CN109911011B - Automatic steering hydraulic system of crawler tractor - Google Patents
Automatic steering hydraulic system of crawler tractor Download PDFInfo
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- CN109911011B CN109911011B CN201910291547.4A CN201910291547A CN109911011B CN 109911011 B CN109911011 B CN 109911011B CN 201910291547 A CN201910291547 A CN 201910291547A CN 109911011 B CN109911011 B CN 109911011B
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- 239000010720 hydraulic oil Substances 0.000 claims abstract description 23
- 239000003921 oil Substances 0.000 claims description 296
- 230000001502 supplementing effect Effects 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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Abstract
An automatic steering hydraulic system for a crawler tractor, comprising: a pilot proportional pressure valve, an automatic steering valve block assembly, a two-position two-way electromagnetic valve, a reverse reversing electromagnetic valve, an axial plunger variable pump, a quantitative bent shaft plunger motor, a hydraulic oil tank and the like; the pilot proportional pressure valve is arranged in the steering engine base, and the end part of the control handle of the pilot proportional pressure valve is clamped in the groove of the cam disc; the automatic steering valve block assembly is arranged on the left rear inner side bracket of the frame; the two-position two-way electromagnetic valve is arranged on the left rear support of the cab; the reverse reversing electromagnetic valve is arranged on the inner side surface of the frame; the axial plunger variable pump is arranged on the rear axle side box; the quantitative bent axle plunger motor is arranged on the rear axle box; the hydraulic oil tank is positioned behind the cab. The system can realize stepless control of the steering radius of the crawler tractor, and can realize the automatic steering function of the tractor after being combined with GPS or Beidou satellite signals; the automatic steering system has an automatic steering mode and a manual steering mode, and the two modes can be switched mutually.
Description
Technical Field
The invention belongs to the field of tracked vehicles, relates to an automatic steering hydraulic system of a tracked vehicle, and particularly relates to an automatic steering hydraulic system of a tracked tractor.
Background
In recent years, precision agriculture is widely applied in modern agricultural production, and agricultural machinery plays a vital role in precision agriculture in order to achieve the purposes of scientifically and reasonably utilizing agricultural resources, improving crop yield and reducing production cost. At present, the application of agricultural machinery in China in the aspect of precise agriculture is mainly focused on an automatic driving system of a tractor. The core of autopilot is the effective control of the tractor steering system: the control medium (liquid, gas and electricity) is easy to realize, and the steering radius can be steplessly adjusted.
In the prior art, a steering clutch structure is generally adopted for steering of a crawler tractor, and the operation modes mainly comprise two modes: firstly, the steering pull rod is completely pulled away, the steering clutch is completely separated, and the slow-speed side crawler belt is braked, at the moment, the turning radius is about 0.5 times of the track gauge; second, the brakes on both sides are completely released, the slow side steering clutch is partially or completely disengaged, the steering torque is generated by the difference in the driving forces of the high and low side tracks of the tractor's main unit, and the turning radius is automatically adapted to the resistance torque of the two sides (the driving torque is equal to the resistance torque of the two sides in opposite directions). The value is affected by ground conditions, tractor host structure quality, geometric parameters and other factors, and even the same steering rod position, the turning radius is uncertain. In addition, a small steering rod stroke can cause a large change of the pressing force of the steering clutch at the low speed side, and the driving force of the crawler belt at the low speed side correspondingly changes greatly. Therefore, the steering radius cannot be precisely controlled under the variable steering resistance by the steering clutch steering structure.
The steering radius is determined by the deflection angle of the front wheels of the wheeled tractor because the wheeled tractor commonly adopts the deflection front wheels to realize the control of steering. In a full hydraulic steering system of a wheeled tractor, the magnitude of the front wheel deflection angle is controlled by the stroke of the steering cylinder, and the stroke is related to the amount of oil entering the cylinder. Therefore, in the automatic steering system of the wheeled tractor, steering control is realized mainly by controlling the amount of oil entering the steering cylinder (namely, controlling flow). The steering mechanism of the crawler tractor is completely different from that of the wheel tractor, so that the automatic steering technology of the wheel tractor cannot be popularized and applied to the crawler tractor.
Therefore, it is fully necessary to provide a hydraulic system which has a compact structure, is safe and reliable to use, and can conveniently and rapidly ensure the automatic steering of the crawler tractor.
Disclosure of Invention
The invention aims to provide an automatic steering hydraulic system of a crawler tractor, which has a compact structure and is safe and reliable to use.
The technical scheme of the invention is as follows: an automatic steering hydraulic system for a crawler tractor, comprising: the hydraulic device comprises a radiator, a pilot proportional pressure valve, an automatic steering valve block assembly, a two-position two-way electromagnetic valve, a reverse reversing electromagnetic valve, an axial plunger variable pump, a quantitative bent shaft plunger motor, a hydraulic oil tank and a cam disc; the radiator is fixed at the front end of the engine water tank through a bolt; the pilot proportional pressure valve is arranged in the steering engine base below the front part of the cab, the end part of the control handle of the pilot proportional pressure valve is clamped in the groove of the cam disc, and the cam disc is connected with the steering wheel; the automatic steering valve block assembly is arranged on the left rear inner side bracket of the frame; the two-position two-way electromagnetic valve is arranged on the left rear support of the cab; the reverse reversing electromagnetic valve is positioned at the rear of the automatic steering valve block assembly and is arranged on the inner side surface of the frame; the axial plunger variable pump is arranged on the rear axle side box; the quantitative bent axle plunger motor is arranged on the rear axle box; the hydraulic oil tank is positioned behind the cab and above the rear axle.
A seventh oil inlet and a third oil outlet are formed in the radiator; the seventh oil inlet of the radiator is communicated with the second oil drain port of the axial plunger variable pump, and the third oil outlet of the radiator is communicated with the hydraulic oil tank.
The pilot proportional pressure valve is provided with a first oil inlet, a first oil return port, a first working oil port and a second working oil port; the first oil inlet of the pilot proportional pressure valve is communicated with a third oil return port of the two-position two-way electromagnetic valve; the first oil return port of the pilot proportional pressure valve is communicated with the hydraulic oil tank through a pipeline; the first working oil port of the pilot proportional pressure valve is communicated with a fifth oil inlet of the automatic steering valve block assembly; and a second working oil port of the pilot proportional pressure valve is communicated with a sixth oil inlet of the automatic steering valve block assembly.
The automatic steering valve block assembly is provided with a second oil inlet, a second oil return port, a fifth oil inlet, a sixth oil inlet, a first oil outlet and a second oil outlet; the second oil inlet of the automatic steering valve block assembly is communicated with a fourth oil outlet of a built-in oil supplementing pump of the axial plunger variable pump, the second oil return port of the automatic steering valve block assembly is communicated with a hydraulic oil tank, and the fifth oil inlet of the automatic steering valve block assembly is communicated with a first working oil port of a pilot proportional pressure valve; the first oil outlet of the automatic steering valve block assembly is communicated with the fourth oil inlet of the reverse reversing electromagnetic valve; the second oil outlet of the automatic steering valve block assembly is communicated with a fourth oil return port of the reverse reversing electromagnetic valve.
The two-position two-way electromagnetic valve is provided with a third oil inlet and a third oil return port; the third oil inlet of the two-position two-way electromagnetic valve is communicated with the fourth oil outlet of the built-in oil supplementing pump of the axial plunger variable pump, and the third oil return port of the two-position two-way electromagnetic valve is communicated with the first oil inlet of the pilot proportional pressure valve.
The reverse reversing solenoid valve is provided with a fourth oil inlet, a fourth oil return port, a third working oil port and a fourth working oil port; the fourth oil inlet of the reverse reversing solenoid valve is communicated with the first oil outlet of the automatic steering valve block assembly; the fourth oil return port of the reverse reversing electromagnetic valve is communicated with the second oil outlet of the automatic steering valve block assembly, and the third working oil port of the reverse reversing electromagnetic valve is communicated with the first control port of the axial plunger variable pump; and a fourth working oil port of the reverse gear reversing electromagnetic valve is communicated with a second control port of the axial plunger variable pump.
The axial plunger variable pump is provided with a fifth working oil port, a sixth working oil port, a first oil drain port, a second oil drain port, an oil suction port, a fourth oil outlet with a built-in oil supplementing pump, a first control port and a second control port; the fifth working oil port of the axial plunger variable pump is communicated with the seventh working oil port of the quantitative bent-axis plunger motor; the sixth working oil port of the axial plunger variable pump is communicated with the eighth working oil port of the quantitative bent-axis plunger motor; the first oil drain port of the axial plunger variable pump is communicated with the third oil drain port of the quantitative bent-axis plunger motor; the second oil drain port of the axial plunger variable pump is communicated with a seventh oil inlet of the radiator, the oil suction port of the axial plunger variable pump is communicated with a hydraulic oil tank, the fourth oil outlet of the built-in oil supplementing pump of the axial plunger variable pump is two paths, one path of the fourth oil outlet is communicated with a third oil inlet of a two-position two-way electromagnetic valve, the other path of the fourth oil outlet is communicated with a second oil inlet of an automatic steering valve block assembly, and the first control port of the axial plunger variable pump is communicated with a third working oil port of a reverse reversing electromagnetic valve; the second control port of the axial plunger variable pump is communicated with a fourth working oil port of the reverse gear reversing electromagnetic valve.
The quantitative bent shaft plunger motor is provided with a seventh working oil port, an eighth working oil port and a third oil drain port; the seventh working oil port of the quantitative bent-axis plunger motor is communicated with the fifth working oil port of the axial plunger variable pump; an eighth working oil port of the quantitative bent-axis plunger motor is communicated with a sixth working oil port of the axial plunger variable pump; the third oil drain port of the quantitative bent-axis plunger motor is communicated with the first oil drain port of the axial plunger variable pump.
By adopting the technical scheme, the invention can achieve the following beneficial effects: the stepless control of the steering radius of the crawler tractor can be realized, and the automatic steering function of the crawler tractor can be realized after the crawler tractor is combined with GPS or Beidou satellite signals; the steering has an automatic steering mode and a manual steering mode, and the two modes can be switched with each other, and the manual mode is prioritized over the automatic steering mode. Meanwhile, the safety cut-off function is achieved, and when a driver is not on a driver seat, the manual steering mode of the tractor is disabled. At this time, the steering wheel is rotated leftwards and rightwards, and the turning direction of the tractor is not influenced by the forward and backward directions of the steering wheel; the steering device has the reverse gear reversing function, and the motor is rotated to be changed when the steering device moves forwards and backwards, so that the steering experience consistent with that of the wheeled tractor can be realized.
Drawings
FIG. 1 is a schematic view of an automatic steering hydraulic system of a crawler tractor of the present invention disposed on a tractor;
FIG. 2 is a schematic diagram of the hydraulic system of the automatic steering hydraulic system of the crawler tractor according to the present invention;
FIG. 3 is a schematic diagram of a manual steering mode of an automatic steering hydraulic system of a crawler tractor according to the present invention;
fig. 4 is a schematic view of an automatic steering mode of an automatic steering hydraulic system of a crawler tractor according to the present invention.
Fig. 5 is a schematic diagram of the pilot proportional pressure valve and cam disc positions of an automatic steering hydraulic system of a crawler tractor according to the present invention.
Fig. 6 is a schematic view in the direction a of fig. 5.
Description of the embodiments
The invention will be further described with reference to the accompanying drawings and examples. As shown in fig. 1 to 6, an automatic steering hydraulic system for a crawler tractor mainly comprises: the hydraulic oil pump comprises a radiator 1, a pilot proportional pressure valve 2, an automatic steering valve block assembly 3, a two-position two-way electromagnetic valve 4, a reverse reversing electromagnetic valve 5, an axial plunger variable pump 6, a quantitative bent shaft plunger motor 7, a hydraulic oil tank 8 and a cam disc 9. The radiator 1 is fixed at the front end of the engine water tank through bolts; the pilot proportional pressure valve 2 is installed in the steering gear base at the front lower part of the cab, the end part of the control handle of the pilot proportional pressure valve 2 is clamped in the groove of the cam disc 9, and the groove of the cam disc 9 is an eccentric spiral line. When the cam disk 9 rotates clockwise, the center line of the groove is closer to the rotation center shaft; when rotating anticlockwise, the slot center line is farther from the rotation center shaft. The cam disk 9 is connected to the steering wheel by a mechanical mechanism and rotates with the steering wheel. The rotation of the cam disk 9 drives the control handle of the pilot proportional pressure valve 2 to swing left and right. The automatic steering valve block assembly 3 is arranged on the left rear inner side bracket of the frame; the two-position two-way electromagnetic valve 4 is arranged on a left rear support of the cab; the reverse reversing electromagnetic valve 5 is positioned at the rear of the automatic steering valve block assembly 3 and is arranged on the inner side surface of the frame; the axial plunger variable pump 6 is arranged on the rear axle side box; the quantitative bent axle plunger motor 7 is arranged on the upper box of the rear axle; the hydraulic oil tank 8 is located behind the cab and above the rear axle.
A seventh oil inlet IN3 and a third oil outlet OUT3 are arranged on the radiator 1; the seventh oil inlet IN3 of the radiator 1 is communicated with the second oil drain L2 of the axial plunger variable pump 6, and the third oil outlet OUT3 of the radiator 1 is communicated with the hydraulic oil tank 8.
The pilot proportional pressure valve 2 is provided with a first oil inlet P1, a first oil return port T1, a first working oil port A1 and a second working oil port B1; the first oil inlet P1 of the pilot proportional pressure valve 2 is communicated with the third oil return port T3 of the two-position two-way electromagnetic valve 4; the first oil return port T1 of the pilot proportional pressure valve 2 is communicated with the hydraulic oil tank 8 through a pipeline; the first working oil port A1 of the pilot proportional pressure valve 2 is communicated with the fifth oil inlet IN1 of the automatic steering valve block assembly 3; the second working oil port B1 of the pilot proportional pressure valve 2 is communicated with the sixth oil inlet IN2 of the automatic steering valve block assembly 3.
The automatic steering valve block assembly 3 is provided with a second oil inlet P2, a second oil return port T2 and a fifth oil inlet
IN1, a sixth oil inlet IN2, a first oil outlet OUT1 and a second oil outlet OUT2; the second oil inlet P2 of the automatic steering valve block assembly 3 is communicated with the fourth oil outlet M3 of the built-IN oil supplementing pump Ps of the axial plunger variable pump 6, the second oil return port T2 of the automatic steering valve block assembly 3 is communicated with the hydraulic oil tank 8, and the fifth oil inlet IN1 of the automatic steering valve block assembly 3 is communicated with the first working oil port A1 of the pilot proportional pressure valve 2; the sixth oil inlet IN2 of the automatic steering valve block assembly 3 and the second working oil port B1 of the pilot proportional pressure valve 2
The first oil outlet OUT1 of the automatic steering valve block assembly 3 is communicated with the fourth oil inlet P4 of the reverse reversing electromagnetic valve 5; the second oil outlet OUT2 of the automatic steering valve block assembly 3 is communicated with a fourth oil return port T4 of the reverse reversing electromagnetic valve 5.
The two-position two-way electromagnetic valve 4 is provided with a third oil inlet P3 and a third oil return port T3; the third oil inlet P3 of the two-position two-way electromagnetic valve 4 is communicated with the fourth oil outlet M3 of the built-in oil supplementing pump Ps of the axial plunger variable pump 6, and the third oil return port T3 of the two-position two-way electromagnetic valve 4 is communicated with the first oil inlet P1 of the pilot proportional pressure valve 2.
The reverse reversing electromagnetic valve 5 is provided with a fourth oil inlet P4, a fourth oil return port T4, a third working oil port A2 and a fourth working oil port B2; the fourth oil inlet P4 of the reverse reversing solenoid valve 5 is communicated with the first oil outlet OUT1 of the automatic steering valve block assembly 3; the fourth oil return port T4 of the reverse reversing electromagnetic valve 5 is communicated with the second oil outlet OUT2 of the automatic steering valve block assembly 3, and the third working oil port A2 of the reverse reversing electromagnetic valve 5 is communicated with the first control port X1 of the axial plunger variable pump 6; the fourth working oil port B2 of the reverse gear reversing solenoid valve 5 is communicated with the second control port X2 of the axial plunger variable pump 6.
The axial plunger variable pump 6 is provided with a fifth working oil port A3, a sixth working oil port B3, a first oil drain port L1, a second oil drain port L2, an oil suction port S, a fourth oil outlet M3 with a built-in oil supplementing pump Ps, a first control port X1 and a second control port X2; the fifth working oil port A3 of the axial plunger variable pump 6 is communicated with the seventh working oil port A4 of the quantitative bent-axis plunger motor 7; the sixth working oil port B3 of the axial plunger variable pump 6 is communicated with the eighth working oil port B4 of the quantitative bent-axis plunger motor 7; the first oil drain port L1 of the axial plunger variable pump 6 is communicated with the third oil drain port L3 of the quantitative bent-axis plunger motor 7; the second oil drain port L2 of the axial plunger variable pump 6 is communicated with the seventh oil inlet IN3 of the radiator 1, the oil suction port S of the axial plunger variable pump 6 is communicated with the hydraulic oil tank 8, the fourth oil outlet M3 of the built-IN oil supplementing pump Ps of the axial plunger variable pump 6 is two paths, one path is communicated with the third oil inlet P3 of the two-position two-way electromagnetic valve 4, the other path is communicated with the second oil inlet P2 of the automatic steering valve block assembly 3, and the first control port X1 of the axial plunger variable pump 6 is communicated with the third working oil port A2 of the reverse gear reversing electromagnetic valve 5; the second control port X2 of the axial plunger variable pump 6 is communicated with the fourth working port B2 of the reverse gear reversing electromagnetic valve 5.
The quantitative bent shaft plunger motor 7 is provided with a seventh working oil port A4, an eighth working oil port B4 and a third oil drain port L3; the seventh working oil port A4 of the quantitative bent-axis plunger motor 7 is communicated with the fifth working oil port A3 of the axial plunger variable pump 6; the eighth working oil port B4 of the quantitative bent-axis plunger motor 7 is communicated with the sixth working oil port B3 of the axial plunger variable pump 6; the third oil drain port L3 of the quantitative bent-axis plunger motor 7 communicates with the first oil drain port L1 of the axial plunger variable displacement pump 6.
The manual steering mode is as shown in fig. 2 to 5, namely, when the automatic steering valve block assembly 3 is not in operation: the fifth oil inlet IN1 of the automatic steering valve block assembly 3 is communicated with the first oil outlet OUT1, and the sixth oil inlet IN2 is communicated with the second oil outlet OUT 2. The built-in oil supplementing pump Ps of the axial plunger variable pump 6 is divided into two paths through a fourth oil outlet M3, one path is connected to the first oil inlet P1 of the pilot proportional pressure valve 2 through a two-position two-way electromagnetic valve 4, and the other path is connected to the second oil inlet P2 of the automatic steering valve block assembly 3. After the pressure of the pressure oil reaching the pilot proportional pressure valve 2 is regulated by the pilot proportional pressure valve 2, the pressure oil after the pressure regulation flows out through a first working oil port A1 or a second working oil port B1 of the pilot proportional pressure valve 2 respectively according to the rotation direction of the steering wheel, the first working oil port A1 of the pilot proportional pressure valve 2 is communicated with a fifth oil inlet IN1 of the automatic steering valve block assembly 3, the second working oil port B1 of the pilot proportional pressure valve 2 is communicated with a sixth oil inlet IN2 of the automatic steering valve block assembly 3, and a first oil return port T1 of the pilot proportional pressure valve 2 is communicated with the hydraulic oil tank 8. The first oil outlet OUT1 and the second oil outlet OUT2 of the automatic steering valve block assembly 3 are respectively communicated with the first control port X1 and the second control port X2 of the axial plunger variable pump 6 through a reverse reversing electromagnetic valve 5. The fifth working oil port A3 of the axial plunger variable pump 6 is communicated with the seventh working oil port A4 of the quantitative bent-axis plunger motor 7. The sixth working oil port B3 of the axial plunger variable pump 6 is communicated with the eighth working oil port B4 of the quantitative bent-axis plunger motor 7. The steering wheel rotates clockwise, the first working oil port A1 of the pilot proportional pressure valve 2 outputs pressure oil, the quantitative bent-axis plunger motor 7 starts to rotate clockwise, and the crawler tractor starts to turn right; with the increase of the rotation angle of the steering wheel, the output pressure of the first working oil port A1 of the pilot proportional pressure valve 2 becomes larger, the displacement of the axial plunger variable pump 6 is increased, the rotation speed of the quantitative bent axle plunger motor 7 is increased, the rotation speed difference between the left crawler and the right crawler of the crawler tractor is increased, the rotation speed of the left crawler is larger than that of the right crawler, and the steering radius to the right is gradually reduced. The steering wheel rotates anticlockwise, the second working oil port B1 of the pilot proportional pressure valve 2 outputs pressure oil, the quantitative bent-axis plunger motor 7 starts to rotate anticlockwise, and the crawler tractor starts to turn leftwards; with the increase of the rotation angle of the steering wheel, the output pressure of the second working oil port B1 of the pilot proportional pressure valve 2 becomes larger, the displacement of the axial plunger variable pump 6 is increased, the rotation speed of the quantitative bent axle plunger motor 7 is increased, the rotation speed difference between the right side track and the left side track of the crawler tractor is increased, the rotation speed of the right side track is larger than that of the left side track, and the left steering radius is gradually reduced. When the manual steering is performed, all electromagnets of the automatic steering valve block assembly are in a power-off state, and at the moment, the manual steering has priority.
The automatic steering mode is as shown in fig. 2 to 6, namely, when the automatic steering valve block assembly 3 works: the electromagnet of the automatic steering valve block assembly 3 is powered on, the fifth oil inlet IN1 or the sixth oil inlet IN2 of the automatic steering valve block assembly 3 is cut off, and the first oil outlet OUT1 or the second oil outlet OUT2 is communicated with the second oil inlet P2 of the automatic steering valve block 3. The built-in oil supplementing pump Ps of the axial plunger variable pump 6 enters the second oil inlet P2 of the automatic steering valve block assembly 3 through the fourth oil outlet M3, and the second oil return port T2 of the automatic steering valve block assembly 3 is communicated with the hydraulic oil tank 8. The first oil outlet OUT1 and the second oil outlet OUT2 of the automatic steering valve block assembly 3 are respectively communicated with a first control port X1 and a second control port X2 of the axial plunger variable pump 6 through a reverse reversing electromagnetic valve 5. The fifth working oil port A3 of the axial plunger variable pump 6 is communicated with the seventh working oil port A4 of the quantitative bent-axis plunger motor 7. The sixth working oil port B3 of the axial plunger variable pump 6 is communicated with the eighth working oil port B4 of the quantitative bent-axis plunger motor 7. The first oil outlet OUT1 or the second oil outlet OUT2 of the automatic steering valve block assembly 3 outputs a pressure signal, the magnitude of the pressure signal is regulated by the current magnitude of the proportional electromagnet in the automatic steering valve block 3, and the final pressure signal is used for controlling the displacement magnitude of the axial plunger variable pump 6, so that the rotating speed of the quantitative bent-axis plunger motor 7 is controlled. The rotation direction of the quantitative bent-axis plunger motor 7 is changed by the difference of electric electromagnets obtained by the automatic steering valve block assembly 3.
Reverse gear steering: only for manual steering, i.e. the reverse reversing solenoid valve 5 is in the energized working state: at this time, the direction of the oil passage through the reverse direction solenoid valve 5 is changed. When the vehicle advances, the reverse reversing electromagnetic valve 5 does not work, the steering wheel is rotated clockwise, the left crawler belt of the vehicle rotates faster than the right crawler belt, and the vehicle turns right; when the vehicle backs up, the reverse reversing electromagnetic valve 5 is in an electrified working state, the steering wheel is rotated clockwise, the pressure signal is exchanged by the reverse reversing electromagnetic valve 5, the rotation speed of the left crawler belt of the vehicle is slower than that of the right crawler belt, and the vehicle rotates leftwards; and (3) safety protection: only for manual steering, i.e. the two-position two-way solenoid valve 4 is in the energized working state: at this time, the oil passage through the two-position two-way solenoid valve 4 is cut off, the oil feed to the pilot proportional pressure valve 2 is cut off, no matter how the steering wheel operates, the pilot proportional pressure valve 2 outputs no pressure signal, and the vehicle cannot turn.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the whole of the present invention, but it is to be understood that the present invention is described in detail with reference to the foregoing embodiment, and that modifications in form or equivalents of some of the technical features described in the foregoing embodiment may be made by those skilled in the art. Modifications, equivalents, and the like, which are all intended to be included within the spirit and scope of the present invention, are intended to be included within the scope of the present invention.
Claims (8)
1. An automatic steering hydraulic system for a crawler tractor, comprising: the automatic steering device comprises a radiator (1), a pilot proportional pressure valve (2), an automatic steering valve block assembly (3), a two-position two-way electromagnetic valve (4), a reverse reversing electromagnetic valve (5), an axial plunger variable pump (6), a quantitative bent shaft plunger motor (7), a hydraulic oil tank (8) and a cam disc (9); the method is characterized in that: a seventh oil inlet (IN 3) and a third oil outlet (OUT 3) are formed IN the radiator (1); the pilot proportional pressure valve (2) is provided with a first oil inlet (P1), a first oil return port (T1), a first working oil port (A1) and a second working oil port (B1); the automatic steering valve block assembly (3) is provided with a second oil inlet (P2), a second oil return port (T2), a fifth oil inlet (IN 1), a sixth oil inlet (IN 2), a first oil outlet (OUT 1) and a second oil outlet (OUT 2); a third oil inlet (P3) and a third oil return port (T3) are arranged on the two-position two-way electromagnetic valve (4); a fourth oil inlet (P4), a fourth oil return port (T4), a third working oil port (A2) and a fourth working oil port (B2) are arranged on the reverse gear reversing electromagnetic valve (5); the axial plunger variable pump (6) is provided with a fifth working oil port (A3), a sixth working oil port (B3), a first oil drain port (L1), a second oil drain port (L2), an oil suction port (S), a fourth oil outlet (M3) with an internal oil supplementing pump (Ps), a first control port (X1) and a second control port (X2); a seventh working oil port (A4), an eighth working oil port (B4) and a third oil drain port (L3) are arranged on the quantitative bent shaft plunger motor (7); the radiator (1) is fixed at the front end of the engine water tank through a bolt; the pilot proportional pressure valve (2) is arranged in the steering gear base below the front part of the cab, the end part of the control handle of the pilot proportional pressure valve (2) is clamped in the groove of the cam disc (9), and the cam disc (9) is connected with the steering wheel; the automatic steering valve block assembly (3) is arranged on the bracket of the inner side surface at the left rear part of the frame; the two-position two-way electromagnetic valve (4) is arranged on a left rear support of the cab; the reverse reversing electromagnetic valve (5) is positioned behind the automatic steering valve block assembly (3) and is arranged on the inner side surface of the frame; the axial plunger variable pump (6) is arranged on the rear axle side box; the quantitative bent shaft plunger motor (7) is arranged on the rear axle box; the hydraulic oil tank (8) is positioned at the rear of the cab and above the rear axle; a fifth oil inlet (IN 1) of the automatic steering valve block assembly (3) is communicated with a first working oil port (A1) of the pilot proportional pressure valve (2); a sixth oil inlet (IN 2) of the automatic steering valve block assembly (3) is communicated with a second working oil port (B1) of the pilot proportional pressure valve (2), and a first oil outlet (OUT 1) of the automatic steering valve block assembly (3) is communicated with a fourth oil inlet (P4) of the reverse reversing electromagnetic valve (5); the second oil outlet (OUT 2) of the automatic steering valve block assembly (3) is communicated with a fourth oil return port (T4) of the reverse reversing electromagnetic valve (5); a third oil return port (T3) of the two-position two-way electromagnetic valve (4) is communicated with a first oil inlet (P1) of the pilot proportional pressure valve (2); the fourth oil outlet (M3) of the built-in oil supplementing pump (Ps) of the axial plunger variable pump (6) is two-way, one-way is communicated with the third oil inlet (P3) of the two-position two-way electromagnetic valve (4), the other-way is communicated with the second oil inlet (P2) of the automatic steering valve block assembly (3), and the first control port (X1) of the axial plunger variable pump (6) is communicated with the third working oil port (A2) of the reverse reversing electromagnetic valve (5); the second control port (X2) of the axial plunger variable pump (6) is communicated with the fourth working oil port (B2) of the reverse gear reversing electromagnetic valve (5); the fifth working oil port (A3) of the axial plunger variable pump (6) is communicated with the seventh working oil port (A4) of the quantitative bent-axis plunger motor (7), and the sixth working oil port (B3) of the axial plunger variable pump (6) is communicated with the eighth working oil port (B4) of the quantitative bent-axis plunger motor (7).
2. The automatic steering hydraulic system of a crawler tractor according to claim 1, wherein: the seventh oil inlet (IN 3) of the radiator (1) is communicated with the second oil drain port (L2) of the axial plunger variable pump (6), and the third oil outlet (OUT 3) of the radiator (1) is communicated with the hydraulic oil tank (8).
3. The automatic steering hydraulic system of a crawler tractor according to claim 1, wherein: a first oil inlet (P1) of the pilot proportional pressure valve (2) is communicated with a third oil return port (T3) of the two-position two-way electromagnetic valve (4); the first oil return port (T1) of the pilot proportional pressure valve (2) is communicated with the hydraulic oil tank (8) through a pipeline; a first working oil port (A1) of the pilot proportional pressure valve (2) is communicated with a fifth oil inlet (IN 1) of the automatic steering valve block assembly (3); the second working oil port (B1) of the pilot proportional pressure valve (2) is communicated with the sixth oil inlet (IN 2) of the automatic steering valve block assembly (3).
4. The automatic steering hydraulic system of a crawler tractor according to claim 1, wherein: the second oil inlet (P2) of the automatic steering valve block assembly (3) is communicated with a fourth oil outlet (M3) of an embedded oil supplementing pump (Ps) of the axial plunger variable pump (6), and the second oil return port (T2) of the automatic steering valve block assembly (3) is communicated with a hydraulic oil tank (8).
5. The automatic steering hydraulic system of a crawler tractor according to claim 1, wherein: the third oil inlet (P3) of the two-position two-way electromagnetic valve (4) is communicated with the fourth oil outlet (M3) of the built-in oil supplementing pump (Ps) of the axial plunger variable pump (6).
6. The automatic steering hydraulic system of a crawler tractor according to claim 1, wherein: a fourth oil inlet (P4) of the reverse gear reversing electromagnetic valve (5) is communicated with a first oil outlet (OUT 1) of the automatic steering valve block assembly (3); a fourth oil return port (T4) of the reverse reversing electromagnetic valve (5) is communicated with a second oil outlet (OUT 2) of the automatic steering valve block assembly (3), and a third working oil port (A2) of the reverse reversing electromagnetic valve (5) is communicated with a first control port (X1) of the axial plunger variable pump (6); the fourth working oil port (B2) of the reverse gear reversing electromagnetic valve (5) is communicated with the second control port (X2) of the axial plunger variable pump (6).
7. The automatic steering hydraulic system of a crawler tractor according to claim 1, wherein: the first oil drain port (L1) of the axial plunger variable pump (6) is communicated with the third oil drain port (L3) of the quantitative bent-axis plunger motor (7); the second oil drain port (L2) of the axial plunger variable pump (6) is communicated with the seventh oil inlet (IN 3) of the radiator (1), and the oil suction port (S) of the axial plunger variable pump (6) is communicated with the hydraulic oil tank (8).
8. The automatic steering hydraulic system of a crawler tractor according to claim 1, wherein: a seventh working oil port (A4) of the quantitative bent-axis plunger motor (7) is communicated with a fifth working oil port (A3) of the axial plunger variable pump (6); an eighth working oil port (B4) of the quantitative bent-axis plunger motor (7) is communicated with a sixth working oil port (B3) of the axial plunger variable pump (6); the third oil drain port (L3) of the quantitative bent-axis plunger motor (7) is communicated with the first oil drain port (L1) of the axial plunger variable pump (6).
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| CN201910291547.4A CN109911011B (en) | 2019-04-12 | 2019-04-12 | Automatic steering hydraulic system of crawler tractor |
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| CN201910291547.4A CN109911011B (en) | 2019-04-12 | 2019-04-12 | Automatic steering hydraulic system of crawler tractor |
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| CN109911011B true CN109911011B (en) | 2023-11-14 |
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| CN113232718B (en) * | 2021-04-27 | 2022-07-05 | 北京理工大学 | Manual-automatic integrated automatic steering system based on secondary planetary steering engine |
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|---|---|---|---|---|
| CN106184365A (en) * | 2016-08-30 | 2016-12-07 | 第拖拉机股份有限公司 | Endless-track vehicle steering control mechanism |
| CN206691199U (en) * | 2017-04-13 | 2017-12-01 | 农业部南京农业机械化研究所 | Track combine self-action steering |
| CN108100034A (en) * | 2017-11-07 | 2018-06-01 | 北京理工大学 | A kind of automatically controlled hydrostatic steering system of split path transmission endless-track vehicle |
| CN210063110U (en) * | 2019-04-12 | 2020-02-14 | 第一拖拉机股份有限公司 | Automatic steering hydraulic system of crawler tractor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9101090B2 (en) * | 2013-05-30 | 2015-08-11 | Cnh Industrial America Llc | Windrower autoguidance hydraulic steering interface |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184365A (en) * | 2016-08-30 | 2016-12-07 | 第拖拉机股份有限公司 | Endless-track vehicle steering control mechanism |
| CN206691199U (en) * | 2017-04-13 | 2017-12-01 | 农业部南京农业机械化研究所 | Track combine self-action steering |
| CN108100034A (en) * | 2017-11-07 | 2018-06-01 | 北京理工大学 | A kind of automatically controlled hydrostatic steering system of split path transmission endless-track vehicle |
| CN210063110U (en) * | 2019-04-12 | 2020-02-14 | 第一拖拉机股份有限公司 | Automatic steering hydraulic system of crawler tractor |
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