CN107747331B - Automatic and manual walking hydraulic electric system of crawler excavator - Google Patents
Automatic and manual walking hydraulic electric system of crawler excavator Download PDFInfo
- Publication number
- CN107747331B CN107747331B CN201710304163.2A CN201710304163A CN107747331B CN 107747331 B CN107747331 B CN 107747331B CN 201710304163 A CN201710304163 A CN 201710304163A CN 107747331 B CN107747331 B CN 107747331B
- Authority
- CN
- China
- Prior art keywords
- valve
- way
- electromagnetic valve
- walking
- powered
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
An automatic and manual traveling hydraulic electric system of a crawler excavator is characterized in that a pressure oil port of a three-position four-way proportional electromagnetic valve is connected to a two-position four-way electromagnetic valve, the two-position four-way electromagnetic valve is connected with a P port of a traveling pilot valve when powered on, and an oil way is disconnected when powered off; two output ends of the three-position four-way proportional solenoid valve are respectively connected with two-position three-way solenoid valves, pressure oil entering and exiting from the left and right sides are not communicated with each other when the two-position three-way solenoid valves are powered off, and two oil outlets are communicated when the two-position three-way solenoid valves are powered on; in a manual control state, the electrical system controls the two-position four-way electromagnetic valve to be electrified, and the two-position three-way electromagnetic valve and the three-position four-way proportional electromagnetic valve are powered off; in an automatic control state, the electric system controls the two-position four-way electromagnetic valve to be powered off, and the two-position three-way electromagnetic valve and the three-position four-way proportional electromagnetic valve are powered on. The excavator can be operated manually or automatically to walk, the labor intensity of people is reduced, and the excavator can be remotely controlled to walk in a wireless mode.
Description
Technical Field
The invention relates to an automatic and manual walking hydraulic electric system of a crawler excavator, in particular to an automatic and manual walking hydraulic electric system of a crawler excavator.
Background
The hydraulic excavator is one of the main mechanical devices in earth and stone construction engineering as a fast and efficient construction operation machine, is called as king of engineering machinery in the industry, and is widely applied to mechanical construction in industries such as industrial and civil buildings, transportation, hydraulic and electric engineering, farmland transformation, mine excavation, modern military engineering and the like.
At present, the excavator can only realize the walking of the excavator by controlling a hydraulic valve through a walking pilot valve during the walking, the automatic driving walking function of the excavator cannot be realized, a driver is easy to fatigue during the long-distance walking, pilot pressure fluctuation is easily caused by manually operating the walking pilot valve, so that the walking of the excavator is rocked, the walking of the automatic control excavator can be realized by increasing electric control, and the front and back rocking of the excavator caused by manual operation during the straight walking of the excavator can be reduced.
Disclosure of Invention
The invention aims to provide an automatic manual walking hydraulic electric system of a crawler excavator, which realizes the automatic driving function by adding an electromagnetic proportional control valve and changing the control principle of walking pilot hydraulic pressure and realizes the redundant control of the functions of advancing, retreating and linear walking of the excavator, thereby realizing the manual/automatic double-acting operation of the excavator for walking, reducing the labor intensity of people and also being capable of remotely controlling the excavator for walking by wireless.
The solution of the invention is such that:
an automatic manual walking hydraulic electric system of a crawler excavator is provided with a three-position four-way proportional solenoid valve, wherein a pressure oil port of the three-position four-way proportional solenoid valve is connected to a two-position four-way solenoid valve, the two-position four-way solenoid valve is connected with a P port of a walking pilot control valve when powered on, and is disconnected with an oil way when powered off; two output ends of the three-position four-way proportional solenoid valve are respectively connected with two-position three-way solenoid valves, wherein: two outputs of one two-position three-way electromagnetic valve are respectively connected to the XAtl of the left walking valve and the XAtr of the right walking valve of the walking hydraulic control valve, and two outputs of the other two-position three-way electromagnetic valve are respectively connected to the XBtl of the left walking valve and the XBtr of the right walking valve of the walking hydraulic control valve; the left pressure oil inlet and the right pressure oil outlet are not communicated when the two-position three-way electromagnetic valve is powered off, and the two oil outlets are communicated when the two-position three-way electromagnetic valve is powered on; in a manual control state, the electrical system controls the two-position four-way electromagnetic valve to be electrified, and the two-position three-way electromagnetic valve and the three-position four-way proportional electromagnetic valve are powered off; in an automatic control state, the electrical system controls the two-position four-way electromagnetic valve to be powered off, and the two-position three-way electromagnetic valve and the three-position four-way proportional electromagnetic valve are powered on; the traveling pilot control valve respectively controls the reversing of a left traveling valve core and a right traveling valve core of the traveling hydraulic control valve, and the reversing of the left traveling valve core and the right traveling valve core respectively controls the forward and reverse rotation of a left traveling speed reducer and a motor, and a right traveling speed reducer and the motor.
The more specific technical scheme also comprises the following steps: the three-position four-way proportional solenoid valve is connected with a remote potentiometer for control, and the size of the opening of the three-position four-way proportional solenoid valve is controlled by controlling the size of current.
Further: the three-position four-way proportional solenoid valve is connected with a wireless remote control device, and the size of the opening of the three-position four-way proportional solenoid valve is controlled by the wireless remote control device.
The invention has the advantages that the electromagnetic proportional control valve is added, the control principle of walking pilot hydraulic pressure is changed to realize the automatic driving function, and the redundant control of the functions of advancing, retreating and linear walking of the excavator is realized, so that the excavator can be operated to walk by manual/automatic double functions, the labor intensity of people is reduced, and the excavator can also be remotely controlled to walk by wireless.
Drawings
Fig. 1 is a hydraulic schematic of the present invention.
The reference numbers in the figures are: the hydraulic control system comprises a left walking speed reducer and motor 1, a walking hydraulic control valve 2, a right walking speed reducer and motor 3, a two-position three-way electromagnetic valve 4, a three-position four-way proportional electromagnetic valve 5, a power source 6, a hydraulic oil tank 7, a main pump 8, a pilot locking valve group 9, a two-position four-way electromagnetic valve 10, a walking pilot control valve 11, a left walking valve spool 2-1 and a right walking valve spool 2-2.
Detailed Description
The three-position four-way proportional electromagnetic valve is provided with a three-position four-way proportional electromagnetic valve 5, a pressure oil port of the three-position four-way proportional electromagnetic valve 5 is connected to a two-position four-way electromagnetic valve 10, the two-position four-way electromagnetic valve 10 is communicated with a P port of a walking pilot control valve 11 when electrified, and an oil way is disconnected when the power is off; two output ends of the three-position four-way proportional solenoid valve 5 are respectively connected with two-position three-way solenoid valves 4, wherein: two outputs of one two-position three-way electromagnetic valve 4 are respectively connected to XAtl of a left traveling valve core 2-1 and XAtr of a right traveling valve core 2-2 of the traveling hydraulic control valve 2, and two outputs of the other two-position three-way electromagnetic valve 4 are respectively connected to XBtl of the left traveling valve core 2-1 and XBtr of the right traveling valve core 2-2 of the traveling hydraulic control valve 2; the left pressure oil inlet and the right pressure oil outlet are not communicated when the two-position three-way electromagnetic valve 4 is powered off, and the two oil outlets are communicated when the two-position three-way electromagnetic valve is powered on; in a manual control state, the electrical system controls the two-position four-way electromagnetic valve 10 to be powered on, and the two-position three-way electromagnetic valve 4 and the three-position four-way proportional electromagnetic valve 5 are powered off; in an automatic control state, the electrical system controls the two-position four-way electromagnetic valve 10 to be powered off, and the two-position three-way electromagnetic valve 4 and the three-position four-way proportional electromagnetic valve 5 are powered on; the traveling pilot control valve 11 controls the reversing of the left traveling valve core 2-1 and the right traveling valve core 2-2 of the traveling hydraulic control valve 2 respectively, and the reversing of the left traveling valve core 2-1 and the right traveling valve core 2-2 controls the forward and reverse rotation of the left traveling speed reducer and the motor 1, the right traveling speed reducer and the motor 3 respectively.
The three-position four-way proportional solenoid valve is connected with a remote potentiometer for control, and the size of the opening of the three-position four-way proportional solenoid valve is controlled by controlling the size of current.
Or the three-position four-way proportional solenoid valve can be connected with a wireless remote control device, and the size of the opening of the three-position four-way proportional solenoid valve can be controlled by the wireless remote control device.
The working principle of the invention is as follows: two variable displacement pumps in a main pump 8 respectively supply oil to a left walking valve and a right walking valve, a walking pilot control valve 11 respectively controls the reversing of a left walking valve core 2-1 and a right walking valve core 2-2 of a walking hydraulic control valve 2 of the walking hydraulic control valve 2, the reversing of the left walking valve core 2-1 and the reversing of the right walking valve core 2-2 respectively control a left walking speed reducer and a motor 1, a right walking speed reducer and the positive and negative rotation of the motor 3 to realize the forward and backward turning and the on-site rotation of the excavator, when the excavator does not need to walk automatically, a two-position two-way electromagnetic valve 10 is in a switch-on position, a three-position four-way proportional electromagnetic valve 5 and a two-position three-way electromagnetic valve 4 are in a switch-off position without electric pressure, pilot control oil of the main pump 8 passes through a pilot locking valve group 9 to the walking pilot control valve 11, pilot pressure output by the walking pilot valve, the left-right walking is not affected by the automatic walking, when automatic driving is needed, the two-position four-way solenoid valve 10 is switched off, the two-position three-way solenoid valve 4 is switched on, hydraulic pilot oil passes through the pilot locking valve group 9 to the three-position four-way proportional solenoid valve 5, the proportional solenoid valve is controlled through a remote potentiometer, and the size of an opening of the proportional solenoid valve is determined by the size of current, so that the size of output pressure is restrained, pressure oil output by the electromagnetic proportional valve respectively moves forwards left and right or moves backwards left and right of the two walking control valves through the two-position three-way solenoid valves 4, the automatic walking function of the excavator is achieved, the three-position four-way proportional solenoid. Wherein: the sizes of the NR1 and NR2 overflow throttle valves of the traveling hydraulic control valve 2 control the displacement sizes of two variables of the main pump 8; the one-way throttle valve in the walking pilot control valve 11 reduces sudden change of output pressure of the walking pilot valve caused by shaking of an operating handle due to manual operation; the left inlet pressure oil and the right inlet pressure oil are not communicated when the two-position three-way electromagnetic valve 4 is powered off, and the oil outlets are communicated when the two-position three-way electromagnetic valve is powered on;
the pilot locking valve group 9 comprises a pilot locking valve, an energy accumulator, a one-way valve and a filter, wherein when the excavator does not need to walk, the pilot locking valve locks a pilot hydraulic source, and automatic manual operation does not work.
Claims (3)
1. The utility model provides an automatic manual walking hydraulic pressure electric system of crawler-type excavator which characterized in that: the hydraulic control system is provided with a three-position four-way proportional solenoid valve (5), a pressure oil port of the three-position four-way proportional solenoid valve (5) is connected to a two-position four-way solenoid valve (10), the two-position four-way solenoid valve (10) is connected with a P port of a walking pilot control valve (11) when powered on, and an oil way is disconnected when powered off; two output ends of the three-position four-way proportional solenoid valve (5) are respectively connected with two-position three-way solenoid valves (4), wherein: two outputs of one two-position three-way electromagnetic valve (4) are respectively connected to XAtl of a left traveling valve core (2-1) and XAtr of a right traveling valve core (2-2) of the traveling hydraulic control valve (2), and two outputs of the other two-position three-way electromagnetic valve (4) are respectively connected to XBtl of the left traveling valve core (2-1) and XBtr of the right traveling valve core (2-2) of the traveling hydraulic control valve (2); the left pressure oil inlet and the right pressure oil outlet are not communicated with each other when the two-position three-way electromagnetic valve (4) is powered off, and the two oil outlets are communicated when the two-position three-way electromagnetic valve is powered on; in a manual control state, an electrical system controls a two-position four-way electromagnetic valve (10) to be electrified, and a two-position three-way electromagnetic valve (4) and a three-position four-way proportional electromagnetic valve (5) are powered off; in an automatic control state, the electrical system controls the two-position four-way electromagnetic valve (10) to be powered off, and the two-position three-way electromagnetic valve (4) and the three-position four-way proportional electromagnetic valve (5) are powered on; the walking pilot control valve (11) respectively controls the reversing of a left walking valve core (2-1) and a right walking valve core (2-2) of the walking hydraulic control valve (2), and the reversing of the left walking valve core (2-1) and the right walking valve core (2-2) respectively controls the forward and reverse rotation of a left walking speed reducer and a motor (1), a right walking speed reducer and a motor (3).
2. The automated manual travel hydraulic-electrical system of a crawler excavator according to claim 1, wherein: the three-position four-way proportional solenoid valve (5) is connected with a remote potentiometer for control, and the size of the opening of the three-position four-way proportional solenoid valve (5) is controlled by controlling the size of current.
3. The automated manual travel hydraulic-electrical system of a crawler excavator according to claim 1, wherein: the three-position four-way proportional solenoid valve (5) is connected with a wireless remote control device, and the size of the opening of the three-position four-way proportional solenoid valve (5) is controlled by the wireless remote control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710304163.2A CN107747331B (en) | 2017-05-03 | 2017-05-03 | Automatic and manual walking hydraulic electric system of crawler excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710304163.2A CN107747331B (en) | 2017-05-03 | 2017-05-03 | Automatic and manual walking hydraulic electric system of crawler excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107747331A CN107747331A (en) | 2018-03-02 |
| CN107747331B true CN107747331B (en) | 2021-01-12 |
Family
ID=61254702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710304163.2A Active CN107747331B (en) | 2017-05-03 | 2017-05-03 | Automatic and manual walking hydraulic electric system of crawler excavator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107747331B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108562445A (en) * | 2018-06-25 | 2018-09-21 | 徐州徐工挖掘机械有限公司 | A kind of hydraulic traveling mechanism testing equipment and test method |
| CN110905033B (en) * | 2019-11-25 | 2021-11-23 | 合肥工业大学 | Excavator hydraulic system with double working modes |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201660918U (en) * | 2009-10-09 | 2010-12-01 | 广西玉柴重工有限公司 | Pilot control valve bank of miniature hydraulic excavating machine |
| CN202326539U (en) * | 2011-11-11 | 2012-07-11 | 北京天和众邦勘探技术股份有限公司 | Hydraulic control/electric control dual-control walk switching system for drilling machine |
| CN202418065U (en) * | 2012-01-20 | 2012-09-05 | 中船重工中南装备有限责任公司 | Running control system for rock drilling truck |
| KR102008022B1 (en) * | 2012-12-24 | 2019-08-06 | 두산인프라코어 주식회사 | Method for controlling the option actuator in excavator |
| WO2014115905A1 (en) * | 2013-01-23 | 2014-07-31 | 볼보 컨스트럭션 이큅먼트 에이비 | Method for controlling driving speed of construction machinery |
-
2017
- 2017-05-03 CN CN201710304163.2A patent/CN107747331B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107747331A (en) | 2018-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201685704U (en) | Electric forklift hydraulic device used with single power source | |
| CN203427872U (en) | Wheeled crane and steering hydraulic control system thereof | |
| US20130098013A1 (en) | Closed-loop system having multi-circuit flow sharing | |
| US20130098011A1 (en) | Hydraulic system having multiple closed-loop circuits | |
| US20180156244A1 (en) | Split Spool Valve | |
| CN107747331B (en) | Automatic and manual walking hydraulic electric system of crawler excavator | |
| CN103213494B (en) | The double speed walking electrohydraulic control system of self-walking machinery | |
| CN102826118A (en) | Front wheel steering hydraulic system for land scraper with composite operation and land scraper | |
| CN204163138U (en) | Super-tonnage excavator straight line moving hydraulic system | |
| US8919114B2 (en) | Closed-loop hydraulic system having priority-based sharing | |
| CN203188273U (en) | Excavator hydraulic control system and hydraulic excavator | |
| CN104500465B (en) | Multifunctional agricultural locomotive fluid pressure underpan drive system | |
| CN110159609B (en) | Master control valve and hydraulic system | |
| CN106954401B (en) | Manual and automatic navigation integrated track combine harvester steering system | |
| CN106005000B (en) | A kind of fluid-link steering control system | |
| US20130098463A1 (en) | Meterless hydraulic system having sharing and combining functionality | |
| US20140033698A1 (en) | Meterless hydraulic system having force modulation | |
| CN109017981B (en) | Walking machine and hydraulic steering system thereof | |
| CN108105186B (en) | Garbage truck hydraulic control system and garbage truck | |
| CN101644067B (en) | Proportional dual-handle control system of grader | |
| CN203383824U (en) | Flow saturation resistant partitioned controlled energy saving type shield thrust hydraulic system | |
| CN203114168U (en) | Double-caterpillar band independent walking drilling machine hydraulic system | |
| CN202326539U (en) | Hydraulic control/electric control dual-control walk switching system for drilling machine | |
| CN201217821Y (en) | Remote control device of slippage type loader traveling system | |
| CN110360172A (en) | Manual electric control multi-way valve component, hydraulic system and rubber-tyred tracklaying crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |