CN210652690U - Walking control device for crawler-type harvester - Google Patents
Walking control device for crawler-type harvester Download PDFInfo
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- CN210652690U CN210652690U CN201921255216.7U CN201921255216U CN210652690U CN 210652690 U CN210652690 U CN 210652690U CN 201921255216 U CN201921255216 U CN 201921255216U CN 210652690 U CN210652690 U CN 210652690U
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- walking controller
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Abstract
The utility model relates to the technical field of mechanical electric control, in particular to a walking control device and a system for a crawler-type harvester; the walking control device comprises: the walking controller is arranged on the harvester; the electromagnetic proportional valve unit is connected with the walking controller; and the electric control handle unit is connected with the walking controller. The beneficial effects of the above technical scheme are that: the walking controller is adopted to monitor the walking speed of the harvester and the real-time operation action of an operator, and the flow of the opening of the hydraulic valve is controlled by adjusting the current, so that the aim of controlling the speed of the harvester is fulfilled; the walking controller can process the emergency in time, realize the electric control stepless speed change and save the complex mechanical structure.
Description
Technical Field
The utility model relates to a mechanical automatically controlled technical field especially relates to a walking control device for crawler-type harvester.
Background
At present, most of hydraulic stepless speed changers used on domestic crawler-type harvesters adopt two mechanical push rods to control the flow regulation of two side crawlers, so as to realize the walking and steering control of vehicles, and a handle controls the advancing and retreating speed of the harvester.
Therefore, the harvester needs to use both hands to control the speed, and is inconvenient to operate by using the hand control handle; meanwhile, a small number of manufacturers use a mechanical pedal to control the stepless speed change flow to realize speed control, but the mechanical part is complex to manufacture and high in failure rate, cannot collect the working conditions of walking, and cannot realize the stepless speed change function.
Disclosure of Invention
In view of the above-mentioned problems in the prior art, a travel control device for a crawler-type harvester is now provided.
The specific technical scheme is as follows:
a travel control apparatus for a tracked harvester, comprising:
the walking controller is arranged on the harvester;
the electromagnetic proportional valve unit is connected with the walking controller;
and the electric control handle unit is connected with the walking controller.
Preferably, the walking controller comprises a plurality of controller data interfaces, and the plurality of controller data interfaces are connected to the electromagnetic proportional valve unit.
Preferably, the electromagnetic proportional valve unit comprises a plurality of electromagnetic proportional valves,
each electromagnetic proportional valve is connected with each controller data interface.
Preferably, a plurality of the electromagnetic proportional valves includes:
the left advancing electromagnetic valve is connected with the walking controller;
the right advancing electromagnetic valve is connected with the walking controller;
the left retreating electromagnetic valve is connected with the walking controller;
and the right backward electromagnetic valve is connected with the walking controller.
Preferably, the electric control handle unit includes:
the forward and backward handle is connected with the walking controller;
and the steering handle is connected with the walking controller.
Preferably, the walking control device further comprises a rotating speed sensing unit, and the rotating speed sensing unit is connected with the walking controller.
Preferably, the rotation speed sensing unit includes:
the left rotating speed sensor is connected with the walking controller;
and the right rotating speed sensor is connected with the walking controller.
The beneficial effects of the above technical scheme are that: the walking controller is adopted to monitor the walking speed of the harvester and the real-time operation action of an operator, and the flow of the opening of the hydraulic valve is controlled by adjusting the current, so that the aim of controlling the speed of the harvester is fulfilled; the walking controller can process the emergency in time, realize the electric control stepless speed change and save the complex mechanical structure.
Drawings
Fig. 1 is a schematic block diagram of an embodiment of a travel control device for a crawler-type harvester according to the present invention;
fig. 2 is a turning and walking schematic diagram of an embodiment of a walking control system for a crawler-type harvester according to the present invention;
a travel controller 1; an electromagnetic proportional valve unit 2; a left advance solenoid valve 21; a right forward feed solenoid valve 22; a left backward solenoid valve 23; a right rear solenoid valve 24; an electric control handle unit 3; a forward/backward handle 31; a steering handle 32; a rotational speed sensing unit 4; a left rotation speed sensor 41; and a right rotational speed sensor 42.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
A travel control apparatus for a tracked harvester, comprising:
the walking controller 1 is used for controlling the walking of the harvester;
the electromagnetic proportional valve unit 2 is connected with the walking controller 1 and is used for controlling the running speed of the harvester;
and the electric control handle unit 3 is connected with the walking controller 1 and is used for controlling the corresponding hydraulic port according to the speed of the harvester.
Specifically, as shown in fig. 1, in the technical scheme, a walking controller 1 is adopted to monitor the walking speed of the harvester and the real-time operation action of an operator, and the flow of a hydraulic port is directly controlled by controlling an electric control handle unit 3 to adjust the current of an electromagnetic proportional valve unit 2, so that the purpose of controlling the speed of the harvester is achieved, the electric control stepless speed change is realized, and the defect of mechanical control of a hydraulic stepless speed changer in the prior art is overcome.
In a preferred embodiment, the walking controller 1 comprises a plurality of controller data interfaces, each controller data interface is used for adjusting the size of the opening of the oil port; the controller data interface may have a variety of data interface types, such as PWM (Pulse Width Modulation) ports, such that each PWM port is used to adjust the size of the opening of the oil port.
In a preferred embodiment, the electromagnetic proportional valve unit 2 comprises a plurality of electromagnetic proportional valves,
each electromagnetic proportional valve is connected with each controller data interface.
Specifically, as shown in fig. 1, the walking controller 1 includes a plurality of controller data interfaces, and each controller data interface is used for adjusting the size of the opening of the oil port.
Such as PWM (Pulse Width Modulation) ports, such that each PWM port is used to adjust the size of the opening of the oil port.
Further, the electromagnetic proportional valve unit 2 includes a plurality of electromagnetic proportional valves, each electromagnetic proportional valve is connected to each controller data interface, and the walking controller 1 can control and adjust the flow of the oil port by controlling each electromagnetic proportional valve of the electromagnetic proportional valve unit 2 so as to control the speed of the harvester.
In a preferred embodiment, the plurality of electromagnetic proportional valves includes:
a left forward electromagnetic valve 21 connected with the walking controller 1 and used for controlling the left forward movement of the harvester;
a right advancing electromagnetic valve 22 connected with the walking controller 1 and used for controlling the right advancing movement of the harvester;
a left backward electromagnetic valve 23 connected with the walking controller 1 and used for controlling the left backward movement of the harvester;
and the right backward electromagnetic valve 24 is connected with the walking controller 1 and is used for controlling the right backward movement of the harvester.
Specifically, as shown in fig. 1, the electromagnetic proportional valve includes a left forward electromagnetic valve 21, a right forward electromagnetic valve 22, a left backward electromagnetic valve 23 and a right backward electromagnetic valve 24, which are all connected to the travel controller 1 to control the movement of the harvester, for example, the left forward electromagnetic valve 21 is used to control the left forward movement of the harvester; the right forward electromagnetic valve 22 is connected with the walking controller 1 and is used for controlling the right forward movement of the harvester; the left backward electromagnetic valve 23 is connected with the walking controller 1 and is used for controlling the left backward movement of the harvester; and the right backward electromagnetic valve 24 is connected with the walking controller 1 and is used for controlling the right backward movement of the harvester.
When the harvester walks backwards on the left side, the electric control handle unit 3 is controlled, the electric control handle unit 3 transmits a first control instruction to the walking controller 1, the walking controller 1 receives the first control instruction, the walking controller 1 performs information processing, sends a second control instruction to the left backward electromagnetic valve 23 to perform corresponding processing, and adjusts the size of a hydraulic valve port, so that the function of walking backwards on the left side is realized.
In a preferred embodiment, the electric control handle unit 3 comprises:
a forward and backward handle 31 connected with the walking controller 1 and used for controlling the forward and backward movement of the harvester;
a steering handle 32 connected with the walking controller 1 for controlling steering movement.
Specifically, as shown in fig. 1 and 2, in the prior art, a mechanical valve is pushed by a hydraulic push rod to control an opening of an oil port, so as to control the traveling speed of the harvester, but because of poor mechanical stability, the mechanical valve can generally be divided into four gears, so that the stability is controlled, and stepless speed change cannot be realized. Aiming at the defects and shortcomings in the prior art, the technical scheme is improved, specifically, the electric control handle unit 3 is arranged, signals of the electric control handle unit 3 are connected into the walking controller 1, the current target speed is judged, and the current target speed corresponds to the size of an initial hydraulic port.
Further, the traveling controller 1 initializes the maximum value and the minimum value of the size of the calibrated oil port, judges the opening of the current target hydraulic valve according to the electric control handle unit 3, and performs preliminary current output;
furthermore, in the straight-line running process of the harvester, PID (proportion integration differentiation) walking adjustment is carried out through speed detection of the crawler belts on the two sides, and corresponding speed adjustment is carried out by selecting a proper numerical value through different speed difference values;
further, when the harvester is turning, the hydraulic valve port is adjusted according to the operation of the electric control handle unit 3, and the turning function is realized according to the speed difference of the crawler belts on two sides of the harvester, for example, the functions of pivot turning and minimum radius turning can be realized simultaneously.
Further, for example, when the harvester turns, the electric control handle unit 3 is controlled, the electric control handle unit 3 transmits a first control command to the walking controller 1, the walking controller 1 receives the first control command, the walking controller 1 performs information processing, and sends a second control command to the electromagnetic proportional valve unit 2 for corresponding processing, the size of the hydraulic valve port is adjusted, the turning function is realized according to the speed difference of the two side crawlers, and the functions of pivot turning and minimum radius turning are realized.
In a preferred embodiment, the walking control device further comprises a rotating speed sensing unit 4, and the rotating speed sensing unit 4 is connected with the walking controller 1 and used for controlling the rotating speed of the harvester.
In a preferred embodiment, the rotation speed sensing unit 4 comprises:
the left rotating speed sensor 41 is connected with the walking controller 1 and is used for controlling the left rotating speed of the harvester;
and the right rotating speed sensor 42 is connected with the walking controller 1 and is used for controlling the right rotating speed of the harvester.
Specifically, as shown in fig. 1, the rotation speed sensing unit 4 includes a left rotation speed sensor 41 and a right rotation speed sensor 42, both of which are connected to the walking controller 1 for controlling the rotation speed of the harvester; for example, a left rotation speed sensor 41, the left rotation speed sensor 41 is connected with the walking controller 1 for controlling the left rotation speed of the harvester; the right rotating speed sensor 42 and the right rotating speed sensor 42 are connected with the walking controller 1 and used for controlling the right rotating speed of the harvester.
The beneficial effects of the above technical scheme are that: the walking controller is adopted to monitor the walking speed of the harvester and the real-time operation action of an operator, and the flow of the opening of the hydraulic valve is controlled by adjusting the current, so that the aim of controlling the speed of the harvester is fulfilled; the walking controller can process the emergency in time, realize the electric control stepless speed change and save the complex mechanical structure.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (7)
1. A travel control apparatus for a tracked harvester, the travel control apparatus comprising:
the walking controller is arranged on the harvester;
the electromagnetic proportional valve unit is connected with the walking controller;
and the electric control handle unit is connected with the walking controller.
2. The travel control apparatus for a tracked harvester according to claim 1, wherein the travel controller comprises a plurality of controller data interfaces connected to the electromagnetic proportional valve unit.
3. The walking control device for a crawler-type harvester according to claim 2, wherein the electromagnetic proportional valve unit includes a plurality of electromagnetic proportional valves,
each electromagnetic proportional valve is connected with each controller data interface.
4. The travel control apparatus for a tracked harvester according to claim 1, wherein the plurality of electromagnetic proportional valves comprises:
the left advancing electromagnetic valve is connected with the walking controller;
the right advancing electromagnetic valve is connected with the walking controller;
the left retreating electromagnetic valve is connected with the walking controller;
and the right backward electromagnetic valve is connected with the walking controller.
5. The travel control for a tracked harvester according to claim 1, wherein the electrically controlled handle unit comprises:
the forward and backward handle is connected with the walking controller;
and the steering handle is connected with the walking controller.
6. The travel control device for a tracked harvester according to claim 1, further comprising a rotational speed sensing unit connected to the travel controller.
7. The travel control apparatus for a crawler-type harvester according to claim 6, wherein the rotation speed sensing unit includes:
the left rotating speed sensor is connected with the walking controller;
and the right rotating speed sensor is connected with the walking controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921255216.7U CN210652690U (en) | 2019-08-05 | 2019-08-05 | Walking control device for crawler-type harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921255216.7U CN210652690U (en) | 2019-08-05 | 2019-08-05 | Walking control device for crawler-type harvester |
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| Publication Number | Publication Date |
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| CN210652690U true CN210652690U (en) | 2020-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921255216.7U Active CN210652690U (en) | 2019-08-05 | 2019-08-05 | Walking control device for crawler-type harvester |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303886A (en) * | 2019-08-05 | 2019-10-08 | 上海宏英智能科技有限公司 | A kind of traveling control device for crawler-type harvester |
| CN113983226A (en) * | 2021-10-26 | 2022-01-28 | 三一重机有限公司 | Excavator walking control method and device and excavator |
-
2019
- 2019-08-05 CN CN201921255216.7U patent/CN210652690U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303886A (en) * | 2019-08-05 | 2019-10-08 | 上海宏英智能科技有限公司 | A kind of traveling control device for crawler-type harvester |
| CN113983226A (en) * | 2021-10-26 | 2022-01-28 | 三一重机有限公司 | Excavator walking control method and device and excavator |
| CN113983226B (en) * | 2021-10-26 | 2023-08-22 | 三一重机有限公司 | Excavator walking control method and device and excavator |
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Address after: Room j11387, building 2, No. 4268, Zhennan Road, Jiading District, Shanghai, 201802 Patentee after: Shanghai Hongying Intelligent Technology Co.,Ltd. Address before: Room 503, Building No. 1690, Jiahao Road, Nanxiang Town, Jiading District, Shanghai, 201800 Patentee before: SHANGHAI SMART CONTROL Co.,Ltd. |