CN216184491U

CN216184491U - Travel control system and work machine

Info

Publication number: CN216184491U
Application number: CN202122458581.1U
Authority: CN
Inventors: 李为国; 廖勇; 董续鹏
Original assignee: Hunan Sanyi Huayuan Machinery Co
Current assignee: Hunan Sanyi Huayuan Machinery Co
Priority date: 2021-10-12
Filing date: 2021-10-12
Publication date: 2022-04-05
Anticipated expiration: 2031-10-12

Abstract

The utility model provides a running control system and an operating machine, and belongs to the technical field of operating machines. The running control system comprises an operating device, a first sensor, a controller, a motor and a manual servo pump; the first sensor is arranged on the operating device to acquire the position information of the operating device; the first sensor, the controller, the motor and the manual servo pump are sequentially connected, the first end of the motor is connected with the first valve of the manual servo pump, and the second end of the motor is connected with the second valve of the manual servo pump; the control signal output by the controller to the motor is generated based on the position information of the operating device. The utility model provides a running control system and a working machine, which can realize running control with high precision and high sensitivity on the working machine by detecting the position information of an operating device based on a first sensor, inputting the position information into a controller for processing, driving a motor through a control signal output by the controller, and controlling a manual servo pump to output corresponding discharge capacity through the motor.

Description

Travel control system and work machine

Technical Field

The present invention relates to the field of work machines, and in particular, to a travel control system and a work machine.

Background

In order to meet the higher requirements of an engineering system on transmission and control characteristics, the electric proportional hydraulic technology is adopted to control the running of the working machine, and the electric proportional hydraulic control system has the advantages of simplicity, convenience, sensitive action, high precision, resource saving and the like, and becomes an indispensable important means.

At present, a hall type or resistance type electric control handle is generally adopted in a new generation of working machine, however, for a working machine with a mechanical running operation device, for example, a road roller with a mechanical operation rod, the displacement of an electric proportional running pump is controlled by the stroke of a pull wire, so that a motor is driven to realize the running control of advancing, backing and stopping, and the electric control running can not be realized in the mode, and the high-precision control can not be realized. As can be seen, in the working machine having the mechanical travel operation device, the control operation sensitivity of the electric proportional travel control system is poor and the control accuracy is low.

SUMMERY OF THE UTILITY MODEL

The utility model provides a running control system and a working machine, which aim to solve or improve the defect of low running control precision of a manual servo pump by using an operating device in the prior art.

The utility model provides a running control system, which comprises an operating device, a first sensor, a controller, a motor and a manual servo pump, wherein the first sensor is arranged on the operating device; wherein the content of the first and second substances,

the first sensor is arranged on the operating device to acquire the position information of the operating device;

the first sensor, the controller, the motor and the manual servo pump are sequentially connected, a first end of the motor is connected with a first valve of the manual servo pump, and a second end of the motor is connected with a second valve of the manual servo pump;

the control signal output by the controller to the motor is generated based on the position information of the operating device.

According to the utility model, the running control system further comprises a second sensor for acquiring the rotating speed of the target component, and the second sensor is connected with the controller.

According to a travel control system provided by the present invention, the control signal is generated based on position information of the operation device and a rotation speed of the target member.

According to a travel control system provided by the present invention, the target component includes a travel motor connected to the second sensor.

According to a travel control system provided by the present invention, the target component includes a rear axle, and the rear axle is connected to the second sensor.

According to a running control system provided by the present invention, the target component includes a running motor and a rear axle;

a first end of the running motor is connected with the manual servo pump, and a second end of the running motor is connected with the second sensor;

and the first end of the rear axle is connected with the third end of the running motor, and the second end of the rear axle is connected with the second sensor.

According to a driving control system provided by the present invention, the first sensor includes one or more of a pull rope sensor, a hall sensor, and an angle sensor.

According to a running control system provided by the present invention, the motor includes a linear motor or a stepping motor.

According to the running control system provided by the utility model, the motor and the manual servo pump are connected through a universal joint.

The present invention also provides a work machine including the travel control system as set forth in any one of the above.

The utility model provides a running control system and a working machine, which can realize running control with high precision and high sensitivity on the working machine by detecting the position information of an operating device based on a first sensor, inputting the position information into a controller for processing, driving a motor through a control signal output by the controller, and controlling a manual servo pump to output corresponding discharge capacity through the motor.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a travel control system provided by the present invention;

FIG. 2 is a schematic diagram of a driving control system according to the present invention;

FIG. 3 is a second schematic diagram illustrating the structure and connection relationship of the driving control system according to the present invention;

FIG. 4 is a third schematic view illustrating the structure and connection relationship of the driving control system according to the present invention;

fig. 5 is a schematic structural diagram of a work machine according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one.

It is to be understood that the terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Fig. 1 is a schematic structural diagram of a travel control system according to the present invention. As shown in fig. 1, the driving control system according to the embodiment of the present invention includes an operating device 110, a first sensor 120, a controller 130, a motor 140, and a manual servo pump 150.

The manual servo pump 150 is the control target of the controller 130 in the travel control system, and the application scenarios of the travel control system are as follows: the manual servo pump is driven by the travel control system to perform an opening degree corresponding to the movement amount of operation device 110, and the work machine is driven to generate a displacement amount corresponding thereto.

Specifically, the travel control system includes an operating device 110, a first sensor 120, a controller 130, a motor 140, and a manual servo pump 150.

Wherein the operating device 110 of the work machine is connected to the first sensor 120 to obtain the displacement of the operating device 110 during operation.

The first sensor 120 is connected to the controller 130 to obtain the rotation speed of the motor 140 based on the displacement of the operating device 110.

The controller 130 is coupled to the motor 140 such that the motor 140 receives the motor speed and generates mechanical energy.

The first sensor 120 is disposed on the operating device 110 to obtain position information of the operating device.

It should be noted that, the first sensor 120 includes an operation portion and a fixing portion, the operation portion is disposed on the fixing portion, and the fixing portion is connected to the first sensor 120, wherein:

and the operating part is pulled or touched by an operator of the electric proportional running control system to drive the working machine to run in a corresponding direction.

And a fixing part for converting a position change of the operation part in the operation device 110 into length information or angle information.

The operation unit and the fixed unit of the operation device are maintained at initial relative positions, and the working machine is in a stationary state. When the relative position of the operation portion and the fixed portion is changed with reference to this state, the work machine travels forward or backward. The embodiment of the present invention does not specifically limit the type of the operation device.

For example, the operating device 110 may be a mechanical handle or may be a key handle.

Specifically, the first sensor 120 is connected to the operation device 110, and acquires the acquired position information through a built-in sensor thereof. The embodiment of the present invention does not specifically limit the position information.

The position information refers to information collected by each of the first sensors 120 and is used as an input signal of the controller 120. The embodiment of the present invention does not specifically limit the types and the number of the sensors in the first sensor 120.

The position information at least includes position information of the operating device 110 collected by a sensor connected to the operating device 110.

The positional information of the operation device 110 refers to a position where the operation device 110 is located in one operation of the operation device 110 or a displacement amount of the operation device 110 generated in one operation. The embodiment of the present invention is not particularly limited thereto.

The first sensor 120, the controller 130, the motor 140, and the manual servo pump 150 are sequentially connected, a first end of the motor 140 is connected to a first valve of the manual servo pump 150, and a second end of the motor 140 is connected to a second valve of the manual servo pump 150.

Specifically, the motor 140 and the manual servo pump 150 are connected by links, wherein a first end of a first link of the links is connected to a first end of the motor 140, and a second end of the first link is connected to a first valve of the manual servo pump 150. Similarly, a first end of a second of the links is connected to a second end of the motor 140, and a second end of the second link is connected to a second valve of the manual servo pump 150. So that the motor 140 generates mechanical energy and drives the first valve or the second valve of the manual servo pump to open correspondingly through the mechanical transmission of the first link or the second link. The embodiment of the present invention does not specifically limit the connecting rod.

Preferably, the motor 140 and the manual servo pump 150 of the working machine are connected by a universal joint in which one end of a single rod is connected to the motor 140, and in a section having a plurality of rods, the other end of each rod is correspondingly connected to a valve of the manual servo pump.

The control signal output from the controller 130 to the motor 140 is generated based on the position information of the operating device 110.

The input signal of the controller 130 is the position information output by the first sensor 120, and the control signal output by the controller 130 is the rotation speed of the motor 140 to control the motor 140.

Specifically, after receiving the position information output by the first sensor 120, the controller 130 determines the target direction in which the work machine is traveling according to the position information of the operating device 110 in the position information, and acquires the target rotation speed of the motor 140 according to the correspondence between the handle position information and the motor rotation speed, and uses the target rotation speed as the control signal.

The target rotational speed is a rotational speed value corresponding to the displacement of the operation device 110. The target rotation speed is used to drive the motor 140 at the rotation speed value.

It can be understood that the motor 140 receives the control signal of the controller 130, generates mechanical energy corresponding to the rotation speed indicated by the control signal, and transmits the mechanical energy to the manual servo pump 150 through the motor link, and the manual servo pump 150 adjusts the valve core opening of the target valve according to the mechanical energy, so that the working machine travels in the target direction after acquiring the oil supply amount.

The manual servo pump 150 converts mechanical energy of a power machine (e.g., an electric motor, an internal combustion engine, etc.) into pressure energy of liquid, sucks oil from an oil tank, discharges the pressure oil, and sends the pressure oil to one of actuators.

The manual servo pump 150 includes at least two valves. The first valve is used for controlling the forward displacement of the working machine, and the second valve is used for controlling the backward displacement of the working machine.

The target valve is a valve corresponding to a target direction in which the operation device 110 controls the travel of the work machine, and may be a first valve or a second valve.

The method for adjusting the valve core opening degree of the program marking valve in the embodiment of the utility model is not particularly limited.

For example, the motor 140 is connected to a linkage of a manual servo pump 150. The motor 140 drives the link rod of the target valve of the manual servo pump to move from the minimum position to the maximum position according to the linear proportional relation between the minimum rotating speed and the maximum rotating speed of the motor output by the controller 130, so that the target valve of the manual servo pump is changed from the minimum displacement to the maximum displacement.

The following illustrates a specific embodiment of providing a travel control system, for example:

(1) the pull string type sensor of the first sensor 120 detects position information of the operating device 110 by being connected to the operating device 110, and inputs the position information to the controller.

(2) The controller 130 determines a target direction according to the position of the operating device 110 and outputs a target rotation speed of the motor 140, and the logic thereof may be:

if the position information of the operating device 110 detected by the sensor is equal to 10 centimeters (cm), the controller 130 determines that the target direction of the operating device 110 is neutral, and the output target rotational speed of the motor 140 is the minimum value, at which time the working machine is in a stationary state.

If the position information of the operating device 110 detected by the sensor is greater than or equal to 0cm and less than 10cm, the controller 130 determines that the target direction of the operating device 110 is backward, and if the position information of the operating device 110 is 0cm, the operating device 110 is at the maximum backward position, and the target rotational speed of the motor 140 output accordingly is at the maximum.

If the position information of the operation device 110 detected by the sensor is greater than 10cm and less than or equal to 20cm, the controller 130 determines that the target direction of the operation device 110 is the foreground, and if the position information of the operation device 110 is 20cm, the operation device 110 is at the maximum position of forward movement, and the target rotation speed of the motor 140 output correspondingly is at the maximum value.

The displacement of the operation device 110 moving forward or backward and the output motor speed have a linear proportional relationship, i.e. the larger the absolute value of the displacement of the operation device 110 moving forward or backward, the larger the output motor speed. For example:

the initial position information of the operation device 110 was 10cm, and after the manual operation, the position information of the operation device 110 was 12 cm. The controller 120 determines that the target direction is forward and the displacement amount of the operation device 110 is |12-10| -2 cm, because it determines that the position information after the operation of the operation device 110 is within the range of the section of (10, 20), a low target rotation speed value can be output according to the linear proportional relationship.

If the manual operation is performed, the position information of the operation device 110 becomes 0 cm. The controller 130 determines that the target direction is backward and the displacement amount of the operation device 110 is |0-10| -10 cm, because it determines that the position information after the operation of the operation device 110 is within the range of [0, 10 ], and can output the maximum target rotation speed value according to the linear proportional relationship.

(3) The motor 140 generates mechanical energy at a target rotation speed to drive a target valve in the manual servo pump to open, and the logic may be:

the motor 140 and the manual servo pump 150 may be connected by a link, and when the operation device 110 is in the neutral state, one end of the link is connected to the motor 140, and the other end is located between two valves of the manual servo pump 150, and the link is in the horizontal state.

If the operation device 110 is in the backward movement state, the end of the link connected to the motor 140 is driven by mechanical energy to move downward in a displacement change corresponding to the rotational speed of the motor, and the other end of the link moves upward in the same displacement change, so that the valve controlling the backward movement is adjusted to an opening corresponding to the displacement change. And conversely, the valve for controlling forward is adjusted to the opening corresponding to the displacement change.

For example, the motor 140 and the manual servo pump 150 may be connected by a universal joint, so that after the motor 140 obtains the target rotation speed, the valve corresponding to the manual servo pump 150 is driven to adjust to an opening corresponding to the rotation speed.

According to the embodiment of the utility model, the position information of the operating device is detected based on the first sensor, the position information is input to the controller for processing, the motor is driven by the control signal output by the controller, the motor controls the manual servo pump to output the corresponding displacement, and the running control of the working machine with high precision and high sensitivity can be realized.

On the basis of any one of the above embodiments, the device further comprises a second sensor for acquiring the rotation speed of the target component, and the second sensor is connected with the controller.

The target component refers to a device for transmitting power in the work machine, and the embodiment of the present invention is not particularly limited thereto, and the target component may be a clutch or a transaxle, for example.

Specifically, a second sensor is provided between controller 130 and a target component in the work machine to sense the behavior of the work machine on the target component if the work machine is driven by motor 140 to sense displacement.

According to the embodiment of the utility model, the rotating speed information of the target component is detected based on the second sensor, so that the deviation is corrected, the interference is offset, and the running control of the working machine with high precision and high sensitivity can be realized.

On the basis of any of the above embodiments, the control signal is generated on the basis of the position information of the operating device and the rotational speed of the target component.

Specifically, after the controller 130 controls the motor 140 to drive, the second sensor collects the rotation speed information of the target component of the working machine under the current driving condition, and feeds the rotation speed information of the target component back to the controller 130, so that the controller 130 executes closed-loop control, and corrects the rotation speed output by the motor 140 to make the output meet the expected requirement. The method and process of closed-loop control in the embodiments of the present invention are not particularly limited.

For example, the controller 130 obtains the rotation speed information of the motor 140 according to the position information of the operating device 110 collected by the first sensor 120, and uses the rotation speed information of the motor 140 as the expected value of the closed-loop control.

When the motor 140 drives the manual servo pump to output the displacement, the target component in the working machine is enabled to perform power transmission at a certain rotation speed, and the controller 130 acquires the rotation speed information of the target component through the second sensor and uses the rotation speed information of the target component as a feedback value of the closed-loop control.

The controller 130 may compare the feedback value of the control with a desired value and adjust the target rotation speed output by the controller 130 according to the set error so that the driving target member reaches the rotation speed that meets the closed-loop control condition in this case.

The closed-loop control performed by the controller 130 includes, but is not limited to, P control, PI control, PD control, or PID control.

The embodiment of the utility model detects the rotating speed information of the target component based on the second sensor, feeds the rotating speed information back to the controller for closed-loop control, and corrects the deviation and counteracts the interference when the deviation between the expected value and the feedback value is overlarge. Furthermore, accurate control signals are obtained, the motor is driven through the control signals output by the controller, the motor controls the manual servo pump to output corresponding displacement, and high-precision and high-sensitivity running control over the working machine can be achieved.

Fig. 2 is one of the structures and connection relations of the driving control system according to the present invention. As shown in fig. 2, in any of the above embodiments, the target component includes the travel motor 260, and the travel motor 260 is connected to the second sensor 270.

Specifically, the target component of the work machine is the travel motor 260, and the second sensor 270 acquires information on the rotation speed of the travel motor 260.

The travel motor speed information is the speed at which the motor 240 is controlled by the target speed output from the controller 230 to drive the travel motor 260 of the work machine while the manual servo pump 250 obtains the corresponding displacement.

Alternatively, in the closed-loop control system of the controller 230, the position information of the operating device 210 collected by the controller 230 through the first sensor 220, the output rotation speed of the motor 240 as a desired value, the rotation speed of the travel motor 260 collected by the second sensor 270 as a feedback value, and the energy lost during the transmission as a deviation value are corrected according to the desired value and the deviation value when the difference between the desired value and the feedback value does not conform to a preset deviation value.

Alternatively, in the closed-loop control system of the controller 230, a desired value and a deviation value with respect to the rotation speed of the running motor 260 are set in the controller 230, the rotation speed of the running motor 260 collected by the second sensor 270 is used as a feedback value, and when the difference between the desired value and the feedback value does not conform to a preset deviation value, the feedback value is corrected according to the desired value and the deviation value.

The embodiment of the utility model feeds back the rotation speed information of the running motor to the controller for closed-loop control processing, and corrects the deviation and counteracts the interference when the deviation between the expected value and the feedback value is overlarge. Furthermore, accurate control signals are obtained, the motor is driven through the control signals output by the controller, the motor controls the manual servo pump to output corresponding displacement, and high-precision and high-sensitivity running control over a running motor of the working machine can be achieved.

Fig. 3 is a second schematic diagram of the structure and connection relationship of the driving control system according to the present invention. As shown in fig. 3, the target component includes a rear axle 370 based on any of the above embodiments.

Specifically, the target component of the work machine is the rear axle 370, and the second sensor 380 collects information on the rotation speed of the rear axle 370.

The rotation speed information of the rear axle means the rotation speed of the motor 340 executed by the rear axle 370, which is controlled by the target rotation speed output by the controller 330, so that the manual servo pump 350 obtains the corresponding displacement, and drives the traveling motor 360 of the working machine.

Alternatively, in the closed-loop control system of the controller 330, the position information of the operating device 310 acquired by the controller 330 through the first sensor 320, the output rotation speed of the motor 340 as a desired value, the rotation speed of the rear axle 370 acquired by the second sensor 380 as a feedback value, and the energy lost during the transmission as a deviation value are corrected according to the desired value and the deviation value when the difference between the desired value and the feedback value does not meet a preset deviation value.

Alternatively, in the closed-loop control system of the controller 330, a desired value and a deviation value with respect to the rotation speed of the rear axle 370 are set at the controller 330, the rotation speed of the rear axle 370 collected by the second sensor 380 is used as a feedback value, and the feedback value is corrected according to the desired value and the deviation value when the difference between the desired value and the feedback value does not conform to the preset deviation value.

The embodiment of the utility model feeds back the rotation speed information of the rear axle to the controller for closed-loop control processing, and corrects the deviation and counteracts the interference when the deviation between the expected value and the feedback value is overlarge. Furthermore, accurate control signals are obtained, the motor is driven through the control signals output by the controller, the motor controls the manual servo pump to output corresponding displacement, and high-precision and high-sensitivity running control over a running motor of the working machine can be achieved.

Fig. 4 is a third schematic view of the structure and connection relationship of the driving control system according to the present invention. As shown in fig. 4, the target components include a travel motor 460 and a rear axle 470 on the basis of any of the above embodiments.

Specifically, the target components of the work machine are the travel motor 460 and the rear axle 470, and the second sensor 480 collects the rotational speed information of the travel motor 460 and the rotational speed information of the rear axle 470, respectively.

A first end of the travel motor 460 is connected to the manual servo pump 450, and a second end of the travel motor 460 is connected to the second sensor 480.

Specifically, the manual servo pump 450 outputs power under the control of the target rotation speed of the motor 440, transmits the power to the travel motor 460, and detects the rotation speed of the travel motor 460 through the second sensor 480 and transmits the detected rotation speed to the controller 430 to form a closed-loop control.

A first end of the rear axle 470 is connected to the third end of the travel motor 460, and a second end of the rear axle 470 is connected to the second sensor 480.

Specifically, the manual servo pump 450 outputs power under the control of the target rotation speed of the motor 440, transmits the power to the travel motor 460, transfers the power to the rear axle 470 by the travel motor 460, and detects the rotation speed of the rear axle 470 by the second sensor 480 and transmits the detected rotation speed to the controller 430 to form another closed-loop control.

Illustratively, in the closed-loop control system of the controller 430, the position information of the operating device 410 collected by the controller 430 through the first sensor 420, the output rotation speed of the electric machine 440 as a desired value, the rotation speed of the travel motor 460 and the rotation speed of the rear axle 470 collected by the second sensor 480 as feedback values, and the energy lost during the driving process of the travel motor 460 and the driving process of the rear axle 470 as different deviation values are respectively corrected according to the desired value and the corresponding deviation values when the difference between the desired value and the feedback values does not conform to the corresponding deviation values.

Alternatively, in the closed-loop control system of the controller 430, two sets of values are set at the controller 430, respectively, one set being a desired value and a deviation value with respect to the rotation speed of the rear axle 470, and the other set being a desired value and a deviation value with respect to the rotation speed of the travel motor 460. And the rotation speed of the driving motor 460 and the rotation speed of the rear axle 470 collected by the second sensor 480 are used as feedback values of corresponding groups, and for each group of values, when the difference between the desired value and the feedback value does not accord with a preset deviation value, the group of feedback values is corrected according to the desired value and the deviation value.

The embodiment of the utility model feeds back the information of the rotating speed of the driving motor and the rear axle to the controller for closed-loop control, and corrects the deviation and counteracts the interference when the deviation between the expected value and the feedback value is overlarge. Furthermore, accurate control signals are obtained, the motor is driven through the control signals output by the controller, the motor controls the manual servo pump to output corresponding displacement, and high-precision and high-sensitivity running control over a running motor of the working machine can be achieved.

In addition to any of the above embodiments, the first sensor 120 includes one or more of a pull-cord sensor, a hall sensor, and an angle sensor.

Specifically, the first sensor 120 is connected to the operation device 110 of the work machine, and position information of the operation device 110 is acquired by various sensors or a combination of sensors. The embodiment of the present invention does not specifically limit the type and arrangement of the sensors in the first sensing unit.

Preferably, the first sensor 120 is comprised of one or more of a pull-cord sensor, a hall sensor, and an angle sensor.

For example, if the first sensor 120 is composed of only an angle sensor, the position information acquired when the operation device 110 is in the neutral state is 25 °. When the position information collected by the angle sensor is within the interval of [0, 25), the controller 120 determines that the operation device 110 is in the retreating state, and retreats to the maximum position when the position information is 0 °. Similarly, when the position information collected by the angle sensor is within the interval of (25, 50], the controller 130 determines that the operation device 110 is in the forward state, and advances to the maximum position when the position information is 50 °.

For another example, if the first sensor 120 is composed of a pull-cord sensor and an angle sensor, one sensor may be used to collect the positional information of the operating device 110, and the other sensor may be used to verify the collected positional information.

When the position information collected by the first sensor 120 is 15cm and 38 °, the controller 130 can determine that the operating device 110 is in the forward state according to the position information collected by the pull rope sensor, and verify that the operating device 110 is in the forward state according to the position information collected by the angle sensor, and then the controller 120 obtains the corresponding target rotating speed according to the position information collected by the pull rope sensor. On the contrary, if the verification result obtained by the controller 130 through the position information collected by the angle sensor is different from the judgment result obtained through the position information collected by the pull rope sensor, the alarm information may be sent through the working machine, which is not specifically limited in the embodiment of the present invention.

The embodiment of the utility model can acquire accurate position information of the operating device based on the sensor arrangement of the first sensing unit. Further, the motor is driven by the control signal output from the controller, and the motor controls the manual servo pump to output a corresponding displacement, thereby realizing highly accurate and highly sensitive travel control of the travel motor of the working machine.

In addition to any of the above embodiments, the motor 140 includes a linear motor or a stepping motor.

Specifically, the motor 140 may be a linear motor or a stepping motor.

If the motor 140 is a linear motor, the rotational speed output by the controller 130 is received and can be directly converted into mechanical energy of linear motion, the dynamic response performance of the mechanical energy is improved, the response is extremely sensitive and quick, and the energy loss during mechanical friction is eliminated due to no intermediate transmission link, so that the method is more suitable for the situation that the controller 130 executes closed-loop control.

If the motor 140 is a stepping motor, it receives the digital control signal (electrical pulse signal) output by the controller 130 and converts it into an angular displacement or a linear displacement corresponding to the digital control signal. The input of a pulse signal results in a defined position increment, requiring little system adjustment, and is suitable for use in the case where the controller 130 performs open loop control.

The embodiment of the utility model is based on the arrangement of the motor, and the motor can be accurately converted into mechanical energy through the control signal output by the controller. Further, the motor controls the manual servo pump to output a corresponding displacement, thereby realizing highly accurate and highly sensitive travel control of the travel motor of the working machine.

On the basis of any of the above embodiments, the motor 140 and the manual servo pump 150 are connected by a universal joint.

Specifically, the motor 140 is connected to the manual servo pump 150 through a link to perform mechanical transmission through the link. The embodiment of the present invention does not specifically limit the connecting rod.

Preferably, the motor 140 is connected to the manual servo pump 150 through a universal joint to realize that the power is transmitted to a target valve in the manual servo pump 150 for opening after the mechanical energy is generated by the motor 140.

The embodiment of the utility model transmits the kinetic energy of the motor to the manual servo pump based on the universal joint, so that the manual servo pump outputs the corresponding displacement, and the high-precision and high-sensitivity running control of the working machine can be realized.

Fig. 5 is a schematic structural diagram of a work machine according to the present invention. As shown in fig. 5, a work machine 500 according to an embodiment of the present invention includes a travel control system 510 according to the above embodiment.

Specifically, the first sensor 512 in the travel control system is connected to the operation device 511, and the acquired position information is acquired by a sensor built in the first sensor. After receiving the position information output from the first sensor 512, the controller 513 determines the target direction in which the work machine is traveling, based on the position information of the operation device 511 in the position information, and acquires the target rotation speed of the motor 514 based on the correspondence between the handle position information and the motor rotation speed. The motor 514 receives the rotational speed control of the controller 513, generates mechanical energy corresponding to the rotational speed, and transmits the mechanical energy to the manual servo pump 515 through the motor link, and the manual servo pump 515 adjusts the valve element opening of the target valve according to the mechanical energy, and drives the traveling motor 516 of the working machine, thereby driving the rear axle 517 and causing the working machine to travel in the target direction.

Preferably, the operating device 511 is connected with the first sensor 518, the position information of the operating device 511 is input into the controller 513, and the controller 513 outputs a motor target rotating speed signal to realize the control of the motor 514 and indirectly realize the electric proportional control of the manual servo pump 515. The speed monitoring of the running motor 516 and/or the rear axle 517 is subjected to feedback regulation through the second sensor, so that the manual servo pump 515 is controlled in a closed loop mode, the running motor 516 is driven, the rear axle 517 is driven, and the whole vehicle runs.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A travel control system is characterized by comprising an operating device, a first sensor, a controller, a motor and a manual servo pump; wherein the content of the first and second substances,

the first sensor is arranged on the operating device to acquire the position information of the operating device; the first sensor, the controller, the motor and the manual servo pump are sequentially connected, a first end of the motor is connected with a first valve of the manual servo pump, and a second end of the motor is connected with a second valve of the manual servo pump;

2. The travel control system of claim 1, further comprising a second sensor for acquiring a rotational speed of a target component, the second sensor being coupled to the controller.

3. The running control system according to claim 2, wherein the control signal is generated based on position information of the operating device and a rotation speed of the target member.

4. The travel control system of claim 3, wherein the target component comprises a travel motor coupled to the second sensor.

5. The travel control system of claim 3, wherein the target component includes a rear axle, the rear axle being connected to the second sensor.

6. The running control system according to claim 3, wherein the target component includes a running motor and a rear axle;

7. The ride control system of claim 1, wherein the first sensor comprises one or more of a pull-cord sensor, a hall sensor, and an angle sensor.

8. The running control system according to any one of claims 1 to 7, wherein the motor comprises a linear motor or a stepping motor.

9. The travel control system of claim 1, wherein the motor and the manual servo pump are connected by a universal joint.

10. A work machine comprising a travel control system according to any one of claims 1-9.