WO2021213400A1 - 电控液压系统和液压驱动方法 - Google Patents

电控液压系统和液压驱动方法 Download PDF

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Publication number
WO2021213400A1
WO2021213400A1 PCT/CN2021/088483 CN2021088483W WO2021213400A1 WO 2021213400 A1 WO2021213400 A1 WO 2021213400A1 CN 2021088483 W CN2021088483 W CN 2021088483W WO 2021213400 A1 WO2021213400 A1 WO 2021213400A1
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Prior art keywords
valve
oil
hydraulic
power output
controller
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PCT/CN2021/088483
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English (en)
French (fr)
Inventor
侯跃军
吴迪
姚远
程昕
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丰疆智能科技股份有限公司
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Publication of WO2021213400A1 publication Critical patent/WO2021213400A1/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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • 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
    • A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
    • A01B71/02—Setting or adjusting mechanisms
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • 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
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • 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
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • 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
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • 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
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/857—Monitoring of fluid pressure systems

Definitions

  • the invention relates to a hydraulic device, in particular to an electronically controlled hydraulic power device and a hydraulic driving method.
  • the hydraulic power device of agricultural machinery is mainly used to adjust agricultural machinery according to external conditions or specific requirements during use.
  • the more commonly used methods for adjusting agricultural machinery are: position adjustment, resistance adjustment, comprehensive adjustment of force and position, etc., and Under the non-cultivation situation, the adjustment of agricultural machinery and tools can be realized quickly ascending and descending.
  • the position adjustment is controlled by the position adjustment handle of the lifter or the cylinder limit clamp to control the relative position between the agricultural implement and the tractor, so as to ensure that the agricultural implement works at the selected tillage depth.
  • the elevator and external output of the existing agricultural machinery mostly use mechanical force-position feedback and manual operation of the handle.
  • the operator controls the direction of the hydraulic oil in the distributor by manipulating the axial displacement of the valve stem of the distributor, thereby controlling the agricultural machine Oil cylinder to realize the raising, lowering and neutral movement of farm tools.
  • the prior art agricultural machinery uses a mechanical force-position feedback mechanism to respond to agricultural machinery's operating tools, such as the soil resistance of the tillage tool and the position of the lifter, with a large lag, slow execution speed, and poor farming quality.
  • the mechanical force-position feedback structure of the prior art is difficult to operate, and requires the operator’s experience to artificially adjust the position of the handle in real time according to vehicle vibration and engine speed to control the rise and fall of the working tools of the agricultural machine. Equal amplitude.
  • the opening of the valve is controlled by manual adjustment, and the speed of the lifting is controlled by adjusting the size of the flow.
  • the flow rate in the hydraulic cylinder is difficult to accurately control, and it is often preset to a specific speed, but the process of adjusting the speed is often difficult to adapt to the terrain and the lifting height, that is to say, the driving speed provided by the prior art agricultural machinery hoist is difficult to coordinate .
  • the lifting speeds of hydraulic lifts for agricultural machinery in the prior art are all raised or lowered at a constant speed according to the preset oil flow rate. That is to say, when the agricultural machine operator operates the agricultural machine hydraulic lifter, the driving speed cannot be adjusted in a timely manner according to the demand. Generally, for the sake of safety, the lifting speed of the hydraulics of the agricultural machinery in the prior art is relatively slow, which will inevitably lead to a slower lifting and lowering speed of the agricultural machinery during operation.
  • the feedback mechanism and the manipulation setting mechanism of the hydraulic lifter in the prior art are both mechanical parts, and there are many action connections and transmission links, the mechanical structure is unstable and easy to adjust and cumbersome, and the accuracy is low.
  • the closed-loop calculation ability of mechanical components is poor, and the system cannot be optimized and matched, which severely restricts the overall performance of agricultural machinery and is not conducive to the development of agricultural machinery automation and intelligence.
  • One of the main advantages of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system controls the actions of the electronically controlled hydraulic system in an electronic manner, which is beneficial to reduce the operating difficulty of the hydraulic system.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system automatically controls the hydraulic oil flow speed according to the angle of the driving stroke, thereby controlling the driving of the electronically controlled hydraulic system speed.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic drive method, wherein the electronically controlled hydraulic system automatically adjusts the hydraulic oil flow speed according to the angle of the drive stroke, so that when the electronically controlled hydraulic system When the driving stroke is large, it is driven at a faster speed, and when the driving stroke is small, the electronically controlled hydraulic system is driven slowly at a lower driving speed.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system automatically adjusts the flow rate of the oil according to the driving stroke angle, which is beneficial to save time and improve equipment safety.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system obtains operating information of an operator, and automatically controls the hydraulic action of the electronically controlled hydraulic system according to the operating information, simplifying The operating difficulty of the hydraulic system is improved.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system includes a controller and at least one hydraulic component, wherein the controller controls the hydraulic pressure based on the acquired operation control information.
  • the electronically controlled hydraulic system includes a controller and at least one hydraulic component, wherein the controller controls the hydraulic pressure based on the acquired operation control information.
  • Components are conducive to the automation of agricultural machinery.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system further includes an operating handle and an angle sensor provided on the operating handle, wherein the angle sensor detects the operation
  • the angle information of the handle and the detected angle information are transmitted to the controller, so that the controller automatically controls the hydraulic assembly based on the operating angle of the handle, which is beneficial to the automation of agricultural machinery.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system detects the driving angle of the hydraulic component during the driving process, and automatically controls it based on the detected driving angle data information
  • the driving speed of the electronically controlled hydraulic system is conducive to the intelligentization of the agricultural machinery.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system detects the hydraulic pressure of the hydraulic component during the driving process, and automatically controls the hydraulic pressure based on the detected hydraulic pressure data information
  • the lifting or lowering action of the electronically controlled hydraulic system is conducive to the intelligentization of the agricultural machinery.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the controller of the electronically controlled hydraulic system can control the opening and closing of control valves of different flow rates of the hydraulic components, so as to The driving angle of the hydraulic assembly adjusts the lifting or descending speed of the hydraulic assembly.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system is suitable for agricultural machinery, and the electronically controlled hydraulic system is simple to operate, which reduces the proficiency requirements of agricultural machinery drivers.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system automatically detects the height of the lift and the pressure value of the night pressure during the running of the agricultural machine, and according to the detected The detection data is controlled by the controller to control the action of the hydraulic component, so that the agricultural machine can intelligently and fully control the working device of the agricultural machine.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system can provide hydraulic power from external equipment. That is, the hydraulic drive device of the external device may be connected to the electronically controlled hydraulic system, and the electronically controlled hydraulic system provides hydraulic kinetic energy for the external device.
  • Another advantage of the present invention is to provide an electronically controlled hydraulic system and a hydraulic driving method, wherein the electronically controlled hydraulic system automatically collects agricultural machinery working data information during hydraulic work, and adjusts the electronically controlled hydraulic pressure according to the collected data information.
  • the working state of the system so that the electronically controlled hydraulic system adapts to the current agricultural machinery operations.
  • the electronically controlled hydraulic system performs actions at a high speed according to the collected data information, which is beneficial to improve the working quality of the agricultural machinery when the electronically controlled hydraulic system is used.
  • an electronically controlled hydraulic system of the present invention that can achieve the foregoing objectives and other objectives and advantages includes:
  • a controller wherein the hydraulic component is electrically connected to the controller
  • At least one operating device wherein the operating device is electrically connected to the controller, the operating device further includes an operating element and at least one rotation angle sensor, wherein the rotation angle sensor is disposed on the operating element, the rotation angle sensor It is electrically connected to the controller, and the rotation angle sensor collects the rotation angle change value of the operating element, wherein the controller controls the hydraulic component based on the rotation angle change value to control the transmission speed of the oil and Transmission direction.
  • the hydraulic assembly includes an oil tank, at least one oil pump, and at least one valve group, wherein the oil pump delivers the oil stored in the oil tank to the valve group, wherein the The valve group is electrically connected to the controller, and the controller controls the transmission direction of the oil in the valve group.
  • the valve group further includes an integrated valve block, at least one electromagnetic overflow valve, at least one reversing valve, and at least one control valve provided on the integrated valve block, wherein the electromagnetic overflow
  • the flow valve, the reversing valve, and the control valve are electrically connected to the controller, and the controller controls the electromagnetic overflow valve, the electrical conduction state of the reversing valve and the control valve, Wherein when the reversing valve is energized, the direction of flow of the oil is controlled by the reversing valve, and when the controller controls the control valve to be energized, the oil in the valve block is transmitted to The power output device outputs hydraulic power from the power output device.
  • the reversing valve includes at least two reversing valve units, wherein the reversing valve units are connected in parallel with each other and independently arranged in the integrated valve block.
  • the reversing valve unit of the reversing valve is a voltage proportional reversing valve
  • the controller controls all the valves in the valve group by controlling the voltage value of the reversing valve unit. State the flow rate of the oil.
  • the valve set further includes at least one adapter, wherein the adapter is conductively connected to the integrated valve block, and the control valve controls the opening and closing of the adapter When the controller controls the control valve to be electrically connected, the integrated valve block transmits the oil to the power output device through the adapter.
  • control valve further includes a first control valve and a second control valve, wherein the first control valve and the second control valve are provided in the integrated valve block, wherein When the first control valve is electrically conductive, the power output device is lifted by the oil to output driving force, and when the second control valve is electrically conductive, the power output device is driven by the oil. The driving force is output in a descending manner.
  • the power output device includes at least one drive oil cylinder and at least one power output shaft, wherein the power output shaft is drivably connected to the drive oil cylinder, and the valve group passes through the rotation The joint is conductively connected to the driving cylinder.
  • the valve group further includes at least one external hydraulic control valve and at least one external hydraulic adapter, wherein the external hydraulic control valve and the external hydraulic adapter are provided on the integrated valve block
  • the external hydraulic control valve controls the opening and closing of the external hydraulic adapter
  • the external hydraulic control valve is electrically connected to the controller
  • the controller controls the electrical conduction state of the external hydraulic control valve, So that the external hydraulic adapter provides hydraulic kinetic energy for the external tool.
  • it further includes at least one angle sensor, wherein the angle sensor is disposed on the power output device, and the angle sensor collects a feedback angle ⁇ of the power output device, wherein the controller Based on the feedback angle ⁇ , the oil flow rate value Z delivered by the valve group to the power output device is obtained, and the controller controls the reversing valve and the oil flow rate value Z based on the feedback angle ⁇ .
  • the control valve Based on the feedback angle ⁇ , the oil flow rate value Z delivered by the valve group to the power output device is obtained, and the controller controls the reversing valve and the oil flow rate value Z based on the feedback angle ⁇ .
  • the controller determines the feedback angles ⁇ and ⁇ , where ⁇ is a preset value relationship, and if the feedback angle ⁇ , the controller generates the spool of the reversing valve The voltage control information of the opening degree, wherein the spool opening degree of the reversing valve corresponds to the rotational acceleration of the operating element.
  • the flow velocity of the oil in the Y flow section is greater than the flow velocity of the oil in the X flow section.
  • it further includes at least one hydraulic pressure sensor, wherein the hydraulic pressure sensor is arranged in the valve block of the hydraulic assembly, and the hydraulic pressure sensor is electrically connected to the controller, and the hydraulic pressure sensor is electrically connected to the controller.
  • the sensor detects the oil pressure of the valve group and transmits the detected pressure data to the controller, and the controller controls the valve group of the hydraulic component based on the pressure data.
  • the present invention further provides a hydraulic driving method, wherein the hydraulic driving method includes the following steps:
  • At least one directional valve and one control valve are electrically connected based on the control signal to control the flow direction and flow rate of the oil in the valve block, and then the oil controls the driving of a power output device Direction and driving speed.
  • step (b) it further comprises:
  • the collected data information is transmitted to a controller, and the controller obtains the rotational acceleration of the operating element based on the collected rotation angle data information;
  • the step (b) further includes the steps:
  • a feedback angle ⁇ of the power output device is collected, and the flow value Z of the oil required for the power output device to move to the corresponding angle ⁇ is obtained.
  • step (c) the controller controls the spool opening of the reversing valve based on the detected feedback angle ⁇ and the corresponding flow value Z.
  • the reversing valve controls the flow direction and flow value of the oil.
  • the step (b) further includes the steps:
  • the step (c) further includes the steps:
  • the reversing valve unit that controls the reversing valve is electrically conductive, the spool opening degree of the reversing valve unit is controlled according to the angle change of the rotation angle sensor, and the oil passing through the Y flow section corresponding to ⁇ Liquid;
  • the reversing valve unit that controls the reversing valve is electrically conductive, and the spool opening degree of the reversing valve unit is controlled according to the angle change of the rotation angle sensor, and the spool opening degree of the reversing valve unit is controlled by ⁇ .
  • the spool of the reversing valve unit of the corresponding X-flow section of the oil is slowly fitted.
  • the present invention further provides an agricultural machine, including:
  • An electronically controlled hydraulic system wherein the electronically controlled hydraulic system is mounted on the agricultural machinery host, wherein the electronically controlled hydraulic system further includes:
  • a controller wherein the hydraulic component is electrically connected to the controller
  • At least one operating device wherein the operating device is electrically connected to the controller, the operating device further includes an operating element and at least one rotation angle sensor, wherein the rotation angle sensor is disposed on the operating element, the rotation angle sensor It is electrically connected to the controller, and the rotation angle sensor collects the rotation angle change value of the operating element, wherein the controller controls the hydraulic component based on the rotation angle change value to control the transmission speed of the oil and Transmission direction.
  • Fig. 1 is an overall schematic diagram of an agricultural machine according to a first preferred embodiment of the present invention.
  • Fig. 2A is a schematic diagram of an electronically controlled hydraulic system of the agricultural machine according to the above-mentioned preferred embodiment of the present invention.
  • FIG. 2B is a schematic diagram from another perspective of the electronically controlled hydraulic system of the agricultural machine according to the above-mentioned preferred embodiment of the present invention.
  • 2C is a schematic diagram from another perspective of the electronically controlled hydraulic system of the agricultural machine according to the above-mentioned preferred embodiment of the present invention.
  • 3A is a schematic diagram of a hydraulic component of the electronically controlled hydraulic system of the agricultural machine according to the above-mentioned preferred embodiment of the present invention.
  • 3B is a schematic diagram of the hydraulic components of the electronically controlled hydraulic system of the agricultural machinery according to the above-mentioned preferred embodiment of the present invention from another perspective.
  • Fig. 4 is an action schematic diagram of an operating device of the electronically controlled hydraulic system of the agricultural machine according to the above-mentioned preferred embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a transmission device of the electronically controlled hydraulic system of the agricultural machine according to the above-mentioned preferred embodiment of the present invention.
  • the term “a” should be understood as “at least one” or “one or more”, that is, in one embodiment, the number of an element may be one, and in another embodiment, the number of the element The number can be multiple, and the term “one” cannot be understood as a restriction on the number.
  • the agricultural machine includes an agricultural machine host 100 and an electronically controlled hydraulic system 200 mounted on the agricultural machine host 100, wherein the electronically controlled hydraulic system 200 outputs hydraulic power, and the electronically controlled hydraulic system 200 supports an agricultural machine operation Equipment work, such as tillers, plows, seeding equipment, etc.; or the electronically controlled hydraulic system 200 drives the agricultural machinery work equipment to move.
  • the electronically controlled hydraulic system 200 is mounted on the agricultural machinery host 100, wherein the agricultural machinery host 100 provides the working electrical energy required by the electronically controlled hydraulic system 200 to drive the electronically controlled hydraulic system 200 to output hydraulic kinetic energy.
  • the electronically controlled hydraulic system 200 is arranged at the rear end of the agricultural machinery mainframe 100, and the electronically controlled hydraulic system 200 is towed and supported by the agricultural machinery mainframe 100.
  • the electronically controlled hydraulic system 200 includes a hydraulic component 10, a controller 20, at least one connecting bracket 30, at least one power output device 40, and at least one power output device that can transmit between the hydraulic component 10 and the power output device 40.
  • An oil 50 wherein the hydraulic assembly 10 is electrically connected to the controller 20, and the controller 20 sends a control signal to the hydraulic assembly 10.
  • the hydraulic assembly 10 receives the control signal of the controller 20 and controls the transmission of the oil 50 in the hydraulic assembly 10 based on the control signal.
  • the power output device 40 is conductively connected to the hydraulic assembly 10, and the hydraulic assembly 10 guides the oil 50 to the power output device 40 based on the control signal. 40 outputs hydraulic power; or the power output device 40 returns the oil 50 to the hydraulic assembly 10, and the power output device 40 is in a pressure relief state.
  • the power output device 40 is arranged on the connecting bracket 30, and the connecting bracket 30 is fixedly arranged on the agricultural machinery main body 100.
  • the agricultural machinery host 100 tows and supports the electronically controlled hydraulic system 200 through the connecting bracket 30.
  • the hydraulic assembly 10 is arranged on the connecting bracket 30, and the hydraulic assembly 10 is fixed to the agricultural machinery main body 100 by the connecting bracket 30.
  • the controller 20 controls the transmission of the oil 50 in the hydraulic assembly 10 by electronic control, thereby controlling the output of the power output device 40
  • the hydraulic power is beneficial to accurately control the hydraulic power output by the electronically controlled hydraulic system 200.
  • the hydraulic assembly 10 includes an oil tank 11, at least one oil pump 12, and at least one valve block 13, wherein the oil pump 12 is conductively connected to the oil tank 11, and the oil pump 12 Pump the oil 50 stored in the oil tank 11 to the valve group 13, wherein the oil 50 that is not involved in the hydraulic power of the valve group 13 can be returned to the oil tank 11 and stored by the oil tank 11 ⁇ The oil.
  • the hydraulic assembly 10 further includes at least one oil inlet pipe 101 and at least one oil outlet pipe 102, wherein the oil inlet pipe 101 communicates with the oil pump 12 and the valve block 13, that is, the oil pump 12 passes through the oil inlet pipe.
  • the pipeline 101 pumps oil into the valve block 13.
  • the oil outlet pipe 102 communicates with the valve group 13 and the oil tank 11, wherein the valve group 13 returns the oil 50 that is not involved in hydraulic pressure to the oil tank 11 through the oil outlet pipe 102.
  • oil inlet pipe 101 and the oil outlet pipe 102 of the hydraulic assembly 10 are hydraulic hoses or hard pipes. It is understandable that the pipe types of the oil inlet pipe 101 and the oil outlet pipe 102 are merely exemplary here, and not limited.
  • the oil pump 12 of the hydraulic assembly 10 is driveably disposed on the agricultural machinery mainframe 100, and the agricultural machinery mainframe 100 drives the oil pump 12 to pump the oil 50 to the main machine. Mentioned valve group 13.
  • the oil pump 12 is a gear pump. It can be understood that the driving manner of the oil pump 12 is only exemplary here, and not a limitation. Therefore, the oil pump 12 can also be implemented as other types of pump devices.
  • the valve group 13 is electrically connected to the controller 20 of the electronically controlled hydraulic system 200, wherein the controller 20 controls the opening and closing of the valve group 13, and the valve group 13 guides the oil The directional transmission of the fluid 50 between the valve block 13 and the power output device 40.
  • the controller 20 controls the valve block 13 of the hydraulic assembly 10 to introduce the oil 50 to the power output device 40 , For the power output device 40 to provide hydraulic power upward or downward.
  • the controller 20 controls the valve block 13 to export the oil 50 of the power output device 40.
  • the valve set 13 further includes an integrated valve block 131, at least one electromagnetic overflow valve 132 provided on the integrated valve block 131, at least one reversing valve 133, and at least one control valve 134, wherein the electromagnetic overflow
  • the valve 132, the reversing valve 133, and the control valve 134 are electrically connected to the controller 20, and the controller 20 controls the opening and closing of the valve parts to control the flow of the oil 50 Transmission direction or transmission speed.
  • the integrated valve block 131 is conductively connected to the oil pump 12 through the oil inlet pipe 101, wherein the oil pump 12 pumps the oil 50 in the oil tank 11 to the integrated valve block 131.
  • the integrated valve block 131 is conductively connected to the oil tank 11 through the oil outlet pipe 102, and the oil 50 of the integrated valve block 131 flows back to the oil tank 11 through the oil outlet pipe 102.
  • the electromagnetic overflow valve 132 is electrically connected to the controller 20, and the controller 20 controls the on and off of the electromagnetic overflow valve 132.
  • the controller 20 controls the electromagnetic relief valve 132 to be turned on, so that the valve set 13 establishes a working pressure, wherein the oil pump 12 pumps the oil into the valve set 13;
  • the controller 20 controls the electromagnetic overflow valve 132 to be de-energized, and the oil 50 of the valve group 13 returns to the oil tank 11.
  • the reversing valve 133 is provided in the integrated valve block 131, and the reversing valve 133 is conductively connected to the controller 20, wherein the reversing valve 133 is based on the controller 20
  • the control signal switches the transmission direction of the oil in the valve group 13 so as to control the movement direction of the power output device 40, such as the upward movement and the downward movement of the power output device.
  • the reversing valve 133 is also used to control the flow rate of the oil 50 of the valve group 13, thereby controlling the driving speed of the power output device 40, that is, the speed of the power output device 40 movement.
  • the reversing valve 133 further includes at least two reversing valve units 1331, wherein the reversing valve units 1331 are connected in parallel with each other and are independently arranged on the integrated valve block 131, and the reversing valve
  • the unit 1331 controls the transmission direction and transmission speed of the oil 50 in the integrated valve block 131.
  • the reversing valve unit 1331 is electrically connected to the controller 20, and the controller 20 controls the operating state of the reversing valve unit 1331, such as voltage and current value.
  • controller 20 can control one or more of the reversing valve units 1331 of the reversing valve 133 to start, so as to adjust the valve by opening the number of reversing valve units 1331.
  • the reversing valve unit 1331 of the valve group 13 may be, but not limited to, a voltage proportional reversing valve, that is, the spool opening size of the reversing valve unit 1331 and The voltage value of the reversing valve unit 1331 is correlated, so that the flow rate of the valve block 13 is controlled according to the voltage ratio.
  • the controller 20 controls the flow direction and flow speed of the oil in the valve block 13 by controlling the voltage value and the polarity of the voltage of the reversing valve 133.
  • the valve block 13 further includes at least one adapter 135, wherein the adapter 135 is connected to the integrated valve block 131, wherein the oil in the integrated valve block 131 flows to the power through the adapter 135 Output device 40.
  • the control valve 134 controls the opening and closing of the adapter 135, wherein when the electronically controlled hydraulic system 200 operates, the controller 20 electrically conducts the control valve 134, and the control valve 134 controls the rotation
  • the joint 135 is opened to allow the oil 50 to flow from the integrated valve block 131 to the power output device 40.
  • the controller 20 de-energizes the control valve 134, wherein the control valve 134 controls the adapter 135 to close, thereby preventing the oil 50 from passing through .
  • the control valve 134 of the valve group 13 further includes a first control valve 1341 and a second control valve 1342, wherein the first control valve 1341 and the second control valve 1342 are respectively conductively arranged ⁇ The integrated valve block 131.
  • the first control valve 1341 and the second control valve 1342 are respectively electrically connected to the controller 20, and the controller 20 controls the operations of the first control valve 1341 and the second control valve 1342 state.
  • the first control valve 1341 and the second control valve 1342 control at least one of the adapters 135 to be conductive, so as to allow
  • the oil 50 in the integrated valve block 131 flows to the power output device 40 through the adapter 135.
  • the first control valve 1341 and the second control valve 1342 may be, but not limited to, an electromagnetic ball valve.
  • the power output device 40 is raised, lowered, neutralized or floated under the action of the hydraulic assembly 10.
  • the hydraulic assembly 10 outputs the oil 50 to the power output device 40, so that the power output device 40 lifts the work device under the action of the oil 50; or the power output device 40 is The oil 50 acts to lower and raise the working device; or the power output device 40 remains in a neutral state under the action of the oil 50; or the power output device 40 moves up and down under the drive of the working device To move.
  • the hydraulic assembly 10 further includes a lifting oil pipe 103 and a descending oil pipe 104, wherein the lifting oil pipe 103 communicates with an adapter 135 of the valve block 13 and the power output device 40, wherein the first The control valve 1341 controls the opening and closing of the adapter 135.
  • the controller 20 conducts the first control valve 1341, the oil 50 in the integrated valve block 131 of the valve block 13 flows to the all the valves via the adapter 135 and the lifting oil pipe 103.
  • the power output device 40 wherein the power output device 40 lifts the working device under the hydraulic action of the oil 50.
  • the descending oil pipe 104 communicates with an adapter 135 of the valve assembly 13 and the power output device 40, wherein the second control valve 1342 controls the opening and closing of the adapter 135.
  • the controller 20 conducts the second control valve 1342, the oil 50 in the integrated valve block 131 of the valve block 13 flows through the adapter 135 and the descending oil pipe 104 To the power output device 40, wherein the power output device 40 lowers the working device under the hydraulic action of the oil 50.
  • the power output device 40 includes at least one driving oil cylinder 41 and at least one power output shaft 42, wherein the power output shaft 42 is drivably connected to the driving oil cylinder 41.
  • the valve block 13 of the hydraulic assembly 10 transmits the oil 50 to the driving cylinder 41 of the power output device 40, wherein the driving cylinder 41 drives the oil 50 under the action of the oil 50
  • the power output shaft 42 moves up and down. It can be understood that the driving cylinder 41 of the power output device 40 converts hydraulic force into a driving force for driving the power output shaft 42 to move in the up and down directions, and the power output shaft 42 drives the The ascending, descending or remaining stationary state of the working device.
  • the number of the drive cylinders 41 of the power output device 40 is two, wherein the drive cylinders 41 are symmetrically and fixedly arranged on the connecting bracket 30 On both sides, each of the driving cylinders 41 drives the power output shaft 42 to move under the support of the connecting bracket 30. It can be understood that, in this preferred embodiment of the present invention, the number of the driving cylinders 41 of the power output device 40 is merely exemplary here, and not a limitation.
  • the drive cylinder 41 is a double-acting drive cylinder, that is, when the oil 50 is transmitted to the drive cylinder 41, the drive cylinder 41 drives the power output shaft 42 upward in a lifting manner. Or the driving cylinder 41 drives the power output shaft 42 to move downward in a descending manner.
  • Each of the driving cylinders 41 is connected to the adapter 135 of the valve group 13 through the lifting oil pipe 103 or the descending oil pipe 104, that is, the valve group 13 passes the oil 50 through the lifting
  • the action oil pipe 103 or the descending action oil pipe 104 is output to the driving oil cylinder 41, and the driving oil cylinder 41 converts the hydraulic force into a driving force for driving the power output shaft 42 to move.
  • the driving oil cylinder 41 further includes a cylinder body 411 and a driving rod 412 telescopically disposed on the cylinder body 411, wherein the valve block 13 introduces oil into the cylinder body 411, and passes through the oil The pressure drives the driving rod 412 to move telescopically.
  • the power output shaft 42 is driveably connected to the drive rod 412 of the drive cylinder 41, and the power output shaft 42 is driven up and down by the drive rod 412 under the hydraulic pressure of the oil 50 move.
  • the lifting oil pipe 103 is conductively connected to the lower end of the cylinder 411.
  • the oil 50 drives the driving rod 412 upward under hydraulic pressure, that is, the driving rod 412 extends outward under the pressure of the oil.
  • the descending oil pipe 104 is conductively connected to the upper end of the cylinder 411.
  • the oil liquid drives the driving rod 412 downward under the action of hydraulic pressure, that is, the driving rod 412 retracts to the cylinder 411 under the pressure of the oil liquid 50.
  • the drive cylinder 41 of the power output device 40 is also conductively connected to the oil tank 11.
  • the drive cylinder 41 is The oil 50 is introduced into the oil tank 11 to realize the pressure relief of the driving cylinder 41.
  • the power output shaft 42 of the power output device 40 is driveably disposed on the connecting bracket 30, and the power output shaft 42 is driven to swing up and down by the driving rod 412 of the driving cylinder 41.
  • the power output shaft 42 is pivotally arranged at the upper end of the connecting bracket 30 based on a rotating shaft.
  • the driving cylinder 41 drives the power output shaft 42
  • the power output shaft 42 is based on The rotating shaft rotates up and down.
  • the power output shaft 42 further includes a pivot shaft 421 and at least one swing rod 422 extending outward from the pivot shaft 421, wherein the drive rod 412 of the drive cylinder 41 is driveably connected to the The swing rod 422 is driven by the drive rod 412 to rotate based on the pivot shaft 421.
  • the electronically controlled hydraulic system 200 further includes at least one suspension assembly 60, wherein the suspension assembly is driveably disposed on the power output device 40 and is driven by the power output device 40
  • the suspension assembly 60 moves up and down.
  • An agricultural machine working device is movably disposed on the suspension assembly 60, and the suspension assembly 60 transmits the power of the power output device 40 to the agricultural machine working device, such as a plow, a tiller, and the like.
  • the suspension assembly 60 is arranged on the connecting bracket 30, the suspension assembly 60 is supported by the connecting bracket 30, and the agricultural machinery working device is supported and suspended by the suspension assembly 60.
  • the suspension assembly 60 is implemented as a three-point suspension assembly. It is understandable that the specific implementation of the suspension assembly 60 is only exemplary here, rather than limit.
  • the suspension assembly 60 includes at least one transmission link 61, a transmission bracket 62, and at least one connecting member 63, wherein the transmission link 61 can driveably connect the power output shaft 42 to the transmission bracket 62, When the electronically controlled hydraulic system 200 moves up or down, the power output shaft 42 drives the transmission link 61, and the transmission link 61 drives the transmission bracket 62 to move up and down.
  • the transmission bracket 62 is pivotally disposed on the connection bracket 30, and the transmission link 61 drives the transmission bracket 62 to rotate based on the connection bracket 30.
  • the connecting member 63 is pivotally connected to the transmission bracket 62 to the agricultural machinery host 100.
  • the valve set 13 of the hydraulic assembly 10 further includes at least one external hydraulic control valve 136 and at least one external hydraulic adapter 137, wherein the external hydraulic control valve 136 is disposed at all
  • the external hydraulic adapter 137 is conductively connected to the integrated valve block 131.
  • the external hydraulic control valve 136 controls the opening and closing of the external hydraulic adapter 137.
  • the hydraulic transmission devices of external hydraulic tools such as plows, tillers, etc., can be connected to the hydraulic assembly 10 through the external hydraulic adapter 137, that is, the hydraulic assembly 10 can provide hydraulic power for the external hydraulic tools. ⁇ 50 ⁇ The oil 50.
  • the external hydraulic control valve 136 is electrically connected to the controller 20, and the conduction state of the external hydraulic control valve 136 is controlled by the controller 20.
  • the external hydraulic control valve 136 controls the external hydraulic adapter 137 to open, wherein the oil 50 in the integrated valve block 131 can pass through
  • the external hydraulic adapter 137 is output to an external hydraulic tool, and the hydraulic assembly 10 drives the external hydraulic tool to work.
  • the external hydraulic control valve 136 may be, but not limited to, an electric proportional directional valve.
  • the valve group 13 of the hydraulic assembly 10 is fixedly arranged on the connecting bracket 30, wherein the valve group 13 is located above the oil tank 11 so as to The oil in the valve block 13 can return to the oil tank 11.
  • the hydraulic assembly 10 further includes at least one fixing frame 14, and the valve group 13 is fixed to the connecting bracket 30 by the fixing frame 14.
  • the controller 20 includes a control unit 21 and a plurality of communication cables 22, wherein the communication cables 22 are electrically connected to the control unit 21 and the hydraulic assembly 10, by the The communication cable 22 transmits the control signal of the control unit 21.
  • the control unit 21 generates and transmits the control signal to the valve block 13 of the hydraulic assembly 10 based on the detected data information and the operation information of the operator to control the hydraulic assembly 10 to pass through the power output device 40 output hydraulic power.
  • control unit 21 of the controller 20 is implemented as an ECU (Electronic Control Unit, electronic control unit), wherein the control unit 21 is provided in the The agricultural machinery host 100 of the agricultural machinery is supported by the agricultural machinery host 100 to support the operation of the control unit 21 of the controller 20.
  • ECU Electronic Control Unit, electronic control unit
  • the electronically controlled hydraulic system 200 further includes an operating device 70, wherein the operating device 70 is communicably connected to the controller 20, and the operating device 70 transmits the user's operating information to the controller 20 .
  • the controller 20 controls the hydraulic assembly 10 based on the operation information of the operating device 70, and the power output device 40 transmits hydraulic working power.
  • the operating device 70 further includes an operating element 71 and at least one rotation angle sensor 72, wherein the rotation angle sensor 72 is disposed on the operating element 71, and the rotation angle sensor 72 collects the rotation angle of the operating element 71.
  • the rotation angle sensor 72 is electrically connected to the controller 20, and the rotation angle sensor 72 transmits the rotation angle of the operating element 71 to the controller 20.
  • the controller 20 controls the valve group 13 of the hydraulic assembly 10 based on the rotation angle information collected by the rotation angle sensor 72.
  • the operating element 71 is implemented as an operating handle or knob device.
  • the rotation angle sensor 72 collects the operation in real time. Rotation angle of element 71.
  • the controller 20 automatically controls the conduction of the valve group 13 of the hydraulic assembly 10 based on the operation information of the operator, and thereby controls the action of the power output device 40.
  • the electronically controlled hydraulic system 200 further includes at least one angle sensor 80, wherein the angle sensor 80 is arranged on the power output shaft 42 of the power output device 40, and the angle sensor 80 collects the power in real time.
  • the angle sensor 80 is electrically connected to the control unit 21 of the controller 20, and the angle sensor 80 feeds back the rotation angle of the power output shaft 42 in real time.
  • the control unit 21 of the controller 20 controls the point conduction state of the valve group 13 of the hydraulic assembly 10 based on the angle information collected by the angle sensor 80, so as to adjust the power output device 40 Transmission speed.
  • the controller 20 when the controller 20 obtains that the acceleration value of the power output device 40 is relatively large based on the angle information of the power output shaft 42 collected by the angle sensor 80, the controller 20 controls The conduction state of the reversing valve 133 of the valve block 13 is used to control the oil transmission speed between the valve block 13 and the power output device 40, so that the power output device 40 can be faster The driving speed output hydraulic power.
  • the controller 20 When the user operates the operating element 71 of the operating device 70 to control the driving of the power output device 40 of the electronically controlled hydraulic system 200, the controller 20 is based on the feedback angle ⁇ collected by the angle sensor 80 The flow rate value Z of the oil delivered from the valve group 13 to the power output device 40 is calculated.
  • the controller 20 automatically controls the reversing valve 133 and the control valve 134 of the valve group 13 based on the direction and size of the feedback angle ⁇ of the angle sensor 80, and is controlled by the reversing valve 133
  • the flow direction and flow rate of the oil 50 in the valve group 13 are used to control the driving speed of the power output device 40.
  • the controller 20 controls to turn on the valve group 13 with a smaller starting voltage.
  • the reversing valve 133 enables the reversing valve 133 to control the flow speed of the oil 50 in the valve group 13 with a small flow rate, so that the power output device 40 moves slowly.
  • the controller 20 calculates according to the magnitude of the corresponding value of the feedback angle ⁇ to obtain that the power output device 40 moves to the corresponding angle.
  • the required flow value Z of the oil 50 is
  • the controller 20 controls the oil 50 in the valve block 13 to be transmitted to the power output device 40 at different flow rates in the X flow rate section and the Y flow rate section, that is, the power output device 40 outputs driving force at different driving speeds in the X flow section and the Y flow section of the oil 50. It is worth mentioning that the controller 20 controls the flow speed of the oil 50 in the Y flow section to be greater than the flow speed of the oil 50 in the X flow section.
  • the rotation angle sensor 72 collects the angle change of the operating element 71, and the controller 20 accelerates a based on the angle change of the rotation angle sensor 72
  • the control voltage required by the reversing valve 133 is automatically calculated to control the opening degree of the spool of the reversing valve unit 1331 of the reversing valve 133.
  • the controller 20 controls the reversing valve unit 1331 of the reversing valve 133 to open, and controls the spool of the reversing valve unit 1331 according to the angle change of the rotation angle sensor 72 Open degree, and pass the oil 50 in the Y flow section corresponding to ⁇ .
  • the controller 20 controls the reversing valve unit 1331 of the reversing valve 133 to open, and controls the valve of the reversing valve unit 1331 according to the angle change of the rotation angle sensor 72
  • the valve core of the reversing valve unit 1331 is slowly attached to the oil liquid 50 in the X flow section corresponding to ⁇ .
  • the present invention further provides a hydraulic driving method of an electronically controlled hydraulic system, wherein the hydraulic driving method includes the following steps:
  • An electromagnetic overflow valve 132 of a valve group 13 is electrically connected, and the hydraulic pressure of the electronically controlled hydraulic system 200 is established by the electromagnetic overflow valve 132;
  • At least one reversing valve 133 and one control valve 134 are electrically connected based on the control signal to control the flow direction and flow rate of the oil in the valve block 13, and the oil 50 controls a power The driving direction and driving speed of the output device 40.
  • step (b) of the hydraulic driving method of the present invention further includes:
  • the collected data information is transmitted to a controller 20, and the controller 20 obtains the rotational acceleration of the operating element 71 based on the collected rotation angle data information;
  • the step (b) of the hydraulic driving method of the present invention further includes the steps:
  • step (c) the controller controls the spool opening of the reversing valve 133 based on the detected feedback angle ⁇ and the corresponding flow value Z, and the reversing valve 133 controls the flow direction and flow value of the oil. It is worth mentioning that when the electronically controlled hydraulic system 200 controls the lifting, the controller 20 electrically conducts the first control valve 1341 of the control valve 134; when the electronically controlled hydraulic system 200 controls the lower At this time, the controller 20 electrically conducts the second control valve 1342 of the control valve 134.
  • the step (b) of the hydraulic driving method of the present invention further includes the steps:
  • the flow rate section generates voltage control information of the opening degree of the spool of the reversing valve 133, and the flow speed of the oil 50 in the Y flow section is greater than the flow rate of the oil 50 in the X flow section.
  • the step (c) of the hydraulic driving method of the present invention further includes the steps:
  • the reversing valve unit 1331 that controls the reversing valve 133 is electrically conductive, and the spool opening degree of the reversing valve unit 1331 is controlled according to the angle change of the rotation angle sensor 72, and The oil 50 passing through the Y flow section corresponding to ⁇ ;
  • the reversing valve unit 1331 that controls the reversing valve 133 is electrically conductive, and the spool opening degree of the reversing valve unit 1331 is controlled according to the angle change of the rotation angle sensor 72, And through the oil 50 in the X flow section corresponding to ⁇ , the valve core of the reversing valve unit 1331 is slowly attached.
  • the electronically controlled hydraulic system 200 further includes at least one hydraulic pressure sensor 90, wherein the hydraulic pressure sensor 90 is disposed on the valve block 13 of the hydraulic assembly 10, and the hydraulic pressure sensor 90 collects the information in the valve block 13
  • the hydraulic pressure of the oil 50 is described.
  • the hydraulic pressure sensor 90 is electrically connected to the control unit 21 of the controller 20, and the hydraulic pressure sensor 90 transmits the hydraulic data information of the valve group 13 to the control unit 21, which is controlled by the hydraulic pressure sensor 90.
  • the unit 21 controls the conduction state of the valve group 13 based on the collected hydraulic data information, and adjusts the hydraulic pressure of the oil 50 in the valve group 13 by adjusting the movement of the power output device 40.
  • the hydraulic pressure sensor 90 is arranged on the integrated valve block 131 of the valve block 13, and the hydraulic pressure sensor 90 collects the pressure of the oil 50 in the integrated valve block 131 and in the oil pipe.
  • the electronically controlled hydraulic system 200 further includes at least one displacement sensor 201, wherein the displacement sensor 201 is disposed on the power output device 40, and the displacement sensor 201 collects the displacement information of the power output device 40.
  • the displacement sensor 201 is electrically connected to the controller 20, and the displacement sensor 201 transmits the collected displacement information of the power output device 40 to the controller 20, and the controller 20 controls the The conduction state of the valve group 13 of the hydraulic assembly 10 is used to control the power output device 40.
  • the controller 20 controls the electromagnetic overflow valve 132 of the valve group 13, and the reversing valve 133 and the control valve 134 are in a de-energized state .
  • the controller 20 controls the electromagnetic overflow valve 132 of the valve group 13 to be in an electrically conductive state, and the electromagnetic overflow valve 132 builds up pressure.
  • the controller 20 obtains the angle data information of the operating element 71 collected by the rotation angle sensor 72 of the operating device 70, the angle sensor 80 and the data information collected by the hydraulic pressure sensor 90
  • the acceleration value (or deceleration value) of the power output device 40 is obtained, and the flow rate of the oil 50 required by the power output device 40 is obtained.
  • the control unit 21 of the controller 20 individually controls the reversing valve unit 1331 of the reversing valve 133 to conduct; or the control unit 21 individually controls the second reversing valve unit 1332 Conduction; or the control unit 21 controls the reversing valve unit 1331 and the second reversing valve unit 1332 to be in a common conduction state to meet the flow of the power output device 40 to the oil 50 need.
  • the rotation angle sensor 72 transmits the collected operating data information of the operating element 71 to the controller 20 in real time.
  • the control unit 21 of the controller 20 controls the valve unit of the valve group 13 to open or close based on the operation data information.
  • the electronically controlled hydraulic system 200 has a floating hydraulic mode and a strong pressure mode.
  • the control unit 21 of the controller 20 controls the working mode of the electronically controlled hydraulic system 200.
  • the oil 50 is pumped to the integrated valve block 131 of the valve block 13.
  • the controller 20 controls the electromagnetic relief valve 132 of the valve group 13 to be energized so that the valve group 13 builds up pressure, and the controller 20 controls the reversing valve 133 of the valve group 13 not to During operation, the controller 20 controls the first control valve 1341 of the control valve 134 to be energized, wherein the upper end of the driving cylinder 41 of the power output device 40 is pressure-free, and the lower end of the driving cylinder 41 is lower Pressure.
  • the power output device 40 of the electronically controlled hydraulic system 200 releases pressure under the gravity and traction of the suspension assembly 60 until the power output shaft 42 of the power output device 40 drops to the position of the operating device 70 At the required position, the valve block 13 is in a neutral unloading state.
  • the controller 20 controls the first control valve 1341 to be energized and the second control valve to de-energize, the lower end of the driving cylinder 41 of the power output device 40 maintains pressure, and the pressure of the driving cylinder 41 is maintained. There is no pressure at the upper end, and the suspension assembly 60 maintains a certain suspension height.
  • the controller 20 selects the strong pressure mode, the user operates the operating element 71 of the operating device 70, wherein the rotation angle sensor 72 collects the rotation angle of the operating element 71, and transmits the rotation angle data To the control unit 21 of the controller 20.
  • the controller 20 controls the electromagnetic relief valve 132 to conduct so that the valve group 13 builds up pressure.
  • the controller 20 controls the reversing valve 133, and controls the first control valve 1341 or the second control valve 1342 of the control valve 134 to conduct, wherein the oil in the valve group 13
  • the liquid is introduced into the power output device 40, and the power output device 40 drives the suspension assembly 60 to rise or fall.

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Abstract

一种电控液压系统（200）和液压驱动方法，其中电控液压系统（200）包括一液压组件（10）、一动力输出装置（40）和可在液压组件（10）与动力输出装置（40）之间传动的油液（50），以及至少一操作装置（70）。动力输出装置（40）可导通地连接于液压组件（10），其中动力输出装置（40）以油液（50）的传动的方式输出液压动力，其中操作装置（70）电气连接于控制器（20），操作装置（70）进一步包括一操作元件（71）和至少一转角传感器（72），其中转角传感器（72）被设置于操作元件（71），转角传感器（72）电气连接于控制器（20），由转角传感器（72）采集操作元件（71）的转角变化值，其中控制器（20）基于转角变化值控制液压组件（10），以控制油液（50）的传动速度和传动方向。

Description

电控液压系统和液压驱动方法 技术领域
本发明涉及液压装置，尤其涉及一电控液压动力装置和液压驱动方法。
背景技术
农机的液压动力装置主要用来在使用过程中根据外界条件或者特定要求对农机具进行调节，对农机具调节的方式比较常用的有：位置调节，阻力调节，力位综合调节等，还有在非耕作情况下对农机具实现快速上升和下降的调节。位置调节则由提升器的位调节手柄或油缸限位卡箍来控制农具与拖拉机之间的相对位置，以保证农具在选定的耕深下工作。
目前，现有农机的提升器和外部输出多采用机械式力-位反馈和手动操作手柄的方式，操作人员通过操纵分配器阀杆轴向位移，控制分配器中液压油换向，从而控制农机油缸，以实现农具的上升、下降、中立等动作。现有技术的农机所使用机械式力-位反馈机构对农机的作业工具，比如耕具所受到的土壤阻力及提升器位置的响应滞后较大，执行速度慢，耕作质量差。因此，现有技术的这种机械式力-位反馈结构形式操作起来难度大，需要机手的经验根据车辆振动及发动机转速实时人为调整手柄位置，以控制所述农机的作业工具的上升、下降等幅度。另一方面，通过手动调节的方式控制阀的开启，以调节流量的大小来控制提升的速度快慢。液压缸内流量的大小难以准确控制，往往都是预设成特定的速度，但是调整速度的过程往往难以适配地形和升降高度，也就是说现有技术的农机提升器提供的驱动速度难以协调。
此外现有技术的农机液压提升器提升速度都是根据预设的所述油液流量速度而以定速的方式抬升或下降。也就是说，农机手在操作农机液压提升器时无法根据需求适时地调整驱动速度的快慢。通常为了安全起见，现有技术的农机液压器的提升速度比较慢，这也不可避免的会造成农机在作业过程中抬升和下降的速度较慢。
现有技术的液压提升器的反馈机构和操纵设定机构均为机械部件，动作连接和传递环节多，机械结构传递不稳容易调整繁琐，并且精确度低。机械部件的闭环计算能力差，系统无法优化匹配，严重制约农机的整体性能，不利于农机的自动化、智能化的发展。
发明内容
本发明的一个主要优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统通过电控的方式控制所述电控液压系统的动作，有利于降低液压系统的操作难度。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统根据驱动行程的角度自动地控制液压的油液流动速度，从而控制所述电控液压系统的驱动速度。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统根据驱动行程的角度自动地调整液压的油液流动速度，以使得当所述电控液压系统的驱动行程较大时以较快的速度快速驱动，当形成较小时所述电控液压系统以较小的驱动速度慢速驱动。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统根据驱动行程角度自动地调整油液的流量速度，有利于节省时间和提高设备的安全性。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统获取操作人员的操作信息，并根据操作信息自动地控制所述电控液压系统的液压动作，简化了液压系统的操作难度。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统包括一控制器和至少一液压组件，其中所述控制器基于获取的操作控制信息控制所述液压组件，有利于农机的自动化。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统进一步包括一操作手柄和设置于所述操作手柄的角度传感器，其中所述角度传感器检测所述操作手柄的角度信息和将检测到的角度信息传输至所述控制器，以便所述控制器基于所述手柄的操作角度自动地控制所述液压组件，有利于农机的自动化。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统在驱动过程中检测所述液压组件的驱动角度，并基于检测到的驱动角度数据信息自动地控制所述电控液压系统的驱动速度，有利于所述农机的智能化。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统在驱动过程中检测所述液压组件的液压压力，并基于检测到的液压压力数据信息自动地控制所述电控液压系统的抬升或下降动作，有利于所述农机的智能化。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统的所述控制器可控制所述液压组件不同流量的控制阀的开启与闭合，以便根据所述液压组件的驱动角度调整所述液压组件的抬升或下降速度。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统适于农机，其中所述电控液压系统操作简单，降低了农机驾驶员的熟练程度要求。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述农机在行驶过程中所述电控液压系统自动地检测抬升高度和压夜压力值的大小，并根据检测到的检测数据由所述控制器控制所述液压组件的动作，以便于 所述农机智能全自动地控制农机的作业装置工作。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统可外部设备提供液压动力。也就是说，外部设备的液压驱动装置可被连接至所述电控液压系统，由所述电控液压系统为所述外部设备提供液压动能。
本发明的另一个优势在于提供一电控液压系统和液压驱动方法，其中所述电控液压系统在液压工作过程中自动采集农机工作的数据信息，并根据采集的数据信息调整所述电控液压系统的工作状态，以使得所述电控液压系统适应当前农机的农机作业。所述电控液压系统根据采集到的数据信息执行动作的相应速度快，有利于提高所述农机在使用所述电控液压系统时的作业质量。
本发明的其它优势和特点通过下述的详细说明得以充分体现并可通过所附权利要求中特地指出的手段和装置的组合得以实现。
依本发明的一个方面，能够实现前述目的和其他目的和优势的本发明的一电控液压系统，包括：
一液压组件；
一动力输出装置和可在所述液压组件与所述动力输出装置之间传动的油液，其中所述动力输出装置可导通地连接于所述液压组件，其中所述动力输出装置以所述油液的传动的方式输出液压动力；
一控制器，其中所述液压组件被电气连接于所述控制器；以及
至少一操作装置，其中所述操作装置电气连接于所述控制器，所述操作装置进一步包括一操作元件和至少一转角传感器，其中所述转角传感器被设置于所述操作元件，所述转角传感器电气连接于所述控制器，由所述转角传感器采集所述操作元件的转角变化值，其中所述控制器基于所述转角变化值控制所述液压组件，以控制所述油液的传动速度和传动方向。
根据本发明的一实施例，所述液压组件包括一油箱、至少一油泵以及至少一阀组，其中所述油泵将存储于所述油箱的所述油液输送至所述阀组，其中所述阀组被电气连接于所述控制器，由所述控制器控制所述阀组内所述油液的传动方向。
根据本发明的一实施例，所述阀组进一步包括一集成阀块、设置于所述集成阀块的至少一电磁溢流阀、至少一换向阀以及至少一控制阀，其中所述电磁溢流阀、所述换向阀以及所述控制阀被电气连接于所述控制器，由所述控制器控制所述电磁溢流阀，所述换向阀以及所述控制阀的电导通状态，其中当所述换向阀通电时，由所述换向阀控制所述油液的流动方向，当所述控制器控制所述控制阀通电时，所述阀组内的所述油液传动至所述动力输出装置，由所述动力输出装置输出液压动力。
根据本发明的一实施例，所述换向阀包括至少二换向阀单元，其中所述换向阀单元之间相互并联且独立地设置于所述集成阀块。
根据本发明的一实施例，所述换向阀的所述换向阀单元为电压比例换向阀， 所述控制器通过控制所述换向阀单元的电压值大小控制所述阀组内所述油液的流量速度。
根据本发明的一实施例，所述阀组进一步包括至少一转接头，其中所述转接头可导通地连接于所述集成阀块，由所述控制阀控制所述转接头的开启与闭合，当所述控制器控制所述控制阀电导通时，所述集成阀块通过所述转接头将所述油液传动至所述动力输出装置。
根据本发明的一实施例，所述控制阀进一步包括一第一控制阀和一第二控制阀，其中所述第一控制阀和所述第二控制阀被设置于所述集成阀块，其中所述第一控制阀电导通时，所述动力输出装置被所述油液以抬升的方式输出驱动作用力，其中所述第二控制阀电导通时，所述动力输出装置被所述油液以下降到方式输出驱动作用力。
根据本发明的一实施例，所述动力输出装置包括至少一驱动油缸和至少一动力输出轴，其中所述动力输出轴被可驱动地连接于所述驱动油缸，所述阀组通过所述转接头可导通地连接于所述驱动油缸，当所述第一控制阀导通时，所述油液驱动所述动力输出轴抬升，当所述第二控制阀导通时，所述油液驱动所述动力输出轴下降。
根据本发明的一实施例，所述阀组进一步包括至少一外部液压控制阀和至少一外部液压转接头，其中所述外部液压控制阀和所述外部液压转接头被设置于所述集成阀块，所述外部液压控制阀控制所述外部液压转接头的开启与闭合，所述外部液压控制阀电气连接于所述控制器，由所述控制器控制所述外部液压控制阀的电导通状态，以便由所述外部液压转接头为外部工具提供液压动能。
根据本发明的一实施例，进一步包括至少一角度传感器，其中所述角度传感器被设置于所述动力输出装置，所述角度传感器采集所述动力输出装置的一反馈角α，其中所述控制器基于所述反馈角α得出所述阀组输送至所述动力输出装置的油液流量值Z，所述控制器基于所述反馈角α所述油液流量值Z控制所述换向阀和所述控制阀。
根据本发明的一实施例，所述控制器判断所述反馈角α与β，其中β为预设定值关系，如果反馈角α≤β，所述控制器生成所述换向阀的阀芯开启度的电压控制信息，其中所述换向阀的阀芯开启度对应于所述操作元件的转动加速度，如果反馈角α＞β，将所述反馈角α对应的流量值Z划分为X流量段和Y流量段，其中Z＝X+Y，α＝β+γ，其中β对应于X流量段，γ对应于Y流量段，生成所述换向阀的阀芯开启度的电压控制信息，并且Y流向段的所述油液的流动速度大于X流量段的所述油液的流动速度。
根据本发明的一实施例，进一步包括至少一液压传感器，其中所述液压传感器被设置于所述液压组件的所述阀组，并且所述液压传感器电气连接于所述控制器，由所述液压传感器检测所述阀组的油液压力和将检测到的压力数据传输至所述控制器，由所述控制器基于所述压力数据控制所述液压组件的所述阀组。
根据本发明的另一方面，本发明进一步提供一液压驱动方法，其中所述液压驱动方法包括如下步骤：
(a)电导通一阀组的一电磁溢流阀，由所述电磁溢流阀建立所述电控液压系统的液压压力；
(b)采集一操作装置的一操作元件的转动角度变化，和基于所述转动角度变化得到一控制信号；以及
(c)基于所述控制信号电导通至少一换向阀和一控制阀，以控制所述阀组内的油液的流动方向和流量速度，进而有所述油液控制一动力输出装置的驱动方向和驱动速度。
根据本发明的一实施例，其中在所述步骤(b)中，进一步包括：
(b.1)采集到的数据信息被传输至一控制器，由所述控制器基于采集到的转角数据信息得到所述操作元件的转动加速度；和
(b.2)基于所述转动加速度得出控制所述油液所需要的流量速度。
根据本发明的一实施例，在所述步骤(b)进一步包括步骤：
采集所述动力输出装置的一反馈角α，和得出所述动力输出装置移动至相应角度α所需要的所述油液的流量值Z。
根据本发明的一实施例，在步骤(c)中，所述控制器基于检测到的所述反馈角α和对应的所述流量值Z控制所述换向阀的阀芯开口，藉由所述换向阀控制所述油液的流动方向和流量值。
根据本发明的一实施例，在所述步骤(b)进一步包括步骤：
判断所述反馈角α与β的关系，其中β为预设定值，如果反馈角α≤β，生成所述换向阀的阀芯开启度的电压控制信息，其中所述换向阀的阀芯开启度对应于所述操作元件的转动加速度；如果反馈角α＞β，将所述反馈角α对应的流量值Z划分为X流量段和Y流量段，其中Z＝X+Y，α＝β+γ，其中β对应于X流量段，γ对应于Y流量段，生成所述换向阀的阀芯开启度的电压控制信息，并且Y流向段的所述油液的流动速度大于X流量段的所述油液的流动速度。
根据本发明的一实施例，在所述步骤(c)进一步包括步骤：
控制所述换向阀的所述换向阀单元电导通，根据所述转角传感器的角度变化控制所述换向阀单元的阀芯开启度，并通过γ所对应的Y流量段的所述油液；和
当所述反馈角到达β时，控制所述换向阀的所述换向阀单元电导通，根据所述转角传感器的角度变化控制所述换向阀单元的阀芯开启度，并通过β所对应的X流量段的所述油液，其中所述换向阀单元的阀芯慢慢贴合。
根据本发明的另一方面，本法发明进一步提供一农机，包括：
一农机主机；和
一电控液压系统，其中所述电控液压系统被搭载至所述农机主机，其中所述电控液压系统进一步包括：
一液压组件；
一动力输出装置和可在所述液压组件与所述动力输出装置之间传动的油液，其中所述动力输出装置可导通地连接于所述液压组件，其中所述动力输出装置以所述油液的传动的方式输出液压动力；
一控制器，其中所述液压组件被电气连接于所述控制器；以及
至少一操作装置，其中所述操作装置电气连接于所述控制器，所述操作装置进一步包括一操作元件和至少一转角传感器，其中所述转角传感器被设置于所述操作元件，所述转角传感器电气连接于所述控制器，由所述转角传感器采集所述操作元件的转角变化值，其中所述控制器基于所述转角变化值控制所述液压组件，以控制所述油液的传动速度和传动方向。
通过对随后的描述和附图的理解，本发明进一步的目的和优势将得以充分体现。
本发明的这些和其它目的、特点和优势，通过下述的详细说明，附图和权利要求得以充分体现。
附图说明
图1是根据本发明的第一较佳实施例的一农机的整体示意图。
图2A是根据本发明上述较佳实施例的所述农机的一电控液压系统的示意图。
图2B是根据本发明上述较佳实施例的所述农机的所述电控液压系统的另一视角的示意图。
图2C是根据本发明上述较佳实施例的所述农机的所述电控液压系统的另一视角的示意图。
图3A是根据本发明上述较佳实施例的所述农机的所述电控液压系统的一液压组件的示意图。
图3B是根据本发明上述较佳实施例的所述农机的所述电控液压系统的所述液压组件的另一视角示意图。
图4是根据本发明上述较佳实施例的所述农机的所述电控液压系统的一操作装置的动作示意图。
图5是根据本发明上述较佳实施例的所述农机的所述电控液压系统的一传动装置的示意图。
具体实施方式
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、 “内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
参照本发明说明书附图之图1所示，依照本发明第一较佳实施例的一农机在接下来的描述中被阐明。所述农机包括一农机主机100和被搭载于所述农机主机100的一电控液压系统200，其中所述电控液压系统200输出液压动力，藉由所述电控液压系统200支持一农机作业设备工作，比如耕具、犁具、播种设备等；或者所述电控液压系统200驱动所述农机作业设备移动。所述电控液压系统200被搭载至所述农机主机100，其中所述农机主机100提供所述电控液压系统200所需要的工作电能，以驱动所述电控液压系统200输出液压动能。在本发明的该优选实施例中，所述电控液压系统200被设置于所述农机主机100的后端，由所述农机主机100拖行并支撑所述电控液压系统200。
参照本发明说明书附图之图2A至图5所示，具体阐释了本发明第一较佳实施例的所述农机的所述电控液压系统200。所述电控液压系统200包括一液压组件10、一控制器20、至少一连接支架30、至少一动力输出装置40以及可在所述液压组件10和所述动力输出装置40之间传动的至少一油液50，其中所述液压组件10电气连接于所述控制器20，由所述控制器20发送控制信号至所述液压组件10。所述液压组件10接收所述控制器20的控制信号，并基于所述控制信号控制所述液压组件10内油液50的传动。所述动力输出装置40被可导通地连接于所述液压组件10，由所述液压组件10基于所述控制信号将油液50导入至所述动力输出装置40，藉由所述动力输出装置40输出液压动力；或者所述动力输出装置40将油液50回流至所述液压组件10，所述动力输出装置40处于泄压状态。
在本发明的该优选实施例中，所述动力输出装置40被设置于所述连接支架30，其中所述连接支架30被固定地设置于所述农机主机100。换言之，所述农机主机100通过所述连接支架30拖行和支撑所述电控液压系统200。优选地，在本发明的该优选实施例中，所述液压组件10被设置于所述连接支架30，由所述连接支架30将所述液压组件10固定于所述农机主机100。
值得一提的是，在本发明的该优选实施例中，所述控制器20通过电控的方式控制所述液压组件10内所述油液50的传动，从而控制所述动力输出装置40输出液压动力，有利于精确地控制所述电控液压系统200输出的液压动力。
如图3A和图3B所示，所述液压组件10包括一油箱11、至少一油泵12、至少一阀组13，其中所述油泵12可导通地连接于所述油箱11，由所述油泵12将所述油箱11存储的所述油液50泵至所述阀组13，其中所述阀组13不参与液 压动力的油液50可回流至所述油箱11，由所述油箱11存储所述油液。所述液压组件10进一步包括至少一进油管道101和至少一出油管道102，其中所述进油管道101连通所述油泵12于所述阀组13，即所述油泵12通过所述进油管道101将油液泵入至所述阀组13。所述出油管道102连通所述阀组13于所述油箱11，其中所述阀组13将不参与液压的所述油液50通过所述出油管道102回流至所述油箱11。
值得一提的是，所述液压组件10的所述进油管道101和所述出油管道102为液压软管或硬管。可以理解的是，所述进油管道101和所述出油管道102的管道类型在此仅仅作为示例性的，而非限制。
值得一提的是，所述液压组件10的所述油泵12被可传动地设置于所述农机主机100，由所述农机主机100驱动所述油泵12，将所述油液50泵入至所述阀组13。优选地，在本发明的该优选实施例中，所述油泵12为齿轮泵。可以理解的是，所述油泵12的驱动方式在此仅仅作为示例性的，而非限制。因此，所述油泵12还可被实施为其他类型的泵装置。
所述阀组13被电气连接于所述电控液压系统200的所述控制器20，其中所述控制器20控制所述阀组13的开启与闭合，由所述阀组13引导所述油液50在所述阀组13和所述动力输出装置40之间定向的传动。详细地说，当所述电控液压系统200驱动上升或下降运动时，所述控制器20控制所述液压组件10的所述阀组13将所述油液50导入至所述动力输出装置40，以供所述动力输出装置40向上或向下地提供液压动力。当所述电控液压系统200处于泄压状态时，所述控制器20控制所述阀组13导出所述动力输出装置40的所述油液50。
所述阀组13进一步包括一集成阀块131、设置于所述集成阀块131的至少一电磁溢流阀132、至少一换向阀133、以及至少一控制阀134，其中所述电磁溢流阀132、所述换向阀133以及所述控制阀134被电气连接于所述控制器20，由所述控制器20控制各所述阀件的开启与闭合，以控制所述油液50的传动方向或传动速度。所述集成阀块131通过所述进油管道101可导通地连接于所述油泵12，其中所述油泵12将所述油箱11内的油液50泵入至所述集成阀块131。所述集成阀块131通过所述出油管道102可导通地连接于所述油箱11，所述集成阀块131的所述油液50通过所述出油管道102回流至所述油箱11。
所述电磁溢流阀132被电气连接于所述控制器20，由所述控制器20控制所述电磁溢流阀132的导通与断开，当所述电控液压系统200需要动作时，所述控制器20控制所述电磁溢流阀132导通，以使得所述阀组13建立工作压力，其中所述油泵12将所述油液泵入至所述阀组13；当所述电控液压系统200泄压时，由所述控制器20控制所述电磁溢流阀132断电，所述阀组13的所述油液50回流至所述油箱11。
所述换向阀133被设置于所述集成阀块131，并且所述换向阀133被可导通地连接于所述控制器20，其中所述换向阀133基于所述控制器20的控制信号切换所述阀组13内的油液的传动方向，从而控制所述动力输出装置40的运动方 向，比如所述动力输出装置的上升运动、下降运动等。所述换向阀133还被用于控制所述阀组13油液50的流量速度，进而控制所述动力输出装置40的驱动速度，即所述动力输出装置40运动的快慢。
相应地，所述换向阀133进一步包括至少二换向阀单元1331，其中各所述换向阀单元1331之间相互并联且独立地设置于所述集成阀块131，由所述换向阀单元1331控制所述集成阀块131内的所述油液50的传动方向和传动速度。其中所述换向阀单元1331被电气连接于所述控制器20，由所述控制器20控制所述换向阀单元1331的工作状态，比如电压、电流值等。
值得一提的是，所述控制器20可控制所述换向阀133的一个或多个所述换向阀单元1331启动，以通过开启所述换向阀单元1331数量的方式调整所述阀组13内所述油液的流量速度。
优选地，在本发明的该优选实施例中，所述阀组13的所述换向阀单元1331可以但不限于电压比例换向阀，即所述换向阀单元1331的阀芯开启大小与所述换向阀单元1331的电压值相关，从而根据电压比例调整所述阀组13控制油液的流量速度。在本发明的该优选实施例中，所述控制器20通过控制所述换向阀133的电压值和电压的极性控制所述阀组13内所述油液的流动方向和流动速度。
所述阀组13进一步包括至少一转接头135，其中所述转接头135连接所述集成阀块131，其中所述集成阀块131内的所述油液经由所述转接头135流向所述动力输出装置40。所述控制阀134控制所述转接头135的开启与闭合，其中当所述电控液压系统200动作时，所述控制器20电导通所述控制阀134，所述控制阀134控制所述转接头135开启，以允许所述油液50从所述集成阀块131流至所述动力输出装置40。当所述电控液压系统200处于泄压状态时，所述控制器20使得所述控制阀134断电，其中所述控制阀134控制所述转接头135关闭，从而阻止所述油液50通过。
所述阀组13的所述控制阀134进一步包括一第一控制阀1341和一第二控制阀1342，其中所述第一控制阀1341和所述第二控制阀1342分别被可导通地设置于所述集成阀块131。所述第一控制阀1341和所述第二控制阀1342分别被电气连接于所述控制器20，由所述控制器20控制所述第一控制阀1341和所述第二控制阀1342的工作状态。当所述第一控制阀1341和所述第二控制阀1342处于电导通状态时，所述第一控制阀1341和所述第二控制阀1342控制至少一所述转接头135导通，以允许所述集成阀块131内的所述油液50通过所述转接头135流至所述动力输出装置40。优选地，所述第一控制阀1341和所述第二控制阀1342可以但不限于一电磁球阀。
优选地，在本发明的该优选实施例中，所述动力输出装置40在所述液压组件10的作用下抬升、下降、中立或浮动。换言之，所述液压组件10将所述油液50输出至所述动力输出装置40，使得所述动力输出装置40在所述油液50的作用下抬升作业装置；或者所述动力输出装置40在所述油液50的作用下降升作业装置；或者所述动力输出装置40在所述油液50的作用下保持中立的状态； 或者所述动力输出装置40在所述作业装置的驱动作用下上下地移动。
所述液压组件10进一步包括一抬升作用油管103和一下降作用油管104，其中所述抬升作用油管103连通所述阀组13的一转接头135于所述动力输出装置40，其中所述第一控制阀1341控制所述转接头135的开启与关闭。当所述控制器20导通所述第一控制阀1341时，所述阀组13的所述集成阀块131内的油液50经由所述转接头135和所述抬升作用油管103流至所述动力输出装置40，其中所述动力输出装置40在所述油液50的液压作用下抬升所述作业装置。所述下降作用油管104连通所述阀组13的一转接头135于所述动力输出装置40，其中所述第二控制阀1342控制所述转接头135的开启与闭合。当所述控制器20导通所述第二控制阀1342时，所述阀组13的所述集成阀块131内的所述油液50经由所述转接头135和所述下降作用油管104流至所述动力输出装置40，其中所述动力输出装置40在所述油液50的液压作用下下降所述作业装置。
如图4和图5所示，所述动力输出装置40包括至少一驱动油缸41和至少一动力输出轴42，其中所述动力输出轴42被可驱动地连接于所述驱动油缸41。所述液压组件10的所述阀组13将所述油液50传输至所述动力输出装置40的所述驱动油缸41，其中所述驱动油缸41在所述油液50的作用下驱动所述动力输出轴42上下地运动。可以理解的是，所述动力输出装置40的所述驱动油缸41将液压作用力转换成驱动所述动力输出轴42在上下方向移动的驱动作用力，藉由所述动力输出轴42驱动所述作业装置的上升、下降或者保持不动的状态。
优选地，在本发明的该优选实施例中，所述动力输出装置40的所述驱动油缸41的数量为二，其中所述驱动油缸41被对称地和固定地设置于所述连接支架30的两侧，各所述驱动油缸41在所述连接支架30的支持作用下驱动所述动力输出轴42运动。可以理解的是，在本发明的该优选实施例中，所述动力输出装置40的所述驱动油缸41的数量在此仅仅作为示例性的，而非限制。
更优选地，所述驱动油缸41为双作用驱动油缸，即当所述油液50被传输至所述驱动油缸41时，由所述驱动油缸41以抬升的方式驱动所述动力输出轴42向上地运动；或者所述驱动油缸41以下降的方式驱动所述动力输出轴42向下地移动。
各所述驱动油缸41通过所述抬升作用油管103或所述下降作用油管104连通于所述阀组13的所述转接头135，即所述阀组13将所述油液50通过所述抬升作用油管103或所述下降作用油管104输出至所述驱动油缸41，由所述驱动油缸41将所述液压作用力转化为驱动所述动力输出轴42运动的驱动作用力。
所述驱动油缸41进一步包括一缸体411和可伸缩地设置于所述缸体411的一驱动杆412，其中所述阀组13将油液导入至所述缸体411，通过所述油液的压力驱动所述驱动杆412伸缩地运动。所述动力输出轴42被可传动地连接于所述驱动油缸41的所述驱动杆412，藉由所述驱动杆412在所述油液50的液压作用下驱动所述动力输出轴42上下地移动。
所述抬升作用油管103导通地连接于所述缸体411的下端，当所述油液50 通过所述抬升作用油管103输出至所述缸体411的下端时，所述缸体411内的所述油液50在液压作用下向上地驱动所述驱动杆412移动，即所述驱动杆412在油液的压力作用下向外伸展。所述下降作用油管104导通地连接于所述缸体411的上端，当所述油液50通过所述下降作用油管104输出至所述缸体411的下端时，所述缸体411内的所述油液在液压作用下向下地驱动所述驱动杆412移动，即所述驱动杆412在所述油液50的压力作用下缩回至所述缸体411。
值得一提的是，所述动力输出装置40的所述驱动油缸41还被导通地连接于所述油箱11，当所述电控液压系统200处于泄压状态时，所述驱动油缸41内的所述油液50被导入至所述油箱11，以实现所述驱动油缸41的泄压。
所述动力输出装置40的所述动力输出轴42被可传动地设置于所述连接支架30，由所述驱动油缸41的所述驱动杆412驱动所述动力输出轴42在上下地摆动。优选地，所述动力输出轴42基于一旋转轴被可枢转地设置于所述连接支架30的上端，当所述驱动油缸41驱动所述动力输出轴42时，所述动力输出轴42基于所述旋转轴上下地转动。
所述动力输出轴42进一步包括一枢转轴体421和自所述枢转轴体421向外延伸的至少一摆杆422，其中所述驱动油缸41的所述驱动杆412被可传动地连接于所述摆杆422，由所述驱动杆412驱动所述摆杆422基于所述枢转轴体421转动。
如图2A至图2C所示，所述电控液压系统200进一步包括至少一悬挂组件60，其中所述悬挂组件被可传动地设置于所述动力输出装置40，由所述动力输出装置40驱动所述悬挂组件60上下地移动。农机作业装置被可传动地设置于所述悬挂组件60，由所述悬挂组件60传输所述动力输出装置40的动力至所述农机作业装置，比如犁具、耕具等。所述悬挂组件60被设置于所述连接支架30，由所述连接支架30支撑所述悬挂组件60，藉由所述悬挂组件60支撑和悬挂所述农机作业装置。优选地，在本发明的该优选实施例中，所述悬挂组件60被实施为三点悬挂组件，可以理解的是，所述悬挂组件60的具体实施方式在此仅仅作为示例性的，而非限制。
所述悬挂组件60包括至少一传动连杆61、一传动支架62以及至少一连接件63，其中所述传动连杆61可传动地连接所述动力输出轴42于所述传动支架62，当所述电控液压系统200上升或下降动作时，所述动力输出轴42驱动所述传动连杆61，并由所述传动连杆61带动所述传动支架62上下地移动。所述传动支架62被可枢转地设置于所述连接支架30，所述传动连杆61驱动所述传动支架62基于所述连接支架30转动。所述连接件63可枢转地连接所述传动支架62于所述农机主机100。
如图3A至图3B所示，所述液压组件10的所述阀组13进一步包括至少一外部液压控制阀136和至少一外部液压转接头137，其中所述外部液压控制阀136被设置于所述集成阀块131，所述外部液压转接头137可导通地连接于所述集成阀块131。所述外部液压控制阀136控制所述外部液压转接头137的开启与 闭合。外部液压工具比距犁具、耕具等的液压传动装置可通过所述外部液压转接头137连接至所述液压组件10，即所述液压组件10可为所述外部液压工具提供液压动力所需要的所述油液50。
所述外部液压控制阀136被电气连接于所述控制器20，由所述控制器20控制所述外部液压控制阀136的导通状态。当所述控制器20导通所述外部液压控制阀136时，所述外部液压控制阀136控制所述外部液压转接头137开启，其中所述集成阀块131内的所述油液50可通过所述外部液压转接头137输出至外部液压工具，藉由所述液压组件10驱动所述外部液压工具工作。优选地，所述外部液压控制阀136可以但不限于一电比例换向阀。
优选地，在本发明的该优选实施例中，所述液压组件10的所述阀组13被固定地设置于所述连接支架30，其中所述阀组13位于所述油箱11的上方，以便所述阀组13的油液可回流至所述油箱11。所述液压组件10进一步包括至少一固定架14，由所述固定架14固定所述阀组13于所述连接支架30。
如图2A至图2C所示，所述控制器20包括一控制单元21和多个通信电缆22，其中所述通信电缆22电气连接所述控制单元21于所述液压组件10，藉由所述通信电缆22传递所述控制单元21的控制信号。所述控制单元21基于检测到的数据信息和操作人员的操作信息生成并传输所述控制信号至所述液压组件10的所述阀组13，以控制所述液压组件10通过所述动力输出装置40输出液压动力。
优选地，在本发明的该优选实施例中，所述控制器20的所述控制单元21被实施为一ECU(Electronic Control Unit，电子控制单元)，其中所述控制单元21被设置于所述农机的所述农机主机100，由所述农机主机100支持所述控制器20的所述控制单元21工作。
所述电控液压系统200进一步包括一操作装置70，其中所述操作装置70可通信地连接于所述控制器20，由所述操作装置70将使用者的操作信息传递至所述控制器20。所述控制器20基于所述操作装置70的所述操作信息控制所述液压组件10，进而由所述动力输出装置40传输液压工作动力。所述操作装置70进一步包括一操作元件71和至少一转角传感器72，其中所述转角传感器72被设置于所述操作元件71，由所述转角传感器72采集所述操作元件71的转动角度。所述转角传感器72被电气连接于所述控制器20，由所述转角传感器72将所述操作元件71的转动角度传递至所述控制器20。所述控制器20基于所述转角传感器72采集到的转动角度信息控制所述液压组件10的所述阀组13。
优选地，在本发明的该优选实施例中，所述操作元件71被实施为一操作手柄或旋钮装置，当使用者操作所述操作元件71时，所述转角传感器72实时地采集所述操作元件71的转动角度。本领域技术人员可以理解的是，所述控制器20基于操作人员的操作信息自动地控制所述液压组件10的所述阀组13的导通，进而控制所述动力输出装置40的动作。
所述电控液压系统200进一步包括至少一角度传感器80，其中所述角度传 感器80被设置于所述动力输出装置40的所述动力输出轴42，由所述角度传感器80实时地采集所述动力输出轴42的转动角度。所述角度传感器80被电气连接于所述控制器20的所述控制单元21，由所述角度传感器80实时地反馈所述动力输出轴42的转动角度。所述控制器20的所述控制单元21基于所述角度传感器80采集到的角度信息控制所述液压组件10的所述阀组13的点导通状态，以便于调整所述动力输出装置40的传动速度。
示例性地，当所述控制器20基于所述角度传感器80采集到所述动力输出轴42的角度信息，得出所述动力输出装置40的加速度值较大时，由所述控制器20控制所述阀组13的所述换向阀133的导通状态，以便控制所述阀组13与所述动力输出装置40之间的油液传动速度，从而使得所述动力输出装置40以较快的驱动速度输出液压动力。
当使用者操作所述操作装置70的所述操作元件71控制所述电控液压系统200的所述动力输出装置40驱动时，所述控制器20基于所述角度传感器80采集到的反馈角α计算得到所述阀组13输送至所述动力输出装置40的油液流量值Z。所述控制器20基于所述角度传感器80的反馈角α的方向和大小自动地控制所述阀组13的所述换向阀133和所述控制阀134，藉由所述换向阀133控制所述阀组13内的所述油液50的流动方向和流量速度大小，以控制所述动力输出装置40的驱动速度。
详细地讲，当所述操作元件71的反馈角α≤β，(其中β为预设定值)时，所述控制器20控制以较小的启动电压导通所述阀组13的所述换向阀133，使得所述换向阀133以较小流量控制所述阀组13内所述油液50的流动速度，从而使得所述动力输出装置40慢速地移动。当所述操作元件71的反馈角α＞β(其中β为预设定值)时，所述控制器20根据所述反馈角α对应值大小计算得到所述动力输出装置40移动至相应角度所需要的所述油液50的流量值Z。所述控制器20将所述反馈角α对应的流量值Z划分为X流量段和Y流量段，其中Z＝X+Y。α＝β+γ，其中β对应于X流量段，γ对应于Y流量段。所述控制器20控制所述阀组13内的所述油液50在所述X流量段和所述Y流量段以不同的流量速度传动至所述动力输出装置40，即所述动力输出装置40在所述油液50的X流量段和所述Y流量段以不同的驱动速度输出驱动作用力。值得一提的是，所述控制器20控制Y流向段的所述油液50的流动速度大于X流量段的所述油液50的流动速度。
当使用者操作所述操作装置70的所述操作元件71时，所述转角传感器72采集所述操作元件71的角度变化，并且所述控制器20基于所述转角传感器72的角度变化加速度a快慢自动地计算出所述换向阀133所需要的控制电压，以控制所述换向阀133的所述换向阀单元1331的阀芯开启度。当所述反馈角α时，所述控制器20控制所述换向阀133的所述换向阀单元1331开启，根据所述转角传感器72的角度变化控制所述换向阀单元1331的阀芯开启度，并通过γ所对应的Y流量段的所述油液50。当所述反馈角到达β时，所述控制器20控制 所述换向阀133的所述换向阀单元1331开启，根据所述转角传感器72的角度变化控制所述换向阀单元1331的阀芯开启度，并通过β所对应的X流量段的所述油液50，其中所述换向阀单元1331的阀芯慢慢贴合。
根据本发明的另一方面，本发明进一步提供一电控液压系统的液压驱动方法，其中所述液压驱动方法包括如下步骤：
(a)电导通一阀组13的一电磁溢流阀132，由所述电磁溢流阀132建立所述电控液压系统200的液压压力；
(b)采集一操作装置70的一操作元件71的转动角度变化，和基于所述转动角度变化得到一控制信号；以及
(c)基于所述控制信号电导通至少一换向阀133和一控制阀134，以控制所述阀组13内的油液的流动方向和流量速度，进而有所述油液50控制一动力输出装置40的驱动方向和驱动速度。
在本发明的该液压驱动方法的所述步骤(b)中，进一步包括：
(b.1)采集到的数据信息被传输至一控制器20，由所述控制器20基于采集到的转角数据信息得到所述操作元件71的转动加速度；和
(b.2)基于所述转动加速度得出控制所述油液所需要的流量速度。
在本发明的该液压驱动方法的所述步骤(b)进一步包括步骤：
采集所述动力输出装置40的一反馈角α，和得出所述动力输出装置40移动至相应角度α所需要的所述油液50的流量值Z。相应地，在步骤(c)中，所述控制器基于检测到的所述反馈角α和对应的所述流量值Z控制所述换向阀133的阀芯开口，藉由所述换向阀133控制所述油液的流动方向和流量值。值得一提的是，当所述电控液压系统200控制升起时，所述控制器20电导通所述控制阀134的所述第一控制阀1341；当所述电控液压系统200控制下降时，所述控制器20电导通所述控制阀134的所述第二控制阀1342。
在本发明的该液压驱动方法的所述步骤(b)进一步包括步骤：
判断所述反馈角α与β(其中β为预设定值)关系；和
如果反馈角α≤β，生成所述换向阀133的阀芯开启度的电压控制信息，其中所述换向阀133的阀芯开启度对应于所述操作元件71的转动加速度，如果反馈角α＞β，将所述反馈角α对应的流量值Z划分为X流量段和Y流量段，其中Z＝X+Y，α＝β+γ，其中β对应于X流量段，γ对应于Y流量段，生成所述换向阀133的阀芯开启度的电压控制信息，并且Y流向段的所述油液50的流动速度大于X流量段的所述油液50的流动速度。
在本发明的该液压驱动方法的所述步骤(c)进一步包括步骤：
当所述反馈角α时，控制所述换向阀133的所述换向阀单元1331电导通，根据所述转角传感器72的角度变化控制所述换向阀单元1331的阀芯开启度，并通过γ所对应的Y流量段的所述油液50；和
当所述反馈角到达β时，控制所述换向阀133的所述换向阀单元1331电导通，根据所述转角传感器72的角度变化控制所述换向阀单元1331的阀芯开启 度，并通过β所对应的X流量段的所述油液50，其中所述换向阀单元1331的阀芯慢慢贴合。
所述电控液压系统200进一步包括至少一液压传感器90，其中所述液压传感器90被设置于所述液压组件10的所述阀组13，由所述液压传感器90采集所述阀组13内所述油液50的液压。所述液压传感器90被电气连接于所述控制器20的所述控制单元21，由所述液压传感器90传输所述阀组13的所述液压数据信息至所述控制单元21，由所述控制单元21基于采集到的所述液压数据信息控制所述阀组13的导通状态，通过调整所述动力输出装置40移动的方式调整所述阀组13内所述油液50的液压。
优选地，所述液压传感器90被设置于所述阀组13的所述集成阀块131，由所述液压传感器90采集所述集成阀块131内和油管内的所述油液50的压力。
所述电控液压系统200进一步包括至少一位移传感器201，其中所述位移传感器201被设置于所述动力输出装置40，由所述位移传感器201采集所述动力输出装置40的位移信息。所述位移传感器201被电气连接于所述控制器20，所述位移传感器201将采集到的所述动力输出装置40的位移信息传输至所述控制器20，藉由所述控制器20控制所述液压组件10的所述阀组13的导通状态，以便控制所述动力输出装置40。
当所述电控液压系统200处于卸荷状态时，所述控制器20控制所述阀组13的所述电磁溢流阀132，所述换向阀133以及所述控制阀134处于断电状态。当所述电控液压系统200需要抬升或下降时，所述控制器20控制所述阀组13的所述电磁溢流阀132处于电导通状态，由所述电磁溢流阀132建立压力。所述控制器20基于所述操作装置70的所述转角传感器72采集到的所述操作元件71的角度数据信息、所述角度传感器80以及所述液压传感器90采集到的数据信息，得到所述动力输出装置40的加速度值(或减速度值)，并得到所述动力输出装置40所需要的所述油液50的流量。所述控制器20的所述控制单元21单独地控制所述换向阀133的所述换向阀单元1331导通；或由所述控制单元21单独地控制所述第二换向阀单元1332导通；或者由所述控制单元21控制所述换向阀单元1331和所述第二换向阀单元1332共同处于导通状态，以满足所述动力输出装置40对所述油液50的流量需求。
因此，当所述操作装置70的所述操作元件71被操作时，所述转角传感器72实时地将采集到的所述操作元件71的操作数据信息传输至所述控制器20，藉由所述控制器20的所述控制单元21基于所述操作数据信息控制所述阀组13的阀单元开启或关闭。
所述电控液压系统200具有一浮动液压模式和一强压模式，由所述控制器20的所述控制单元21控制所述电控液压系统200的工作模式。当所述电控液压系统200处于所述浮动工作模式时，所述油液50被泵入至所述阀组13的所述集成阀块131。所述控制器20控制所述阀组13的所述电磁溢流阀132通电，以使所述阀组13建立压力，所述控制器20控制所述阀组13的所述换向阀133不 工作时，所述控制器20控制所述控制阀134的所述第一控制阀1341通电，其中所述动力输出装置40的所述驱动油缸41上端无压力，并且所述驱动油缸41的下端下压。所述电控液压系统200的所述动力输出装置40在所述悬挂组件60的重力和牵引作用下泄压，直到所述动力输出装置40的所述动力输出轴42下降至所述操作装置70所要求的位置，所述阀组13处于中位卸荷状态。所述控制器20控制所述第一控制阀1341通电和控制所述第二控制阀断电时，所述动力输出装置40的所述驱动油缸41的下端保压，并且所述驱动油缸41的上端无压，所述悬挂组件60保持一定的悬挂高度不变。
当所述控制器20选择强压模式时，使用者操作所述操作装置70的所述操作元件71，其中所述转角传感器72采集所述操作元件71的转动角度，并将所述转动角度数据传输至所述控制器20的所述控制单元21。所述控制器20控制所述电磁溢流阀132导通，使得所述阀组13建立压力。所述控制器20控制所述换向阀133，并且控制所述控制阀134的所述第一控制阀1341或所述第二控制阀1342导通，其中所述阀组13内的所述油液导入至所述动力输出装置40，藉由所述动力输出装置40驱动所述悬挂组件60上升或下降。
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。

Claims (19)

  1. 一电控液压系统，其特征在于，包括：
    一液压组件；
    一动力输出装置和可在所述液压组件与所述动力输出装置之间传动的油液，其中所述动力输出装置可导通地连接于所述液压组件，其中所述动力输出装置以所述油液的传动的方式输出液压动力；
    一控制器，其中所述液压组件被电气连接于所述控制器；以及
    至少一操作装置，其中所述操作装置电气连接于所述控制器，所述操作装置进一步包括一操作元件和至少一转角传感器，其中所述转角传感器被设置于所述操作元件，所述转角传感器电气连接于所述控制器，由所述转角传感器采集所述操作元件的转角变化值，其中所述控制器基于所述转角变化值控制所述液压组件，以控制所述油液的传动速度和传动方向。
  2. 根据权利要求1所述的电控液压系统，其中所述液压组件包括一油箱、至少一油泵以及至少一阀组，其中所述油泵将存储于所述油箱的所述油液输送至所述阀组，其中所述阀组被电气连接于所述控制器，由所述控制器控制所述阀组内所述油液的传动方向。
  3. 根据权利要求2所述的电控液压系统，其中所述阀组进一步包括一集成阀块、设置于所述集成阀块的至少一电磁溢流阀、至少一换向阀以及至少一控制阀，其中所述电磁溢流阀、所述换向阀以及所述控制阀被电气连接于所述控制器，由所述控制器控制所述电磁溢流阀，所述换向阀以及所述控制阀的电导通状态，其中当所述换向阀通电时，由所述换向阀控制所述油液的流动方向，当所述控制器控制所述控制阀通电时，所述阀组内的所述油液传动至所述动力输出装置，由所述动力输出装置输出液压动力。
  4. 根据权利要求3所述的电控液压系统，其中所述换向阀包括至少二换向阀单元，其中所述换向阀单元之间相互并联且独立地设置于所述集成阀块。
  5. 根据权利要求4所述的电控液压系统，其中所述换向阀的所述换向阀单元为电压比例换向阀，所述控制器通过控制所述换向阀单元的电压值大小控制所述阀组内所述油液的流量速度。
  6. 根据权利要求3所述的电控液压系统，其中所述阀组进一步包括至少一 转接头，其中所述转接头可导通地连接于所述集成阀块，由所述控制阀控制所述转接头的开启与闭合，当所述控制器控制所述控制阀电导通时，所述集成阀块通过所述转接头将所述油液传动至所述动力输出装置。
  7. 根据权利要求6所述的电控液压系统，其中所述控制阀进一步包括一第一控制阀和一第二控制阀，其中所述第一控制阀和所述第二控制阀被设置于所述集成阀块，其中所述第一控制阀电导通时，所述动力输出装置被所述油液以抬升的方式输出驱动作用力，其中所述第二控制阀电导通时，所述动力输出装置被所述油液以下降到方式输出驱动作用力。
  8. 根据权利要求7所述的电控液压系统，其中所述动力输出装置包括至少一驱动油缸和至少一动力输出轴，其中所述动力输出轴被可驱动地连接于所述驱动油缸，所述阀组通过所述转接头可导通地连接于所述驱动油缸，当所述第一控制阀导通时，所述油液驱动所述动力输出轴抬升，当所述第二控制阀导通时，所述油液驱动所述动力输出轴下降。
  9. 根据权利要求3所述的电控液压系统，其中所述阀组进一步包括至少一外部液压控制阀和至少一外部液压转接头，其中所述外部液压控制阀和所述外部液压转接头被设置于所述集成阀块，所述外部液压控制阀控制所述外部液压转接头的开启与闭合，所述外部液压控制阀电气连接于所述控制器，由所述控制器控制所述外部液压控制阀的电导通状态，以便由所述外部液压转接头为外部工具提供液压动能。
  10. 根据权利要求2至9任一所述的电控液压系统，进一步包括至少一角度传感器，其中所述角度传感器被设置于所述动力输出装置，所述角度传感器采集所述动力输出装置的一反馈角α，其中所述控制器基于所述反馈角α得出所述阀组输送至所述动力输出装置的油液流量值Z，所述控制器基于所述反馈角α所述油液流量值Z控制所述换向阀和所述控制阀。
  11. 根据权利要求10所述的电控液压系统，其中所述控制器判断所述反馈角α与β，其中β为预设定值关系，如果反馈角α≤β，所述控制器生成所述换向阀的阀芯开启度的电压控制信息，其中所述换向阀的阀芯开启度对应于所述操作元件的转动加速度，如果反馈角α＞β，将所述反馈角α对应的流量值Z划分为X流量段和Y流量段，其中Z＝X+Y，α＝β+γ，其中β对应于X流量段，γ对应于Y流量段，生成所述换向阀的阀芯开启度的电压控制信息，并且Y流向段 的所述油液的流动速度大于X流量段的所述油液的流动速度。
  12. 根据权利要求10所述的电控液压系统，进一步包括至少一液压传感器，其中所述液压传感器被设置于所述液压组件的所述阀组，并且所述液压传感器电气连接于所述控制器，由所述液压传感器检测所述阀组的油液压力和将检测到的压力数据传输至所述控制器，由所述控制器基于所述压力数据控制所述液压组件的所述阀组。
  13. 一液压驱动方法，其特征在于，其中所述液压驱动方法包括如下步骤：
    (a)电导通一阀组的一电磁溢流阀，由所述电磁溢流阀建立所述电控液压系统的液压压力；
    (b)采集一操作装置的一操作元件的转动角度变化，和基于所述转动角度变化得到一控制信号；以及
    (c)基于所述控制信号电导通至少一换向阀和一控制阀，以控制所述阀组内的油液的流动方向和流量速度，进而有所述油液控制一动力输出装置的驱动方向和驱动速度。
  14. 根据权利要求13所述的液压驱动方法，其中在所述所述步骤(b)中，进一步包括：
    (b.1)采集到的数据信息被传输至一控制器，由所述控制器基于采集到的转角数据信息得到所述操作元件的转动加速度；和
    (b.2)基于所述转动加速度得出控制所述油液所需要的流量速度。
  15. 根据权利要求13所述的液压驱动方法，其中在所述步骤(b)进一步包括步骤：
    采集所述动力输出装置的一反馈角α，和得出所述动力输出装置移动至相应角度α所需要的所述油液的流量值Z。
  16. 根据权利要求15所述的液压驱动方法，其中在步骤(c)中，所述控制器基于检测到的所述反馈角α和对应的所述流量值Z控制所述换向阀的阀芯开口，藉由所述换向阀控制所述油液的流动方向和流量值。
  17. 根据权利要求15所述的液压驱动方法，其中在所述步骤(b)进一步包括步骤：
    判断所述反馈角α与β的关系，其中β为预设定值，如果反馈角α≤β，生成所述换向阀的阀芯开启度的电压控制信息，其中所述换向阀的阀芯开启度 对应于所述操作元件的转动加速度；如果反馈角α＞β，将所述反馈角α对应的流量值Z划分为X流量段和Y流量段，其中Z＝X+Y，α＝β+γ，其中β对应于X流量段，γ对应于Y流量段，生成所述换向阀的阀芯开启度的电压控制信息，并且Y流向段的所述油液的流动速度大于X流量段的所述油液的流动速度。
  18. 根据权利要求17所述的液压驱动方法，其中在所述步骤(c)进一步包括步骤：
    控制所述换向阀的所述换向阀单元电导通，根据所述转角传感器的角度变化控制所述换向阀单元的阀芯开启度，并通过γ所对应的Y流量段的所述油液；和
    当所述反馈角到达β时，控制所述换向阀的所述换向阀单元电导通，根据所述转角传感器的角度变化控制所述换向阀单元的阀芯开启度，并通过β所对应的X流量段的所述油液，其中所述换向阀单元的阀芯慢慢贴合。
  19. 一农机，其特征在于，包括：
    一农机主机；和
    一电控液压系统，其中所述电控液压系统被搭载至所述农机主机，其中所述电控液压系统进一步包括：
    一液压组件；
    一动力输出装置和可在所述液压组件与所述动力输出装置之间传动的油液，其中所述动力输出装置可导通地连接于所述液压组件，其中所述动力输出装置以所述油液的传动的方式输出液压动力；
    一控制器，其中所述液压组件被电气连接于所述控制器；以及
    至少一操作装置，其中所述操作装置电气连接于所述控制器，所述操作装置进一步包括一操作元件和至少一转角传感器，其中所述转角传感器被设置于所述操作元件，所述转角传感器电气连接于所述控制器，由所述转角传感器采集所述操作元件的转角变化值，其中所述控制器基于所述转角变化值控制所述液压组件，以控制所述油液的传动速度和传动方向。
PCT/CN2021/088483 2020-04-23 2021-04-20 电控液压系统和液压驱动方法 WO2021213400A1 (zh)

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