starts, the pressure signal that main pump 2 discharge capacity, engine speed etc. do not collect along with walking pilot pressure sensor D1, D2 changes and changes, until cancel cruise mode for it;
2) proportional controlling means: according to walking pilot pressure signal, the electric current that controller 4 sends to electromagnetic proportional valve A1, A2 proportional, walking is cruised, and pressure that guide's oil circuit sets up equals the pressure that collects of pilot pressure sensor D1, D2 of walking;
3) pilot valve 1,6 priority principle: remove cruising condition with pilot valve 1,6 pilot pressure signal; Pilot valve 1,6 controls to have precedence over control of cruising;
4) prevent maloperation from judging: after controller 4 receives triggering signal of cruising, the first time fluctuation of walking pilot pressure and change, controller acquiescence unclamps pilot valve 1,6 pedal by driver to cause, and continues to keep cruise control state constant.
A kind of excavator is also comprised in embodiments of the invention, wherein, be provided with above-mentioned walking to cruise proportional control apparatus, because the above-mentioned walking proportional control apparatus that cruises has above-mentioned technique effect, therefore, be provided with the cruise excavator of proportional control apparatus of this walking and also should possess corresponding technique effect, its specific implementation process is similar to the above embodiments, does not hereby repeat.
Be described in detail specific embodiments of the invention above, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and substituting also all among category of the present invention.Therefore, equalization conversion done without departing from the spirit and scope of the invention and amendment, all should contain within the scope of the invention.
Claims (10)
1. a walking is cruised proportional control apparatus, comprise the first travel control valve (3) be connected with main pump (2) by the first pilot valve (1), it is characterized in that, also comprise the controller (4) controlling pilot valve folding, first pressure sensor (D1) of induction pressure value and the 3rd pilot valve (5), described first pressure sensor (D1) is located in guide's oil circuit of described first pilot valve (1), described first pressure sensor (D1) is connected with described controller (4), described controller (4) is connected with described 3rd pilot valve (5), described main pump (2) is connected with described 3rd pilot valve (5), described 3rd pilot valve (5) is connected with described first travel control valve (3).
2. the proportional control apparatus that cruises of walking as claimed in claim 1, it is characterized in that, also comprise the first spacer assembly (C1) and the second spacer assembly (C2), first oil-out (P1) of described first pilot valve (1) is connected by first oil-in of described first spacer assembly (C1) with described first travel control valve (3), and second oil-out (P2) of described first pilot valve (1) is connected by second oil-in of described second spacer assembly (C2) with described first travel control valve (3).
3. the proportional control apparatus that cruises of walking as claimed in claim 2, it is characterized in that, described 3rd pilot valve (5) comprises the first electromagnetic proportional valve (A1) and the first reversal valve (B1), described first electromagnetic proportional valve (A1) is connected with described controller (4), described main pump (2), first electromagnetic proportional valve (A1) is connected successively with the first reversal valve (B1), first oil-out of described first reversal valve (B1) is connected with the first oil-in of described first travel control valve (3) by described first spacer assembly (C1), second oil-out of described first reversal valve (B1) is connected with the second oil-in of described first travel control valve (3) by described second spacer assembly (C2).
4. the proportional control apparatus that cruises of walking as claimed in claim 3, it is characterized in that, the oil-out of described first electromagnetic proportional valve (A1) is connected with the first oil-in of described first reversal valve (B1), and the second oil-in of described first reversal valve (B2) is connected by first oil-in (P1) of described first spacer assembly (C1) or the second spacer assembly (C2) and described first pilot valve (1) or the second oil-out (P2).
5. the proportional control apparatus that cruises of walking as claimed in claim 4, it is characterized in that, also comprise the second travel control valve (7) be connected with main pump (2) by the second pilot valve (6), and second pressure sensor (D2) and the 4th pilot valve (8), described second pressure sensor (D2) is located in guide's oil circuit of described second pilot valve (6), described second pressure sensor (D2) is connected with described controller (4), described controller (4) is connected with described 4th pilot valve (8), described 4th pilot valve (8) is connected with described second travel control valve (7).
6. the proportional control apparatus that cruises of walking as claimed in claim 5, it is characterized in that, also comprise the 3rd spacer assembly (C3) and the 4th spacer assembly (C4), first oil-out (P3) of described second pilot valve (6), second oil-out (P4) is respectively by described 3rd spacer assembly (C3), first oil-in of the 4th spacer assembly (C4) and described second travel control valve (7), second oil-in is connected, described 4th pilot valve (8) comprises the second electromagnetic proportional valve (A2) and the second reversal valve (B2), described second electromagnetic proportional valve (A2) is connected with described controller (4), described main pump (2), second electromagnetic proportional valve (A2) is connected successively with the second reversal valve (B2), first oil-out of described second reversal valve (B2), second oil-out is respectively by described 3rd spacer assembly (C3), first oil-in of the 4th spacer assembly (C4) and described second travel control valve (7), second oil-in is connected.
7. the proportional control apparatus that cruises of walking as claimed in claim 6, it is characterized in that, described first reversal valve (B1) and the second reversal valve (B2) are two-position three-way valve.
8. the proportional control apparatus that cruises of walking as claimed in claim 6, it is characterized in that, described first spacer assembly (C1), the second spacer assembly (C2), the 3rd spacer assembly (C3), the 4th spacer assembly (C4) are three-way shuttle valve or electromagnetic valve.
9. the proportional control apparatus that cruises of walking as claimed in claim 6, it is characterized in that, described first travel control valve (3), the second travel control valve (7) are three position four-way directional control valve.
10. an excavator, is characterized in that, the walking comprised as described in any one of claim 1 to 9 is cruised proportional control apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310202571.9A CN103276764B (en) | 2013-05-27 | 2013-05-27 | Walking cruising proportion control device and excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310202571.9A CN103276764B (en) | 2013-05-27 | 2013-05-27 | Walking cruising proportion control device and excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103276764A CN103276764A (en) | 2013-09-04 |
| CN103276764B true CN103276764B (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310202571.9A Expired - Fee Related CN103276764B (en) | 2013-05-27 | 2013-05-27 | Walking cruising proportion control device and excavator |
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| CN (1) | CN103276764B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107701530B (en) * | 2017-08-24 | 2020-03-10 | 潍柴动力股份有限公司 | Hydraulic system for engineering machinery and engineering machinery |
| CN114412860A (en) * | 2021-12-29 | 2022-04-29 | 徐州徐工挖掘机械有限公司 | Walking motor protection control system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009029925A3 (en) * | 2007-08-30 | 2009-04-30 | Coneqtec Corp | Hydraulic flow control system |
| CN102561450A (en) * | 2012-02-20 | 2012-07-11 | 上海三一重机有限公司 | Control structure and control method for switching electric control to hydraulic control for electric control master pump of excavator |
| CN102888875A (en) * | 2012-09-11 | 2013-01-23 | 三一重机有限公司 | Running control loop and hydraulic excavator |
| CN102900122A (en) * | 2012-11-09 | 2013-01-30 | 中外合资沃得重工（中国）有限公司 | Rotary hydraulic system of excavator and control method |
-
2013
- 2013-05-27 CN CN201310202571.9A patent/CN103276764B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009029925A3 (en) * | 2007-08-30 | 2009-04-30 | Coneqtec Corp | Hydraulic flow control system |
| CN102561450A (en) * | 2012-02-20 | 2012-07-11 | 上海三一重机有限公司 | Control structure and control method for switching electric control to hydraulic control for electric control master pump of excavator |
| CN102888875A (en) * | 2012-09-11 | 2013-01-23 | 三一重机有限公司 | Running control loop and hydraulic excavator |
| CN102900122A (en) * | 2012-11-09 | 2013-01-30 | 中外合资沃得重工（中国）有限公司 | Rotary hydraulic system of excavator and control method |
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| CN103276764A (en) | 2013-09-04 |
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Granted publication date: 20150520 Termination date: 20170527 |