CN2869112Y - Single-dual handle changeable and steering control device for milling-planing machine - Google Patents
Single-dual handle changeable and steering control device for milling-planing machine Download PDFInfo
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- CN2869112Y CN2869112Y CN 200520052975 CN200520052975U CN2869112Y CN 2869112 Y CN2869112 Y CN 2869112Y CN 200520052975 CN200520052975 CN 200520052975 CN 200520052975 U CN200520052975 U CN 200520052975U CN 2869112 Y CN2869112 Y CN 2869112Y
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- steering
- solenoid
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- turn
- reversal valve
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Abstract
The utility model discloses a single and double-handle switching shifting control device for the milling and shaving machine, which comprises a first electromagnetic proportion reversing valve and a second electromagnetic proportion reversing valve. The control ports of the first and second electromagnetic proportion reversing valves are respectively connected with the controller, while the output ports are respectively connected with the front and rear shifting oil cylinders. The front and rear shifting corner transducers that are located in the shifting organ at the front and rear wheels of the milling and shaving machine are respectively connected with the input port of the controller. The front and rear shifting handles, the in-place shifting mode switch and the crabbing mode switch are respectively connected with the input port of the controller. The first and second electromagnetic proportion reversing valves are connected with the hydraulic pump through a filter. The utility model has gathered the advantages of the two controlling methods of single and double handle so as to enable the whole machine with a higher flexibility, setting accuracy, and safety and operation adaptability.
Description
Technical field
The electric liquid that the utility model is mainly concerned with large-scale walking machine steering drives and the control field, refers in particular to the switchable control device of a kind of milling machine single or double handle.
Background technology
In the prior art, the turn to driving and the control system of the big-and-middle-sized milling machine that known four-wheel or crawler belt turn to mainly adopt following two schemes:
Scheme one: front and rear wheel or crawler belt turn to separate open loop control scheme.Adopt two to turn to control element (two handles or a steering wheel, a handle) to control front and rear wheel respectively or crawler belt turns to, the operator can regulate direction, speed and the angle of forward and backward deflecting roller or crawler belt deflection according to steering situation arbitrarily.Thisly turn to the scheme maneuverability, steering situation is had high applicability.But there are many deficiencies simultaneously again, as:
1. turn to quality and operator's qualification closely bound up, the operator needs to grasp with the long period steering behaviour of machine.
2. when turning to (pivot stud or crab row) simultaneously at four-wheel or crawler belt, the difference of front and rear wheel or crawler belt steering situation can cause the difference of steering resisting moment, further produces the difference of turning velocity.This species diversity not only can cause the actual steering track to depart from operator's intention, and for pivot stud, can strengthen turning radius, increases the sideslip and the sidesway that produce in the machine steering procedure, and then causes the too early wearing and tearing of tire (crawler belt rubber tile); For the crab row, the revolution that can produce fuselage in crab row process influences the accuracy that milling is located, and increases the adjustment time, reduces productivity ratio.
3. when four-wheel or crawler belt turned to (pivot stud or crab row) simultaneously, the operator needed to turn to control element and can't take the adjustment of other control as the speed of travel simultaneously into account with two hand control, influences the security performance of complete machine.
Scheme two: adopt the monolever of closed-loop control or the control scheme of steering wheel.Only one turns to control element, but the selector switch that turns to feedback element such as rotary angle transmitter and turn to pattern has been installed in steering mechanism.Turn to control element directly to control in turning to one of front and rear wheel or crawler belt, turn to as front-wheel or crawler belt.Controller turns to and makes it to eliminate this deviation by turning to feedback element to detect after the deviation of front and rear wheel or crawler belt deflection angle output signal of telecommunication control trailing wheel or crawler belt in real time.The selector switch that turns to pattern then is that the yawing moment of selection front and rear wheel or crawler belt is identical or opposite, and is identical then for the crab row, then is pivot stud on the contrary.Compare with scheme one, this scheme that turns to has the following advantages undoubtedly:
1. not high to operator's qualification dependence, the operator can grasp the steering behaviour of machine at short notice.
2. turning velocity unanimity when four-wheel or crawler belt turn to, deflection angle is identical, and therefore have desirable turning track: during pivot stud, turning radius is little, and sideslip and sidesway that machine produces in steering procedure are little, and the wearing and tearing of tire (crawler belt rubber tile) are little.Crab row process middle machine body does not have revolution, the milling accurate positioning.
3. the operator can be with other control element such as another hand control walking handle, and safety improves greatly.
The deflection speed of front and rear wheel or crawler belt is identical with angle but this kind turns to scheme, and the occasion for front and rear wheel or crawler belt steering situation differ greatly has limited the flexibility of complete machine again, increases the adjustment time, influences production efficiency.
The utility model content
The technical problems to be solved in the utility model is: at the problem of prior art existence, the utility model provides a kind of advantage of gathering two kinds of control modes of single or double handle, and operate easier, make operating personnel be more prone to left-hand seat, can make complete machine have the switchable control device of milling machine single or double handle of high flexibility, accurate positioning, safety and operational suitability.
In order to address the above problem, the solution that the utility model proposes is: a kind of milling machine list, the switchable control device of dual-handle, it is characterized in that: it comprises the first solenoid-operated proportional reversal valve, the second solenoid-operated proportional reversal valve, before turn to oil cylinder, after turn to oil cylinder, preceding steering angle sensor, back steering angle sensor, controller, preceding steering tiller, back steering tiller, pivot stud mode switch and crab row mode switch, the control port of the first solenoid-operated proportional reversal valve and the second solenoid-operated proportional reversal valve respectively with controller, the output port of the first solenoid-operated proportional reversal valve and the second solenoid-operated proportional reversal valve respectively with preceding turn to oil cylinder with after turn to oil cylinder to link to each other, before being positioned at milling machine, preceding steering angle sensor in the steering mechanism of trailing wheel links to each other with the input port of controller with back steering angle sensor, preceding steering tiller, back steering tiller, the pivot stud mode switch links to each other with the input port of controller respectively with crab row mode switch, and the first solenoid-operated proportional reversal valve links to each other with hydraulic pump by strainer with the second solenoid-operated proportional reversal valve.
Compared with prior art, advantage of the present utility model is:
1, the switchable control device of the utility model milling machine single or double handle can realize front and rear wheel or crawler belt separate turn to function: adopt two steering tillers to control front and rear wheel or crawler belt deflection respectively, adjust direction, speed and the angle of forward and backward deflecting roller or crawler belt deflection arbitrarily according to steering situation, maneuverability has high applicability to steering situation;
2, the switchable control device of the utility model milling machine single or double handle can be realized the function that turns to of monolever closed-loop control: adopt one by means of controller and rotary angle transmitter, can realize pivot stud and crab row by a handle, and has desirable turning track: during pivot stud, turning radius is little, sideslip and sidesway that machine produces in steering procedure are little, and the wearing and tearing of tire (crawler belt rubber tile) are little.Crab row process middle machine body does not have revolution, the milling accurate positioning; When turning to, the operator can be with other control element such as another hand control walking handle, and safety improves greatly;
3, the switchable control device of the utility model milling machine single or double handle can easily switch between the single or double handle steering mode, and this has not only improved the steering behaviour of complete machine, and has improved operability, and the operator is left-hand seat more easily.
Description of drawings
Fig. 1 is the structural principle schematic diagram of the switchable control device of the utility model milling machine single or double handle;
Fig. 2 is the switchable control device electrical principle of a utility model milling machine single or double handle schematic diagram;
Fig. 3 is the interface circuit schematic diagram of the utility model specific embodiment middle controller.
Marginal data
1, the first solenoid-operated proportional reversal valve 2, the second solenoid-operated proportional reversal valve
3. preceding turn to oil cylinder 4, preceding steering angle sensor
5, controller 6, after turn to oil cylinder
7, back steering angle sensor 8, preceding steering tiller
9, back steering tiller 10, pivot stud mode switch
11, crab row mode switch 12, strainer
13, hydraulic pump
The specific embodiment
Below with reference to the drawings and specific embodiments the utility model is described in further details.
As shown in Figure 1, milling machine list of the present utility model, the switchable control device of dual-handle comprises the first solenoid-operated proportional reversal valve 1, the second solenoid-operated proportional reversal valve 2, before turn to oil cylinder 3, after turn to oil cylinder 6, preceding steering angle sensor 4, back steering angle sensor 7, controller 5, preceding steering tiller 8, back steering tiller 9, pivot stud mode switch 10 and crab row mode switch 11, the control port of the first solenoid-operated proportional reversal valve 1 and the second solenoid-operated proportional reversal valve 2 links to each other with the output port of controller 5 respectively, the output port of the first solenoid-operated proportional reversal valve 1 and the second solenoid-operated proportional reversal valve 2 respectively with preceding turn to oil cylinder 3 with after turn to oil cylinder 6 to link to each other, before being positioned at milling machine, preceding steering angle sensor 4 in the steering mechanism of trailing wheel links to each other with the input of controller 5 with back steering angle sensor 7, preceding steering tiller 8, back steering tiller 9, pivot stud mode switch 10 links to each other with the input of controller 5 respectively with crab row mode switch 11, and the first solenoid-operated proportional reversal valve 1 links to each other with hydraulic pump 13 by strainer 12 with the second solenoid-operated proportional reversal valve 2.Wherein the first solenoid-operated proportional reversal valve 1 and the second solenoid-operated proportional reversal valve 2 are O type meta function, and hydraulic pump 13 is a constant pressure variable displacement pump, and preceding steering tiller 8 and back steering tiller 9 also are with two switch output signals except that being with a potentiometer output signal.Turn to before the milling machine oil cylinder 3 with after turn to the mounting means of oil cylinder 6 identical: all adopt two to turn to the tire that oil cylinder is connected vehicle frame and and arranged on left and right sides or the steering mechanism of crawler belt to link to each other, adopt push-and-pull rod to link to each other between the steering mechanism of both sides.Preceding steering angle sensor 4 and back steering angle sensor 7 are installed in the steering mechanism of front and rear wheel or crawler belt.The B mouth of hydraulic pump 13 is equipped with the clean filtering that filter-press 12 is used for hydraulic system between the P mouth of the first solenoid-operated proportional reversal valve 1 and the second solenoid-operated proportional reversal valve 2.Turn to oil cylinder 4 after turning to A2, the B2 hydraulic fluid port of oil cylinder 3, the second solenoid-operated proportional reversal valves 2 to connect two before the A1 of the first solenoid-operated proportional reversal valve 1, B1 hydraulic fluid port connect two.Turn to that pipeline connects the cylinder chamber according to the bar chamber between the oil cylinder 4 behind oil cylinder 3 or two and turn to before two, the cylinder chamber borrows the mode in bar chamber to connect.Preceding steering tiller 8, back steering tiller 9, pivot stud mode switch 10, crab row mode switch 11 are installed on the control panel.In preferred embodiment, the controller 5 that the switchable control device of milling machine single or double handle of the present utility model adopts is the RC6-9 of Rexroth company, is responsible for whole system is controlled and managed.
As shown in Figures 2 and 3, two switching value output signal port S1 of preceding steering tiller 8 link to each other with 11 with the switch input terminal mouth 10 of controller U5 respectively, and its potentiometer output signal port S1-R1 links to each other with the potentiometer input port 8 of controller 5.Two switching value output signal port S2 of back steering tiller 9 link to each other with 61 with the switch input terminal mouth 23 of controller 5 respectively, and its potentiometer output signal port S2-R2 links to each other with the potentiometer input port 20 of controller 5.Pivot stud mode switch 10 output signal port S3 link to each other with the switch input terminal mouth 12 of controller 5.The output port S4 of crab row mode switch 11 links to each other with the output switching terminal mouth 60 of controller 5.Controller PWM output port 31,30 link to each other with two control port Y1, the Y2 of the first ratio solenoid operated directional valve 1 respectively be used for controlling front-wheel about turn to.Controller PWM output port 4,16 front and back that are used for controlling trailing wheel that link to each other with two control port Y3, the Y4 of the first ratio solenoid operated directional valve 2 respectively turn to.
The method that the switchable control device of a kind of milling machine single or double handle of the present utility model adopts is: operating system is provided with two steering tillers and pivot stud pattern and two selector switches that turn to pattern of crab row mode, and is provided with two turns to feedback device in forward and backward steering mechanism; Four-wheel or crawler belt both turned to simultaneously and can be handled by two steering tillers, also can be handled by a steering tiller, and two kinds of steering modes can switch by the mode switch that turns on the control panel; When adopting two steering tiller control milling machines to turn to, steering direction information and velocity information that two steering tillers utilize its potentiometer that carries will need to change send to controller 5, turn to before 5 of controllers are controlled respectively by two coupled solenoid-operated proportional reversal valves oil cylinder 3 and after turn to oil cylinder 6 to realize that front and rear wheels or crawler belt turn to simultaneously, the identical crab row of being of front and rear wheel or crawler belt steering direction wherein, steering direction is pivot stud on the contrary, separate between front and rear wheel or the crawler belt turning velocity, be independent of each other; When adopting one of them joystick control milling machine to turn to, at first select the mode switch of needed crab row or pivot stud, operate steering direction information and the velocity information that this joystick utilizes its potentiometer that carries will need to change then and send to controller 5,5 of controllers turn to before by coupled solenoid-operated proportional reversal valve control oil cylinder 3 and after turn to oil cylinder 6 to realize that front and rear wheels turn to simultaneously, realize closed-loop control by rotary angle transmitter and controller 5, it is harmonious that front and rear wheel is turned to.
When pivot stud mode switch 10, when crab row mode switch 11 is all not selected, preceding steering tiller 8 control front-wheels or crawler belt turn to, and back steering tiller 9 control trailing wheels or crawler belt turn to, and this moment is front and rear wheel or crawler belt turns to separate open-loop control system.The operator can select direction, speed and the angle of deflection according to the needs of steering situation.Turning to front-wheel or crawler belt below is that example illustrates its steering procedure: when the operator needs front-wheel or crawler belt left steering, steering tiller 8 deflection left before pulling, preceding steering tiller 8 is given the voltage signal of 5 one switching signals of controller and a 0～2.5V simultaneously: switching signal has been set the dead band of handle, and the size of voltage signal is proportional to the angular displacement of handle.Controller 5 is converted into current signal with this voltage signal the Y1 of the first solenoid-operated proportional reversal valve 1 end proportion electro-magnet is controlled, so to hydraulic pump 13 to turning to the flow in the oil cylinder 3 to control, turn to oil cylinder 3 to drive steering mechanism and carry out deflection.The preceding steering tiller 8 in steering tiller 8 backs is got back to meta before unclamping, and the deflection angle of tire or crawler belt no longer changes.Therefore, can control the turning velocity of front-wheel or crawler belt by the deflection angle of steering tiller 8 before moving.The situation of front-wheel or crawler belt right turn and the situation of left steering are similar, steering tiller 8 before only the operator need pull to the right, and the input voltage of controller 5 is 2.5～5V, the Y2 end proportion electro-magnet of the controller 5 controls first solenoid-operated proportional reversal valve 1.Because the utility model adopts constant pressure variable displacement pump as oil sources, turning velocity depends on the poor of the aperture of the first solenoid-operated proportional reversal valve 1 and load and hydraulic pump 13 setting pressures, not influence mutually between the turning velocity of front and rear wheel or crawler belt, the also influence that not whether moved by other executing agency.
After selected in pivot stud mode switch 10 or the crab row mode switch 11, steering mode promptly becomes monolever closed-loop control steering mode.At this moment, preceding 8 pairs of front-wheels of steering tiller or crawler belt turn to control to turn to separate open-loop control system identical with forward and backward, trailing wheel or crawler belt turn to then and control control function controlled device 5 shieldings of 9 pairs second solenoid-operated proportional reversal valves 2 of back steering tiller with controller 5 formation closed-loop systems by preceding steering angle sensor 4, back steering angle sensor 7.Below just be that example illustrates its steering procedure with the pivot stud, press pivot stud mode switch 10, after the pivot stud pattern is selected, steering tiller 8 before pulling, front-wheel or crawler belt turn to, before steering angle sensor 4 in real time the yawing moment of front-wheel or crawler belt and angle are detected and are translated into 0～5V voltage signal (0～2.5V is a left steering, 2.5～5V is a right turn, the size of voltage signal is proportional to deflection angle) be input to controller 5, make trailing wheel or crawler belt carry out deflection according to this signal controller 5 controls second solenoid-operated proportional reversal valve 2 according to the direction opposite with front-wheel or crawler belt.Controller 5 is pressed the continuous relatively front and rear wheel of scan period of 30ms or the deviation of crawler belt steering angle, simultaneously output current signal is controlled the second solenoid-operated proportional reversal valve 2 and is driven trailing wheels or crawler belt and turn to and eliminate this deviation, thereby it is harmonious that front and rear wheel or crawler belt are turned to.Crab row and pivot stud Switch seemingly only need be selected crab row mode switch 11, and front and rear wheel or crawler belt turn to according to identical direction and carry out deflection.
In sum, the utility model both can utilize the double steering handle to realize that front and rear wheel or crawler belt turn to separate open-loop control system, also can utilize single steering tiller to realize the closed-loop control steering mode, can easily switch between two kinds of steering modes.Therefore, the utility model integrates the advantage of two kinds of conventional steerings drivings and control mode, has avoided the deficiency of two kinds of steering modes simultaneously.The operator selects steering mode according to the needs and the operating habit of actual condition.The productivity ratio of accuracy, safety and complete machine of steering flexibility, the milling location of complete machine all is improved.
Claims (1)
1, a kind of milling machine list, the switchable control device of dual-handle, it is characterized in that: it comprises the first solenoid-operated proportional reversal valve (1), the second solenoid-operated proportional reversal valve (2), before turn to oil cylinder (3), after turn to oil cylinder (6), preceding steering angle sensor (4), back steering angle sensor (7), controller (5), preceding steering tiller (8), back steering tiller (9), pivot stud mode switch (10) and crab row mode switch (11), the control port of the first solenoid-operated proportional reversal valve (1) and the second solenoid-operated proportional reversal valve (2) links to each other with controller (5) respectively, the output port of the first solenoid-operated proportional reversal valve (1) and the second solenoid-operated proportional reversal valve (2) respectively with preceding turn to oil cylinder (3) with after turn to oil cylinder (6) to link to each other, before being positioned at milling machine, preceding steering angle sensor (4) in the steering mechanism of trailing wheel links to each other with the input port of controller (5) with back steering angle sensor (7), preceding steering tiller (8), back steering tiller (9), pivot stud mode switch (10) links to each other with the input port of controller (5) respectively with crab row mode switch (11), and the first solenoid-operated proportional reversal valve (1) links to each other with hydraulic pump (13) by strainer (12) with the second solenoid-operated proportional reversal valve (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520052975 CN2869112Y (en) | 2005-12-31 | 2005-12-31 | Single-dual handle changeable and steering control device for milling-planing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520052975 CN2869112Y (en) | 2005-12-31 | 2005-12-31 | Single-dual handle changeable and steering control device for milling-planing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2869112Y true CN2869112Y (en) | 2007-02-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520052975 Expired - Lifetime CN2869112Y (en) | 2005-12-31 | 2005-12-31 | Single-dual handle changeable and steering control device for milling-planing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2869112Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100386481C (en) * | 2005-12-30 | 2008-05-07 | 三一重工股份有限公司 | Control method and device for steering switch operated by single or double handle of miller |
| WO2013044488A1 (en) * | 2011-09-29 | 2013-04-04 | 长沙中联重工科技发展股份有限公司 | Control method of steering central shaft and hydraulic control system |
-
2005
- 2005-12-31 CN CN 200520052975 patent/CN2869112Y/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100386481C (en) * | 2005-12-30 | 2008-05-07 | 三一重工股份有限公司 | Control method and device for steering switch operated by single or double handle of miller |
| WO2013044488A1 (en) * | 2011-09-29 | 2013-04-04 | 长沙中联重工科技发展股份有限公司 | Control method of steering central shaft and hydraulic control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080507 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |