WO2017080230A1 - 农机自动转向系统的液压控制阀组 - Google Patents

农机自动转向系统的液压控制阀组 Download PDF

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Publication number
WO2017080230A1
WO2017080230A1 PCT/CN2016/088315 CN2016088315W WO2017080230A1 WO 2017080230 A1 WO2017080230 A1 WO 2017080230A1 CN 2016088315 W CN2016088315 W CN 2016088315W WO 2017080230 A1 WO2017080230 A1 WO 2017080230A1
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Prior art keywords
valve
hydraulic control
control valve
automatic steering
steering system
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PCT/CN2016/088315
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English (en)
French (fr)
Inventor
曹广杰
赵延平
戴文鼎
王安邦
高晓寒
毛勋晔
陈凯
Original Assignee
上海华测导航技术股份有限公司
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Application filed by 上海华测导航技术股份有限公司 filed Critical 上海华测导航技术股份有限公司
Priority to KR1020177023768A priority Critical patent/KR101965094B1/ko
Priority to RU2017125952A priority patent/RU2017125952A/ru
Priority to EP16863408.7A priority patent/EP3376055A4/en
Priority to US15/543,571 priority patent/US10330129B2/en
Publication of WO2017080230A1 publication Critical patent/WO2017080230A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/26—Supply reservoir or sump assemblies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/028—Shuttle valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/521—Pressure control characterised by the type of actuation mechanically
    • F15B2211/522—Pressure control characterised by the type of actuation mechanically actuated by biasing means, e.g. spring-actuated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K15/00—Check valves
    • F16K15/02—Check valves with guided rigid valve members
    • F16K15/025—Check valves with guided rigid valve members the valve being loaded by a spring

Definitions

  • the invention relates to the technical field of hydraulics, in particular to a hydraulic control valve group of an automatic steering system in agricultural machinery intelligent navigation.
  • the automatic steering technology is one of the key technologies for the intelligentization of agricultural machinery. Under the harsh production environment, the agricultural agricultural machinery steering control is very different from the ordinary road driving vehicles. The working environment is unpredictable terrain, uneven and soft. Hardly different road surface. Therefore, the agricultural agricultural machinery steering control device needs to adapt to different vehicle states, and adopt corresponding strategies according to different working conditions, and the overall requirements are agile and precise. Therefore, the development of the most economical and practical agricultural automatic steering control device is of great significance to the realization of precision agriculture.
  • the balance valve includes two check valves, and the two check valves are connected in parallel.
  • the check valve is provided with a pressure spring for overcoming the reverse flow of hydraulic oil from the check valve.
  • the proportional reversing valve is connected with an A port and a B port, and the A port and the B port are connected to the oil cylinder.
  • the above hydraulic control valve group wherein the logic valve is used to control system pressure and control a pressure difference of the proportional valve during operation.
  • the opening pressure of the pressure spring is 1.3 times the positive return force.
  • the pressure spring has an opening pressure of 40 bar.
  • the hydraulic control valve group provided by the invention has the advantages of large control power, fast response, more suitable for autonomous navigation operation of the agricultural machine and load sensing design, so that the steering speed is only related to the load related to the control signal, and the system is more energy-saving; specifically, the valve group
  • the original manual steering is changed to electronically controlled automatic steering, and the closed-loop real-time operation can be performed by the controller in combination with the detection signal of the external sensor, thereby improving the response and control precision of the system, and making the error smaller.
  • It is equipped with a Y-type three-position four-way hydraulic proportional directional control valve for controlling the direction and speed of steering.
  • Logic valves serve to save energy and prioritize.
  • the overflow valve acts as a safety guard.
  • the balancing valve makes the steering smoother.
  • FIG. 1 is a schematic diagram of the principle of a hydraulic control valve group of an agricultural machine automatic steering system provided by the present invention.
  • the present invention provides a hydraulic control valve group of an agricultural machine automatic steering system, wherein the hydraulic control valve group includes a proportional reversing valve 3, and a proportional valve 1 is disposed between the proportional reversing valve 3 and the steering cylinder, and the ratio is A first shuttle valve 2 is disposed between the reversing valve 3 and the balancing valve 1, the first shuttle valve 2 is on the side of the proportional diverter valve 3, and the overflow valve 4 is on the other side; the relief valve 4 and the second shuttle are respectively The valve 6 is connected to the logic valve 5.
  • the hydraulic oil of the agricultural machine can be forwardly oiled from the balancing valve 1, and the reverse direction needs to overcome the opening pressure set by the spring of the balancing valve 1, so that the oil return has a certain back.
  • the pressure makes the steering smoother and prevents the suction from being caused by the external load.
  • the hydraulic control valve group of the invention can change the original manual steering to electronically controlled automatic steering, and combines the detection signal of the external sensor to perform closed-loop real-time calculation through the controller, thereby improving the response and control precision of the system, making the error smaller and installing.
  • the Y-type three-position four-way hydraulic proportional reversing valve 3 is used to control the direction and speed of the steering.
  • the logic valve 5 plays an energy-saving and priority role.
  • the relief valve 4 serves as a safety protection function.
  • the balancing valve 1 can make the steering more stable. Therefore, in combination with the agricultural machinery navigation system, it is possible to achieve a more stable autonomous navigation operation of the agricultural machinery.
  • the balancing valve 1 comprises two one-way valves, the two one-way valves being connected in parallel, that is, the hydraulic oil can be forwarded from the balancing valve unconstrained from the balancing valve. Oil, and the reverse needs to overcome the opening pressure set by the balance valve spring, so that the return oil has a certain back pressure, thus making the steering more stable, and also preventing the suction phenomenon due to the action of the external load, further preferably, one-way The valve 1 is provided with a pressure spring for overcoming the reverse flow of hydraulic oil from the check valve.
  • the proportional directional control valve is connected to the A port and the B port, and the A port and the B port are connected to the oil cylinder and communicate with the steering pump.
  • the oil port will not open until the pressure is lower than the opening pressure set by the balancing valve. Therefore, the steering cylinder cannot return to the oil, and the steering cylinder does not move until the pressure is greater than the set pressure of the balancing valve 1, and the balancing valve 1 starts to open.
  • the steering cylinder begins to act because this pressure is greater than the pressure generated by the return of the wheel, thus making the steering smoother.
  • the logic valve 5 is used to control the system pressure and control the differential pressure of the proportional valve during operation, wherein the spring pressure of the logic valve 5 is selected to be 7 bar, in an electronically controlled steering
  • the system pressure is always only 7 bar higher than the load pressure.
  • the logic valve 5 can ensure that the pressure difference of the proportional directional control valve 3 during operation is about 7 bar, which is not affected by the load.
  • the guaranteed steering speed is only relevant for a given PWM signal, independent of the load.
  • the opening pressure of the pressure spring is 1.3 times the positive return force, and further, the opening pressure of the pressure spring is 40 bar; when the opening pressure of the pressure spring is 40 bar, the balancing valve 1
  • the control ratio is preferably 4.5.
  • Embodiment 1 provides a hydraulic control valve group of an agricultural automatic steering system.
  • the present invention installs a hydraulic control valve group in parallel in the original agricultural steering oil passage for driving the steering cylinder, which can be used as the original
  • the manual steering is changed to electronically controlled automatic steering, which can be combined with the detection signal of the external sensor to perform closed-loop real-time calculation through the controller, thereby improving the response and control precision of the system and making the error smaller.
  • the invention is provided with a Y-type three-position four-way hydraulic proportional reversing valve 3 for controlling the direction and speed of the steering, the logic valve 5 functions as an energy saving and a priority, and the relief valve 4 serves as a safety protection.
  • the balancing valve 1 can make the steering more stable.
  • the specific process is as follows.
  • the hydraulic oil can be forwardly oiled from the balancing valve 1 without restriction from the one-way valve, and the reverse pressure needs to overcome the opening pressure set by the balancing valve spring to return the oil.
  • There is a certain back pressure which makes the steering more stable, and also prevents the suction due to the action of the external load.
  • the opening pressure setting of the balancing valve 1 is generally equal to about 1.3 times of the external positive force, according to the characteristics of the agricultural machine. We generally set it to about 40 bar, and the control ratio of balance valve 1 is 4.5.
  • the proportional valve is reversed, one of the valves A and B is connected to the steering pump, and the other is returned to the oil tank.
  • the oil port communicating with the steering pump will not open before the pressure is lower than the opening pressure set by the balancing valve, and thus the steering
  • the cylinder cannot return oil, the steering cylinder does not move until the pressure is greater than the set pressure of the balancing valve 40bar, the balancing valve starts to open, and the steering cylinder starts to act, because this pressure is greater than the pressure generated by the return of the wheel, thus making the steering more For smoothness.
  • the spring pressure of the logic valve 5 is selected to be 7 bar, and the system pressure is always only 7 bar higher than the load pressure during the electronically controlled steering operation.
  • the logic valve can ensure that the differential pressure of the proportional valve is about 7bar during operation, which is not affected by the load, thus ensuring that the steering speed is only related to a given PWM signal, regardless of the load. Therefore, in combination with the agricultural machinery navigation system, it is possible to achieve a more stable autonomous navigation operation of the agricultural machinery.
  • the hydraulic control valve group of the agricultural automatic steering system provided by the present invention, wherein the hydraulic control valve group includes a proportional reversing valve, and a balance valve is disposed between the proportional reversing valve and the steering cylinder.
  • a first shuttle valve is disposed between the proportional reversing valve and the balancing valve, the first shuttle valve is on the side of the proportional reversing valve, and the overflow valve is on the other side; the overflow valve is respectively
  • the second shuttle valve is connected to the logic valve.
  • the hydraulic control valve group provided by the invention has the advantages of large control power, fast response, more suitable for autonomous navigation operation of the agricultural machine and load sensing design, so that the steering speed is only related to the load related to the control signal, and the system is more energy-saving; specifically, the valve group
  • the original manual steering is changed to electronically controlled automatic steering, and the closed-loop real-time operation can be performed by the controller in combination with the detection signal of the external sensor, thereby improving the response and control precision of the system, and making the error smaller.
  • It is equipped with a Y-type three-position four-way hydraulic proportional directional control valve for controlling the direction and speed of steering.
  • Logic valves serve to save energy and prioritize.
  • the overflow valve acts as a safety guard.
  • the balancing valve makes the steering smoother.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Guiding Agricultural Machines (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

农机自动转向系统的液压控制阀组，包括比例换向阀（3），所述比例换向阀（3）与转向缸之间设有平衡阀（1），所述比例换向阀（3）与所述平衡阀（1）之间设有第一梭阀（2），所述比例换向阀（3）一侧为所述第一梭阀（2），另一侧为溢流阀（4）；所述溢流阀（4）分别与第二梭阀（6）和逻辑阀（5）相连。所述液压控制阀组，具有控制功率大，响应快，更适合农机自主导航作业且系统更节能，可以使农机自主导航作业更加的稳定。

Description

农机自动转向系统的液压控制阀组 技术领域
本发明涉及液压技术领域，具体涉及到农机智能导航中自动转向系统的液压控制阀组。
背景技术
农机自主导航技术在发达国家有很深入的研究，其产品在实际中也有很广泛的应用。而在我国自主导航技术的研究还很落后，在实际中的应用更是少见，为加快实现农业现代化，国内在基于电液伺服反馈系统和步进电机驱动全液压转向器方面有了一定的研究，但是主要集中在高校科研成果的层面上，离实际应用还有一定的距离。
自动转向技术是农机智能化的关键技术之一，在条件恶劣的生产环境下，农业农机转向控制与普通公路行驶的车辆有很大的区别，其工作环境是不可预知的地形，高低不平和软硬差别很大的路面。所以农业农机转向控制装置需适应不同的车辆状态，根据不同的工况采取相应的策略，总体要求控制敏捷精准。因此，最经济实用的农机自动转向控制装置的开发研究对精准农业的实现由重要意义。
发明内容
针对现有技术中农机自主导航作业存在上述的不足，本发明提供了农机自动转向系统的液压控制阀组，可以使农机自主导航作业更加的稳定。
本发明的技术方案为，农机自动转向系统的液压控制阀组，所述农机包括转向缸、转向泵和回油箱，所述转向泵分别与所述转向缸和回油箱相连，其特征在于，所述液压控制阀组包括比例换向阀，所述比例换向阀与所述转向缸之间设有平衡阀，所述比例换向阀与所述平衡阀之间设有第一梭阀，所述比例换向阀一侧为所述第一梭阀，另一侧为溢流阀；所述溢流阀分别与第二 梭阀和逻辑阀相连。
上述的液压控制阀组，其中，所述平衡阀包括两单向阀，所述两单向阀通过并联连接。
上述的液压控制阀组，其中，所述单向阀设有压力弹簧，所述压力弹簧用以克服液压油从单向阀的反向流过。
上述的液压控制阀组，其中，所述比例换向阀连接有A口和B口，所述A口和B口均与油缸相连。
上述的液压控制阀组，其中，所述逻辑阀用以控制系统压力和控制所述比例阀在工作时的压差。
上述的液压控制阀组，其中，所述压力弹簧的开启压力为转向回正力的1.3倍。
上述的液压控制阀组，其中，所述压力弹簧的开启压力为40bar。
上述的液压控制阀组，其中，所述平衡阀的控制比为4.5。
本发明提供的农机自动转向系统的液压控制阀组，其中，液压控制阀组包括比例换向阀，所述比例换向阀与所述转向缸之间设有平衡阀，所述比例换向阀与所述平衡阀之间设有第一梭阀，所述比例换向阀一侧为所述第一梭阀，另一侧为溢流阀；所述溢流阀分别与第二梭阀和逻辑阀相连。本发明提供的液压控制阀组，具有控制功率大，响应快，更适合农机自主导航作业以及负荷传感设计使转向速度只与控制信号有关与负载无关，且系统更节能；具体为该阀组，将原先的手动转向改为电控自动转向，可结合外部传感器的检测信号通过控制器进行闭环实时运算，从而提高系统的响应和控制精度，使误差更小。其安装了Y型机能三位四通液压比例换向阀，用于控制转向的方向和速度。逻辑阀起节能和优先作用。溢流阀起安全保护作用。平衡阀能使转向更加平稳。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明及其 特征、外形和优点将会变得更明显。在全部附图中相同的标记指示相同的部分。并未刻意按照比例绘制附图，重点在于示出本发明的主旨。
图1为本发明提供的农机自动转向系统的液压控制阀组的原理示意图。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
为了彻底理解本发明，将在下列的描述中提出详细的步骤以及详细的结构，以便阐释本发明的技术方案。本发明的较佳实施例详细描述如下，然而除了这些详细描述外，本发明还可以具有其他实施方式。
参照图1所示，本发明提供了农机自动转向系统的液压控制阀组，其中，液压控制阀组包括比例换向阀3，比例换向阀3与转向缸之间设有平衡阀1，比例换向阀3与平衡阀1之间设有第一梭阀2，比例换向阀3一侧为第一梭阀2，另一侧为溢流阀4；溢流阀4分别与第二梭阀6和逻辑阀5相连，在本发明中，农机的液压油可以从平衡阀1正向过油，而反向需要克服平衡阀1弹簧所设定的开启压力，使回油有一定的背压，因而使转向更平稳，也能防止因外负载的作用产生吸空现象。本发明的液压控制阀组可将原先的手动转向改为电控自动转向，结合外部传感器的检测信号通过控制器进行闭环实时运算，从而提高系统的响应和控制精度，使误差更小并且其安装了Y型机能三位四通液压比例换向阀3，用于控制转向的方向和速度，逻辑阀5起节能和优先作用，溢流阀4起安全保护作用，平衡阀1能使转向更加平稳，从而在结合农机导航系统，可以达到使农机自主导航作业更加的稳定。
在本发明一优选但非限制的实施例中，平衡阀1包括两单向阀，两单向阀通过并联连接，也就说，液压油可以从单向阀无约束的从平衡阀正向过油，而反向需要克服平衡阀弹簧所设定的开启压力，使回油有一定的背压，因而使转向更平稳，也能防止因外负载的作用产生吸空现象，进一步优选，单向 阀1设有压力弹簧，压力弹簧用以克服液压油从单向阀的反向流过。
在本发明一优选但非限制的实施例中，如图1所述，所述比例换向阀连接有A口和B口，所述A口和B口均与油缸相连，与转向泵相通的油口在压力小于平衡阀设定的开启压力前是不会开启的，因而转向缸无法回油，转向缸不会动作，直至压力大于平衡阀1的设定压力时，平衡阀1开始开启，转向缸开始有动作，因为此压力大于车轮的回正产生的压力，因而使转向更为平稳。
在本发明一优选但非限制的实施例中，逻辑阀5用以控制系统压力和控制所述比例阀在工作时的压差，其中，逻辑阀5的弹簧压力选为7bar，在电控转向工作时，使系统压力始终只比负载压力高7bar。在电控转向不工作时，只以7bar的压力卸荷，从而使系统的发热大为减少，另外逻辑阀5能保证比例换向阀3在工作时压差在7bar左右，不受负载影响，因而保证转向速度只与给定的PWM信号有关，与负载无关。
在本发明一优选但非限制的实施例中，压力弹簧的开启压力为转向回正力的1.3倍，进一步，压力弹簧的开启压力为40bar；当压力弹簧的开启压力为40bar时，平衡阀1的控制比优选为4.5。
以下提供一具体实施例，对本发明进一步阐述。
实施例1、参照图1所示，本发明提供了农机自动转向系统的液压控制阀组，本发明在原来的农机转向油路中并联安装一液压控制阀组用于驱动转向油缸，可将原先的手动转向改为电控自动转向，可结合外部传感器的检测信号通过控制器进行闭环实时运算，从而提高系统的响应和控制精度，使误差更小。其中本发明安装了Y型机能三位四通液压比例换向阀3，用于控制转向的方向和速度，逻辑阀5起节能和优先作用，溢流阀4起安全保护作用。平衡阀1能使转向更加平稳，具体过程如下，液压油可以从单向阀无约束的从平衡阀1正向过油，而反向需要克服平衡阀弹簧所设定的开启压力，使回油有一定的背压，因而使转向更平稳，也能防止因外负载的作用产生吸空现象。平衡阀1的开启压力设定一般等于外回正力的1.3倍左右，根据农机的特点 我们一般设定为40bar左右，平衡阀1的控制比选为4.5。当比例阀换向时，阀A，B口一个与转向泵接通，另一个回油箱，与转向泵相通的油口在压力小于平衡阀设定的开启压力前是不会开启的，因而转向缸无法回油，转向缸不会动作，直至压力大于平衡阀40bar的设定压力时，平衡阀开始开启，转向缸开始有动作，因为此压力大于车轮的回正产生的压力，因而使转向更为平稳。
逻辑阀5的弹簧压力选为7bar，在电控转向工作时，使系统压力始终只比负载压力高7bar。在电控转向不工作时，只以7bar的压力卸荷，从而使系统的发热大为减少。另外逻辑阀能保证比例阀在工作时压差在7bar左右，不受负载影响，因而保证转向速度只与给定的PWM信号有关，与负载无关。从而在结合农机导航系统，可以达到使农机自主导航作业更加的稳定。
综上所述，本发明提供的农机自动转向系统的液压控制阀组，其中，液压控制阀组包括比例换向阀，所述比例换向阀与所述转向缸之间设有平衡阀，所述比例换向阀与所述平衡阀之间设有第一梭阀，所述比例换向阀一侧为所述第一梭阀，另一侧为溢流阀；所述溢流阀分别与第二梭阀和逻辑阀相连。本发明提供的液压控制阀组，具有控制功率大，响应快，更适合农机自主导航作业以及负荷传感设计使转向速度只与控制信号有关与负载无关，且系统更节能；具体为该阀组，将原先的手动转向改为电控自动转向，可结合外部传感器的检测信号通过控制器进行闭环实时运算，从而提高系统的响应和控制精度，使误差更小。其安装了Y型机能三位四通液压比例换向阀，用于控制转向的方向和速度。逻辑阀起节能和优先作用。溢流阀起安全保护作用。平衡阀能使转向更加平稳。
以上对本发明的较佳实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，其中未尽详细描述的设备和结构应该理解为用本领域中的普通方式予以实施；任何熟悉本领域的技术人员，在不脱离本发明技术方案范围情况下，都可利用上述揭示的方法和技术内容对本发明技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例，这并不影响 本发明的实质内容。因此，凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所做的任何简单修改、等同变化及修饰，均仍属于本发明技术方案保护的范围内。

Claims (8)

  1. 农机自动转向系统的液压控制阀组，所述农机包括转向缸、转向泵和回油箱，所述转向泵分别与所述转向缸和回油箱相连，其特征在于，所述液压控制阀组包括比例换向阀,所述比例换向阀与所述转向缸之间设有平衡阀，所述比例换向阀与所述平衡阀之间设有第一梭阀，所述比例换向阀一侧为所述第一梭阀，另一侧为溢流阀；所述溢流阀分别与第二梭阀和逻辑阀相连。
  2. 如权利要求1所述的农机自动转向系统的液压控制阀组，其特征在于，所述平衡阀包括两单向阀，所述两单向阀通过并联连接。
  3. 如权利要求2所述的农机自动转向系统的液压控制阀组，其特征在于，所述单向阀设有压力弹簧，所述压力弹簧用以克服液压油从单向阀的反向流过。
  4. 如权利要求1所述的农机自动转向系统的液压控制阀组，其特征在于，所述比例换向阀连接有A口和B口，所述A口和B口均与油缸相连。
  5. 如权利要求1所述的农机自动转向系统的液压控制阀组，其特征在于，所述逻辑阀用以控制系统压力和控制所述比例阀在工作时的压差。
  6. 如权利要求3所述的农机自动转向系统的液压控制阀组，其特征在于，所述压力弹簧的开启压力为转向回正力的1.3倍。
  7. 如权利要求6所述的农机自动转向系统的液压控制阀组，其特征在于，所述压力弹簧的开启压力为40bar。
  8. 如权利要求1-7任一所述的农机自动转向系统的液压控制阀组，其特征在于，所述平衡阀的控制比为4.5。
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