WO2021244031A1 - Electronically controlled hydraulic system of hydraulic suspension device, tractor and active damping control method - Google Patents

Electronically controlled hydraulic system of hydraulic suspension device, tractor and active damping control method Download PDF

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Publication number
WO2021244031A1
WO2021244031A1 PCT/CN2021/070621 CN2021070621W WO2021244031A1 WO 2021244031 A1 WO2021244031 A1 WO 2021244031A1 CN 2021070621 W CN2021070621 W CN 2021070621W WO 2021244031 A1 WO2021244031 A1 WO 2021244031A1
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WIPO (PCT)
Prior art keywords
pressure
electronically controlled
lifting cylinder
oil
valve
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PCT/CN2021/070621
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French (fr)
Chinese (zh)
Inventor
王立峰
吴贝贝
李武海
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博鼎精工智能科技(山东)有限公司
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Publication of WO2021244031A1 publication Critical patent/WO2021244031A1/en

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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
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • 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
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/1006—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means the hydraulic or pneumatic means structurally belonging to the tractor
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to the technical field of hydraulic suspension devices for agricultural equipment, in particular to an electronically controlled hydraulic system for a hydraulic suspension device that can actively dampen agricultural implements during transition operations.
  • the invention also relates to the use of the above-mentioned electronically controlled hydraulic system
  • the tractor and the control method adopting the above-mentioned electronically controlled hydraulic system to actively dampen the agricultural implements.
  • the hydraulic suspension device of agricultural equipment (such as tractor) is used to hook up suspended or semi-suspended agricultural tools, carry out the raising and lowering of agricultural tools and adjusting the tillage depth, and realize the loading of driving wheels and hydraulic power output.
  • the hydraulic suspension device is composed of a hydraulic system and a suspension mechanism.
  • the hydraulic system includes an oil pump, a distributor, a lifting cylinder, a cylinder operating mechanism, etc.
  • the suspension mechanism includes an upper pull rod, a pull down rod, and a lifting arm.
  • the well-known electronically controlled hydraulic suspension device has passed the force sensor (used to detect the pulling force information of the pull-down rod or the upper rod), the position sensor (used to detect the position information of the lifting arm), and the electronic control unit to control the hydraulic pressure that was originally manually controlled.
  • the system is upgraded to an electronically controlled hydraulic system, which realizes the automation and intelligence of farm implement operations.
  • the tractor When the tractor is coupled with agricultural tools (such as tillers) for transition operations, the tractor will vibrate along with the bumps on the road. Due to the large dimensions of the agricultural tools, the interaction between the agricultural tools and the tractor will increase the vibration of the tractor itself, which is very harmful to the driver. Physical and mental health and the service life of the tractor have a negative impact.
  • agricultural tools such as tillers
  • the basic principle of damping is to use the up and down movement of the lifting cylinder to compensate for the up and down vibration of the agricultural implement.
  • the electronic control unit collects the information from the force sensor and the position sensor, and the vibration amplitude of the agricultural implement And the direction is determined, and the rod cavity and rodless cavity of the lifting cylinder are filled or drained through the electronically controlled hydraulic valve, so that the lifting cylinder produces a displacement opposite to the vibration direction, thereby reducing the vibration of the connected agricultural tools.
  • the lifting cylinder has the problem of lagging action, which seriously affects the damping effect.
  • the first technical problem to be solved by the present invention is to provide an electronically controlled hydraulic system of a hydraulic suspension device to reduce the responsiveness requirements of the electronic control unit and the electronically controlled hydraulic valve, and improve the suspension Active damping effect of agricultural tools.
  • the second technical problem to be solved by the present invention is to provide a tractor adopting the electronically controlled hydraulic system of the hydraulic suspension device.
  • the third technical problem to be solved by the present invention is to provide a control method for actively damping agricultural implements by using the electronically controlled hydraulic system of the hydraulic suspension device.
  • the technical solution adopted by the present invention is:
  • An electronically controlled hydraulic system of a hydraulic suspension device comprising: an oil pump, a lifting cylinder, and an electronically controlled hydraulic valve.
  • the cylinder body of the oil pump, the lifting cylinder, and the electronically controlled hydraulic valve are arranged on traction agricultural equipment, and the piston rod of the lifting cylinder Articulated to the lifting arm, the electronically controlled hydraulic valve is provided with a pressure oil port, a first working oil port, and a second working oil port.
  • the second working oil port is in communication with the rod cavity of the lifting cylinder through the second working oil path, and the pressure oil port is in communication with the main oil path; a force sensor, the force sensor is used to detect the pull rod Or the pulling force information of the upper rod; the position sensor, the position sensor is used to detect the position information of the lifting arm; the force sensor, the position sensor and the electronically controlled hydraulic valve are electrically connected to the electronic control unit, respectively Between the first working oil circuit and the second working oil circuit is provided a first overflow pressure maintaining branch oil circuit for overflow and pressure maintenance of the rodless cavity of the lifting cylinder and a The second overflow and pressure-maintaining branch oil circuit of the lifting cylinder has a rod cavity for overflow and pressure-maintaining.
  • the first overflow pressure-maintaining branch oil circuit includes a first overflow pressure-maintaining valve, and the opening pressure of the first overflow pressure-maintaining valve is not less than when the electronically controlled hydraulic valve is in a neutral state.
  • the electronically controlled on-off valve is a normally closed electronically controlled on-off valve.
  • the first overflow pressure-maintaining branch oil circuit and the second overflow pressure-maintaining branch oil circuit realize on-off control through only one of the electronically controlled on-off valves.
  • first overflow pressure-maintaining branch oil circuit and the second overflow pressure-maintaining branch oil circuit are respectively provided with throttle valves.
  • the tractor equipment includes a tractor.
  • the technical solution adopted by the present invention is:
  • a tractor is provided with a hydraulic suspension device, and the hydraulic suspension device adopts the above-mentioned electronically controlled hydraulic system.
  • the technical solution adopted by the present invention is:
  • a control method for active damping of hooked agricultural implements which adopts the electronically controlled hydraulic system of the hydraulic suspension device described above, includes the following steps:
  • the vibration caused by road bumps is transmitted from the traction equipment to the lifting cylinder, so that the cylinder body of the lifting cylinder moves upward relative to the piston rod of the lifting cylinder instantaneously, and high pressure oil is generated in the rodless cavity of the lifting cylinder ,
  • the high-pressure oil automatically flows to the rod cavity of the lifting cylinder through the first overflow pressure-maintaining branch oil path, so that the upward vibration amplitude of the agricultural implement connected with the lifting arm is smaller than that of the cylinder connected with the lifting cylinder
  • the amplitude of the upward vibration of the traction agricultural equipment at the same time, the electronic control unit collects the pulling force information of the force sensor, and determines the amount of oil filling the lifting cylinder according to the pulling force information; or
  • the vibration caused by road bumps is transmitted from the traction equipment to the lifting cylinder, so that the cylinder body of the lifting cylinder moves down instantaneously with respect to the piston rod of the lifting cylinder, and high pressure oil is generated in the rod cavity of the lifting cylinder ,
  • the high-pressure oil automatically flows to the rodless cavity of the lifting cylinder through the second overflow pressure-maintaining branch oil path, so that the downward vibration amplitude of the agricultural implement connected with the lifting arm is smaller than that of the lifting cylinder body
  • the electronic control unit collects the pulling force information of the force sensor, and determines the amount of oil filling the lifting cylinder according to the pulling force information;
  • the electronic control unit further collects the position information of the position sensor and the pulling force information of the force sensor, and the electronic control unit is based on the further collected position information and pulling force information Correct the previously determined oil charge amount of the lift cylinder and start the electronically controlled hydraulic valve; at the end of the automatic oil filling step, immediately use the electronically controlled hydraulic valve to direct the high-pressure oil of the main oil circuit to the The rodless cavity of the lifting cylinder is filled with oil, and at the same time the rod cavity of the lifting cylinder is returned and pressure-relieved until the relative position of the piston rod of the lifting cylinder and the cylinder body of the lifting cylinder returns to the initial position; or
  • the electronic control unit further collects the position information of the position sensor and the pulling force information of the force sensor, and the electronic control unit is based on the further collected position information and pulling force information Correct the previously determined oil charge amount of the lift cylinder and start the electronically controlled hydraulic valve; at the end of the automatic oil filling step, immediately use the electronically controlled hydraulic valve to direct the high-pressure oil of the main oil circuit to the The rod cavity of the lifting cylinder is filled with oil, and at the same time, the rodless cavity of the lifting cylinder is returned and depressurized until the relative position of the piston rod of the lifting cylinder and the cylinder body of the lifting cylinder returns to the initial position;
  • the high-pressure oil can pass through the first overflow pressure-maintaining branch oil path or the second overflow pressure-maintaining branch oil path automatically flows to the other cavity of the lifting cylinder, so that the vibration amplitude of the hooked agricultural implement is smaller than the vibration amplitude of the traction agricultural equipment, which realizes active shock absorption;
  • the electronically controlled hydraulic valve can be opened in advance, and at the end of the automatic filling step through the electronic control The hydraulic valve can immediately start to replenish hydraulic oil from the main oil circuit to the cavity where the high-pressure oil flows out.
  • Fig. 1 is a schematic structural principle diagram of an embodiment of a tractor provided with a hydraulic suspension device according to the present invention
  • Figure 2 is a hydraulic schematic diagram of a part of the electronic control hydraulic system that realizes the automatic oil filling function in Figure 1;
  • a hydraulic suspension device is provided at the rear of the tractor 100, and the tractor 100 is hooked with an agricultural implement 300 through the hydraulic suspension device.
  • the hydraulic suspension device includes a suspension mechanism and an electronic control hydraulic system.
  • the suspension mechanism includes a lower rod 207, an upper rod 209, a lifting arm 205, etc.
  • the lower rod 207 and the upper rod 209 are used to connect with the agricultural implement 300
  • the lifting arm 205 is used to connect with the lower rod 207.
  • the swing of the lifting arm 205 realizes the agricultural implement 300 lifts.
  • the electronically controlled hydraulic system includes an oil tank 201, an oil pump 202, an electronically controlled hydraulic valve 203, an electronic control unit 204, a lifting cylinder 206, a force sensor 208, a position sensor 210, a tail button 211, and so on.
  • the cylinder body of the lifting cylinder 206 is installed on the tractor 100, and the piston rod of the lifting cylinder 206 is hinged to the lifting arm 205.
  • the force sensor 208 is arranged on the pull-down rod 207 and is used to detect the pulling force information of the pull-down rod 207. Of course, it can also be arranged on the upper rod.
  • the position sensor 210 is used to detect the position information of the lift arm 205.
  • the electronically controlled hydraulic valve 203 is used to provide hydraulic oil or return oil pressure to the lifting cylinder 206.
  • the rod cavity and the rodless cavity of the lifting cylinder 206 are both closed by the electronically controlled hydraulic valve 203; the electronically controlled hydraulic valve 203 A pressure oil port P, a first working oil port A and a second working oil port B are provided.
  • the first working oil port A communicates with the rodless cavity of the lifting cylinder 206 through the first working oil path, and the second working oil port B passes through
  • the second working oil passage is in communication with the rod cavity of the lifting oil cylinder 206, and the pressure oil port P is in communication with the main oil passage.
  • the tail button 211 is used to start the electronically controlled hydraulic system.
  • the electronically controlled hydraulic valve 203, the force sensor 208, the position sensor 210, and the tail button 211 are all electrically connected to the electronic control unit 204.
  • the electronic control unit 204 receives the relevant information of the force sensor 208 and the position sensor 210, and sends the electronically controlled hydraulic valve 203 after processing. give an order.
  • a first overflow and pressure-maintaining branch oil channel for overflow and pressure maintenance of the rodless cavity of the lifting cylinder 206 is provided between the first working oil channel and the second working oil channel.
  • a second overflow and pressure-maintaining branch oil circuit for overflow and pressure maintenance of the rod cavity of the lift cylinder 206, the first overflow and pressure-maintaining branch oil circuit and the second overflow and pressure-maintaining branch oil circuit
  • An electronically controlled switch valve 212 is provided.
  • the electronically controlled switch valve 212 is a normally closed electronically controlled switch valve, and the first overflow pressure maintaining branch oil circuit and the second overflow pressure maintaining branch oil path only pass An electronically controlled on-off valve 212 realizes on-off control.
  • the first overflow pressure-maintaining branch oil circuit is provided with a first overflow pressure-maintaining valve 213 and a throttle valve 214, and the opening pressure of the first overflow pressure-maintaining valve 213 is not less than that when the electronically controlled hydraulic valve 203 is in a neutral position. In the state, the pressure of the agricultural implement 300 on the first working oil port A is connected.
  • the second overflow and pressure-maintaining branch oil path is provided with a second overflow and pressure-maintaining valve 216 and a throttle valve 215. Adjust the size of the throttle valve, adjust the oil filling rate, and control the shock absorption range not to exceed the rated size to avoid accidents.
  • the control method of using the above-mentioned electronically controlled hydraulic system of the hydraulic suspension device to actively dampen agricultural implements includes the following steps:
  • the tractor 100 uses the hydraulic suspension device to hook the agricultural implement 300, and when the transition operation mode is turned on, the electronic control switch valve 212 is turned on by the electronic control unit 204. Of course, when the tractor is in the farming mode, the electronically controlled switch valve 212 needs to be de-energized and closed.
  • the vibration caused by the bumpy road is transmitted from the tractor 100 to the lifting cylinder 206, so that the cylinder body of the lifting cylinder 206 produces relative movement with respect to the piston rod.
  • This relative movement is divided into two situations, one is an instant upward movement, and the other is an instantaneous movement. Down.
  • the electronic control unit 204 collects the pulling force information of the force sensor 208, and The oil filling amount to the lifting cylinder 206 is determined according to the pulling force information, and oil filling is not temporarily performed at this time.
  • the electronic control unit 204 collects the pulling force information of the force sensor 208, and The oil filling amount to the lifting cylinder 206 is determined according to the pulling force information, and the oil filling is not temporarily performed at this time.
  • the electronic control unit 204 further collects the position information of the position sensor 210 and the pulling force information of the force sensor 208, and electronically controls The unit 204 corrects the previously determined oil filling amount of the lifting cylinder according to the further collected position information and pulling force information and activates the electronically controlled hydraulic valve 203; at the end of the automatic oil filling step, the electronically controlled hydraulic valve 203 will immediately
  • the high-pressure oil of the main oil circuit fills the rodless cavity of the lift cylinder 206 with oil, and at the same time makes the rod cavity of the lift cylinder 206 return oil and release pressure until the relative position of the piston rod of the lift cylinder 206 and the cylinder body returns to the initial position, That is, the position sensor 210 returns to the value before the shock.
  • the electronic control unit 204 further collects the position information of the position sensor 210 and the pulling force information of the force sensor 208 when the automatic refueling step is about to end, and electronically controls The unit 204 corrects the previously determined oil filling amount of the lifting cylinder according to the further collected position information and pulling force information and activates the electronically controlled hydraulic valve 203; at the end of the automatic oil filling step, the electronically controlled hydraulic valve 203 will immediately
  • the high-pressure oil of the main oil circuit fills the rod cavity of the lift cylinder with oil, and at the same time makes the rodless cavity of the lift cylinder return oil and release pressure until the relative position of the piston rod of the lift cylinder 206 and the cylinder body is restored Go to the initial position.
  • the tractor equipment is not limited to tractors, and can also be other agricultural equipment such as rice transplanters.
  • the present invention is not limited to the above-mentioned embodiments, and all improvements made based on the concept, principle, structure and method of the present invention will fall within the protection scope of the present invention.
  • the high-pressure oil can pass through the first overflow pressure-maintaining branch oil path or the second overflow pressure-maintaining branch oil path automatically flows to the other cavity of the lifting cylinder, so that the vibration amplitude of the hooked agricultural implement is smaller than the vibration amplitude of the traction agricultural equipment, which realizes active shock absorption;
  • the electronically controlled hydraulic valve can be opened in advance, and at the end of the automatic filling step through the electronic control The hydraulic valve can immediately start to replenish hydraulic oil from the main oil circuit to the cavity where the high-pressure oil flows out.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

Disclosed is an electronically controlled hydraulic system of a hydraulic suspension device. The system comprises: a first overflow pressure-maintaining branch oil circuit and a second overflow pressure-maintaining branch oil circuit are arranged between a first working oil circuit and a second working oil circuit, and the first overflow pressure-maintaining branch oil circuit and the second overflow pressure-maintaining branch oil circuit are provided with an electronically controlled switching valve (212); the first overflow pressure-maintaining branch oil circuit comprises a first overflow pressure-maintaining valve (213), and the opening pressure of the first overflow pressure-maintaining valve (213) is not less than the pressure of a hitched agricultural implement on a first working oil port when an electronically controlled hydraulic valve is in a neutral state; and the second overflow pressure-maintaining branch oil circuit comprises a second overflow pressure-maintaining valve (216). Also disclosed are a tractor using the system and a control method for actively damping a hitched agricultural implement by using the system, which may reduce the requirement for the responsiveness of an electronic control unit and the electronically controlled hydraulic valve and improves the active damping effect on the hitched agricultural implement.

Description

液压悬挂装置的电控液压系统、拖拉机以及主动减震控制方法Electric control hydraulic system of hydraulic suspension device, tractor and active damping control method
声明statement
本发明要求下述专利申请的优先权：The present invention claims the priority of the following patent applications:
发明名称：液压悬挂装置的电控液压系统、拖拉机以及主动减震控制方法，申请日：2020年6月4日，申请号：CN202010500692.1。Invention Title: Electronically controlled hydraulic system of hydraulic suspension device, tractor and active damping control method, application date: June 4, 2020, application number: CN202010500692.1.
技术领域Technical field
本发明涉及农业装备的液压悬挂装置技术领域，尤其涉及一种在转场作业中可对挂接农具进行主动减震的液压悬挂装置的电控液压系统，本发明还涉及使用上述电控液压系统的拖拉机以及采用上述电控液压系统对挂接农具进行主动减震的控制方法。The present invention relates to the technical field of hydraulic suspension devices for agricultural equipment, in particular to an electronically controlled hydraulic system for a hydraulic suspension device that can actively dampen agricultural implements during transition operations. The invention also relates to the use of the above-mentioned electronically controlled hydraulic system The tractor and the control method adopting the above-mentioned electronically controlled hydraulic system to actively dampen the agricultural implements.
背景技术Background technique
农业装备(例如拖拉机)的液压悬挂装置，用于挂接悬挂式或半悬挂式农具，进行农具升降和耕深调节，实现驱动轮加载及液压功率输出等。液压悬挂装置由液压系统和悬挂机构组成，液压系统包括油泵、分配器、提升油缸、油缸操纵机构等，悬挂机构包括上拉杆、下拉杆、提升臂等。通过操纵分配器可以实现农具的上升、下降、中立、浮动，使拖拉机具有位控制、力控制和力-位综合控制功能。The hydraulic suspension device of agricultural equipment (such as tractor) is used to hook up suspended or semi-suspended agricultural tools, carry out the raising and lowering of agricultural tools and adjusting the tillage depth, and realize the loading of driving wheels and hydraulic power output. The hydraulic suspension device is composed of a hydraulic system and a suspension mechanism. The hydraulic system includes an oil pump, a distributor, a lifting cylinder, a cylinder operating mechanism, etc. The suspension mechanism includes an upper pull rod, a pull down rod, and a lifting arm. By manipulating the distributor, the raising, lowering, neutral, and floating of agricultural tools can be realized, so that the tractor has the functions of position control, force control and force-position integrated control.
公知的电控液压悬挂装置已通过力传感器(用于检测下拉杆或上拉杆所承受的拉力信息)、位置传感器(用于检测提升臂的位置信息)以及电控单元等将原本人工操控的液压系统升级为电控液压系统，实现了农具作业的自动化和智能化。The well-known electronically controlled hydraulic suspension device has passed the force sensor (used to detect the pulling force information of the pull-down rod or the upper rod), the position sensor (used to detect the position information of the lifting arm), and the electronic control unit to control the hydraulic pressure that was originally manually controlled. The system is upgraded to an electronically controlled hydraulic system, which realizes the automation and intelligence of farm implement operations.
在拖拉机挂接农具(例如耕具)进行转场作业时，拖拉机会随路面颠簸而震动，由于农具的外形尺寸很大，农具和拖拉机相互作用，会使拖拉机本身的震动加剧，对驾驶员的身心健康和拖拉机的使用寿命等造成负面影响。When the tractor is coupled with agricultural tools (such as tillers) for transition operations, the tractor will vibrate along with the bumps on the road. Due to the large dimensions of the agricultural tools, the interaction between the agricultural tools and the tractor will increase the vibration of the tractor itself, which is very harmful to the driver. Physical and mental health and the service life of the tractor have a negative impact.
随着电控液压系统在液压悬挂装置中的应用，使在转场过程中对挂接农具(例如耕具)进行主动减震成为可能。其减震的基本原理是，利用提升油缸的上下运动来补偿挂接农具的上下震动，当拖拉机由于路面的原因开始震动时，电控单元采集力传感器和位置传感器的信息，对农具的震动幅度及方向做出判定，通过电控液压阀对提升油缸的有杆腔和无杆腔进行充油或放油，使提升油缸产生一个与震动方向相反的位移，从而减少挂接农具的震动。这对电控单元及电控液压阀的响应性提出了很高的要求，应用中，提升油缸存在动作滞后问题，严重影响减震效果。With the application of electronically controlled hydraulic systems in hydraulic suspension devices, it is possible to actively dampen agricultural implements (such as tillers) during the transition process. The basic principle of damping is to use the up and down movement of the lifting cylinder to compensate for the up and down vibration of the agricultural implement. When the tractor starts to vibrate due to the road surface, the electronic control unit collects the information from the force sensor and the position sensor, and the vibration amplitude of the agricultural implement And the direction is determined, and the rod cavity and rodless cavity of the lifting cylinder are filled or drained through the electronically controlled hydraulic valve, so that the lifting cylinder produces a displacement opposite to the vibration direction, thereby reducing the vibration of the connected agricultural tools. This puts high demands on the responsiveness of the electronic control unit and the electronic control hydraulic valve. In the application, the lifting cylinder has the problem of lagging action, which seriously affects the damping effect.
发明内容Summary of the invention
针对现有技术的上述不足，本发明所要解决的第一个技术问题是提供一种液压悬挂装置的电控液压系统，以降低对电控单元和电控液压阀的响应性要求，提高对挂接农具的主动减震效果。In view of the above-mentioned shortcomings of the prior art, the first technical problem to be solved by the present invention is to provide an electronically controlled hydraulic system of a hydraulic suspension device to reduce the responsiveness requirements of the electronic control unit and the electronically controlled hydraulic valve, and improve the suspension Active damping effect of agricultural tools.
作为同一种发明构思，本发明所要解决的第二个技术问题是提供一种采用上述液压悬挂装置的电控液压系统的拖拉机。As the same inventive concept, the second technical problem to be solved by the present invention is to provide a tractor adopting the electronically controlled hydraulic system of the hydraulic suspension device.
作为同一种发明构思，本发明所要解决的第三个技术问题是提供一种利用上述液压悬挂装置的电控液压系统对挂接农具进行主动减震的控制方法。As the same inventive concept, the third technical problem to be solved by the present invention is to provide a control method for actively damping agricultural implements by using the electronically controlled hydraulic system of the hydraulic suspension device.
为解决上述第一个技术问题，本发明采用的技术方案是：In order to solve the above-mentioned first technical problem, the technical solution adopted by the present invention is:
一种液压悬挂装置的电控液压系统，包括：油泵、提升油缸和电控液压阀，所述油泵、提升油缸的缸体和电控液压阀设置于牵引农装，所述提升油缸的活塞杆铰接于提升臂，所述电控液压阀设置有压力油口、第一工作油口和第二工作油口，所述第一工作油口通过第一工作油路与所述提升油缸的无杆腔连通，所述第二工作油口通过第二工作油路与所述提升油缸的有杆腔连通，所述压力油口与主油路连通；力传感器，所述力传感器用于检测下拉杆或上拉杆所承受的拉力信息；位置传感器，所述位置传感器用于检测所述提升臂的位置信息；所述力传感器、所述位置传感器和所述电控液压阀分别与电控单元电连接；所述第一工作油路与所述第二工作油路之间设置有用于对所述提升油缸的无杆腔进行溢流保压的第一溢流保压支油路和用于对所述提升油缸的有杆腔进行溢流保压的第二溢流保压支油路，所述第一溢流保压支油路和所述第二溢流保压支油路设置有电控开关阀；所述第一溢流保压支油路包括第一溢流保压阀，所述第一溢流保压阀的开启压力不小于在所述电控液压阀处于中立状态时挂接农具对所述第一工作油口的压力；所述第二溢流保压支油路包括第二溢流保压阀。An electronically controlled hydraulic system of a hydraulic suspension device, comprising: an oil pump, a lifting cylinder, and an electronically controlled hydraulic valve. The cylinder body of the oil pump, the lifting cylinder, and the electronically controlled hydraulic valve are arranged on traction agricultural equipment, and the piston rod of the lifting cylinder Articulated to the lifting arm, the electronically controlled hydraulic valve is provided with a pressure oil port, a first working oil port, and a second working oil port. The second working oil port is in communication with the rod cavity of the lifting cylinder through the second working oil path, and the pressure oil port is in communication with the main oil path; a force sensor, the force sensor is used to detect the pull rod Or the pulling force information of the upper rod; the position sensor, the position sensor is used to detect the position information of the lifting arm; the force sensor, the position sensor and the electronically controlled hydraulic valve are electrically connected to the electronic control unit, respectively Between the first working oil circuit and the second working oil circuit is provided a first overflow pressure maintaining branch oil circuit for overflow and pressure maintenance of the rodless cavity of the lifting cylinder and a The second overflow and pressure-maintaining branch oil circuit of the lifting cylinder has a rod cavity for overflow and pressure-maintaining. On-off valve; the first overflow pressure-maintaining branch oil circuit includes a first overflow pressure-maintaining valve, and the opening pressure of the first overflow pressure-maintaining valve is not less than when the electronically controlled hydraulic valve is in a neutral state. The pressure of the agricultural tool on the first working oil port; the second overflow pressure-maintaining branch oil path includes a second overflow pressure-maintaining valve.
其中，所述电控开关阀为常闭式电控开关阀。Wherein, the electronically controlled on-off valve is a normally closed electronically controlled on-off valve.
其中，所述第一溢流保压支油路和所述第二溢流保压支油路仅通过一个所述电控开关阀实现通断控制。Wherein, the first overflow pressure-maintaining branch oil circuit and the second overflow pressure-maintaining branch oil circuit realize on-off control through only one of the electronically controlled on-off valves.
其中，所述第一溢流保压支油路和所述第二溢流保压支油路分别设置有节流阀。Wherein, the first overflow pressure-maintaining branch oil circuit and the second overflow pressure-maintaining branch oil circuit are respectively provided with throttle valves.
其中，所述牵引农装包括拖拉机。Wherein, the tractor equipment includes a tractor.
为解决上述第二个技术问题，本发明采用的技术方案是：In order to solve the above-mentioned second technical problem, the technical solution adopted by the present invention is:
一种拖拉机，所述拖拉机设置有液压悬挂装置，所述液压悬挂装置采用了上述电控液压系统。A tractor is provided with a hydraulic suspension device, and the hydraulic suspension device adopts the above-mentioned electronically controlled hydraulic system.
为解决上述第三个技术问题，本发明采用的技术方案是：In order to solve the above-mentioned third technical problem, the technical solution adopted by the present invention is:
一种对挂接农具进行主动减震的控制方法，采用了上述液压悬挂装置的电控液压系统，包括如下步骤：A control method for active damping of hooked agricultural implements, which adopts the electronically controlled hydraulic system of the hydraulic suspension device described above, includes the following steps:
1)所述牵引农装用所述液压悬挂装置挂接农具，开启转场作业模式，通过所述电控单元使所述电控开关阀处于开通状态；1) The hydraulic suspension device for the traction agricultural equipment is hooked up to agricultural tools, the transition operation mode is turned on, and the electronic control switch valve is in an open state through the electronic control unit;
2)自动充油步骤2) Automatic oil filling step
路面颠簸产生的震动从所述牵引农装传至所述提升油缸，使所述提升油缸的缸体相对于所述提升油缸的活塞杆瞬间上行，在所述提升油缸无杆腔内产生高压油，所述高压油通过第一溢流保压支油路自动流向所述提升油缸的有杆腔，使与所述提升臂连接的挂接农具向上的震动幅度小于与所述提升油缸缸体连接的牵引农装向上的震动幅度；同时，所述电控单元采集所述力传感器的拉力信息，并根据所述拉力信息判定向所述提升油缸的充油量；或者The vibration caused by road bumps is transmitted from the traction equipment to the lifting cylinder, so that the cylinder body of the lifting cylinder moves upward relative to the piston rod of the lifting cylinder instantaneously, and high pressure oil is generated in the rodless cavity of the lifting cylinder , The high-pressure oil automatically flows to the rod cavity of the lifting cylinder through the first overflow pressure-maintaining branch oil path, so that the upward vibration amplitude of the agricultural implement connected with the lifting arm is smaller than that of the cylinder connected with the lifting cylinder The amplitude of the upward vibration of the traction agricultural equipment; at the same time, the electronic control unit collects the pulling force information of the force sensor, and determines the amount of oil filling the lifting cylinder according to the pulling force information; or
路面颠簸产生的震动从所述牵引农装传至所述提升油缸，使所述提升油缸的缸体相对于所述提升油缸的活塞杆瞬间下行，在所述提升油缸有杆腔内产生高压油，所述高压油通过第二溢流保压支油路自动流向所述提升油缸的无杆腔，使与所述提升臂连接的挂接农具向下的震动幅度小于与所述提升油缸缸体连接的牵引农装向下的震动幅度；同时，所述电控单元采集所述力传感器的拉力信息，并根据所述拉力信息判定向所述提升油缸的充油量；The vibration caused by road bumps is transmitted from the traction equipment to the lifting cylinder, so that the cylinder body of the lifting cylinder moves down instantaneously with respect to the piston rod of the lifting cylinder, and high pressure oil is generated in the rod cavity of the lifting cylinder , The high-pressure oil automatically flows to the rodless cavity of the lifting cylinder through the second overflow pressure-maintaining branch oil path, so that the downward vibration amplitude of the agricultural implement connected with the lifting arm is smaller than that of the lifting cylinder body The amplitude of the downward vibration of the connected traction agricultural equipment; at the same time, the electronic control unit collects the pulling force information of the force sensor, and determines the amount of oil filling the lifting cylinder according to the pulling force information;
3)电控充油步骤3) Electronically controlled oil filling steps
在所述自动充油步骤接近结束时，所述电控单元进一步采集所述位置传感器的位置信息和所述力传感器的拉力信息，所述电控单元根据所述进一步采集的位置信息和拉力信息修正先前判定的所述提升油缸的充油量并启动所述电控液压阀；在所述自动充油步骤结束时，立即通过所述电控液压阀将所述主油路的高压油向所述提升油缸的无杆腔充油，同时使所述提升油缸的有杆腔回油泄压，直至所述提升油缸活塞杆与所述提升油缸缸体的相对位置回复到初始位置；或者At the end of the automatic refueling step, the electronic control unit further collects the position information of the position sensor and the pulling force information of the force sensor, and the electronic control unit is based on the further collected position information and pulling force information Correct the previously determined oil charge amount of the lift cylinder and start the electronically controlled hydraulic valve; at the end of the automatic oil filling step, immediately use the electronically controlled hydraulic valve to direct the high-pressure oil of the main oil circuit to the The rodless cavity of the lifting cylinder is filled with oil, and at the same time the rod cavity of the lifting cylinder is returned and pressure-relieved until the relative position of the piston rod of the lifting cylinder and the cylinder body of the lifting cylinder returns to the initial position; or
在所述自动充油步骤接近结束时，所述电控单元进一步采集所述位置传感器的位置信息和所述力传感器的拉力信息，所述电控单元根据所述进一步采集的位置信息和拉力信息修正先前判定的所述提升油缸的充油量并启动所述电控液压阀；在所述自动充油步骤结束时，立即通过所述电控液压阀将所述主油路的高压油向所述提升油缸的有杆腔充油，同时使所述提升油缸的无杆腔回油泄压，直至所述提升油缸活塞杆与所述提升油缸缸体的相对位置回复到初始位置；At the end of the automatic refueling step, the electronic control unit further collects the position information of the position sensor and the pulling force information of the force sensor, and the electronic control unit is based on the further collected position information and pulling force information Correct the previously determined oil charge amount of the lift cylinder and start the electronically controlled hydraulic valve; at the end of the automatic oil filling step, immediately use the electronically controlled hydraulic valve to direct the high-pressure oil of the main oil circuit to the The rod cavity of the lifting cylinder is filled with oil, and at the same time, the rodless cavity of the lifting cylinder is returned and depressurized until the relative position of the piston rod of the lifting cylinder and the cylinder body of the lifting cylinder returns to the initial position;
4)在路面颠簸产生连续震动时，重复上述相应步骤。4) Repeat the above corresponding steps when continuous vibration is caused by road bumps.
采用了上述技术方案后，本发明所获得的技术效果是：After adopting the above technical solutions, the technical effects obtained by the present invention are:
悬挂有农具的牵引农装(拖拉机)开始转场作业时，颠簸路面产生的震动会使提升油缸的缸体和活塞杆瞬间产生相对运动，从而在无杆腔或有杆腔中产生高压油，由于在所述第一工作油路与所述第二工作油路之间设置了第一溢流保压支油路和第二溢流保压支油路，因此，该高压油可以通过第一溢流保压支油路或第二溢流保压支油路自动流向提升油缸的另一腔，使挂接农具的震动幅度小于牵引农装的震动幅度，实现了主动减震；在上述自动充油步骤中，不需要电控液压阀的参与，因此不存在响应滞后现象；在上述自动充油步骤结束前，可提前开启电控液压阀，并且，在自动充油步骤结束时通过电控液压阀可立即开始从主油路向流出高压油的腔补充液压油，由于上述电控充油步骤可以提前介入，从而弥补了系统的响应滞后带来的不利影响，因此对电控单元和电控液压阀的响应性要求大大降低，提高了对挂接农具的主动减震效果。When the traction farm equipment (tractor) with agricultural tools starts to transfer, the vibration produced by the bumpy road will cause the cylinder body and the piston rod of the lifting cylinder to instantly move relative to each other, thereby generating high pressure oil in the rodless cavity or the rod cavity. Since a first overflow pressure-maintaining branch oil passage and a second overflow pressure-maintaining branch oil passage are provided between the first working oil passage and the second working oil passage, the high-pressure oil can pass through the first The overflow pressure-maintaining branch oil path or the second overflow pressure-maintaining branch oil path automatically flows to the other cavity of the lifting cylinder, so that the vibration amplitude of the hooked agricultural implement is smaller than the vibration amplitude of the traction agricultural equipment, which realizes active shock absorption; During the oil filling step, there is no need for the participation of the electronically controlled hydraulic valve, so there is no response lag; before the above automatic filling step ends, the electronically controlled hydraulic valve can be opened in advance, and at the end of the automatic filling step through the electronic control The hydraulic valve can immediately start to replenish hydraulic oil from the main oil circuit to the cavity where the high-pressure oil flows out. Because the above-mentioned electronically controlled oil filling step can be intervened in advance to compensate for the adverse effects of the system's response lag, the electronic control unit and electronic control The responsiveness requirements of the hydraulic valve are greatly reduced, and the active shock absorption effect of the coupled agricultural tools is improved.
附图说明Description of the drawings
图1是本发明设置有液压悬挂装置的拖拉机实施例的结构原理示意图；Fig. 1 is a schematic structural principle diagram of an embodiment of a tractor provided with a hydraulic suspension device according to the present invention;
图2是图1中实现自动充油功能的部分电控液压系统的液压原理图；Figure 2 is a hydraulic schematic diagram of a part of the electronic control hydraulic system that realizes the automatic oil filling function in Figure 1;
图中：100-拖拉机，201-油箱，202-油泵，203-电控液压阀,204-电控单元,205-提升臂,206-提升油缸，207-下拉杆，208-力传感器，209—上拉杆，210-位置传感器，211-尾部按钮，212-电控开关阀，213-第一溢流保压阀，214-节流阀，215-节流阀，216-第二溢流保压阀，300-农具，A-第一工作油口，B-第二工作油口，P-压力油口。In the picture: 100-Tractor, 201-Oil tank, 202-Oil pump, 203-Electronic hydraulic valve, 204-Electronic control unit, 205-Lift arm, 206-Lift cylinder, 207-Down rod, 208-Force sensor, 209- Pull rod, 210-position sensor, 211-tail button, 212-electrically controlled on-off valve, 213-first overflow pressure maintaining valve, 214-throttle valve, 215-throttle valve, 216-second overflow pressure maintaining Valve, 300- agricultural tools, A- first working oil port, B- second working oil port, P- pressure oil port.
具体实施方式detailed description
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the drawings and embodiments.
如图1所示，拖拉机100的后部设置有液压悬挂装置，拖拉机100通过该液压悬挂装置挂接农具300。该液压悬挂装置包括悬挂机构和电控液压系统两部分。As shown in Fig. 1, a hydraulic suspension device is provided at the rear of the tractor 100, and the tractor 100 is hooked with an agricultural implement 300 through the hydraulic suspension device. The hydraulic suspension device includes a suspension mechanism and an electronic control hydraulic system.
悬挂机构包括下拉杆207、上拉杆209以及提升臂205等，下拉杆207和上拉杆209用于与农具300连接，提升臂205用于与下拉杆207连接，通过提升臂205的摆动，实现农具300的升降。The suspension mechanism includes a lower rod 207, an upper rod 209, a lifting arm 205, etc. The lower rod 207 and the upper rod 209 are used to connect with the agricultural implement 300, and the lifting arm 205 is used to connect with the lower rod 207. The swing of the lifting arm 205 realizes the agricultural implement 300 lifts.
电控液压系统包括油箱201、油泵202、电控液压阀203、电控单元204、提升油缸206、力传感器208、位置传感器210和尾部按钮211等。提升油缸206的缸体安装于拖拉机100，提升油缸206的活塞杆铰接于提升臂205。力传感器208设置于下拉杆207，用于检测下拉 杆207所承受的拉力信息，当然，也可以设置于上拉杆。位置传感器210用于检测提升臂205的位置信息。电控液压阀203用于给提升油缸206提供液压油或回油泄压，在中立状态时，提升油缸206的有杆腔和无杆腔均被电控液压阀203封闭；电控液压阀203设置有压力油口P、第一工作油口A和第二工作油口B，第一工作油口A通过第一工作油路与提升油缸206的无杆腔连通，第二工作油口B通过第二工作油路与提升油缸206的有杆腔连通，压力油口P与主油路连通。尾部按钮211用于启动该电控液压系统。电控液压阀203、力传感器208、位置传感器210和尾部按钮211均与电控单元204电连接，电控单元204接收力传感器208、位置传感器210的相关信息，处理后向电控液压阀203发出指令。这些结构和原理都是本领域普通及人员所熟知的，在此不做赘述。The electronically controlled hydraulic system includes an oil tank 201, an oil pump 202, an electronically controlled hydraulic valve 203, an electronic control unit 204, a lifting cylinder 206, a force sensor 208, a position sensor 210, a tail button 211, and so on. The cylinder body of the lifting cylinder 206 is installed on the tractor 100, and the piston rod of the lifting cylinder 206 is hinged to the lifting arm 205. The force sensor 208 is arranged on the pull-down rod 207 and is used to detect the pulling force information of the pull-down rod 207. Of course, it can also be arranged on the upper rod. The position sensor 210 is used to detect the position information of the lift arm 205. The electronically controlled hydraulic valve 203 is used to provide hydraulic oil or return oil pressure to the lifting cylinder 206. In the neutral state, the rod cavity and the rodless cavity of the lifting cylinder 206 are both closed by the electronically controlled hydraulic valve 203; the electronically controlled hydraulic valve 203 A pressure oil port P, a first working oil port A and a second working oil port B are provided. The first working oil port A communicates with the rodless cavity of the lifting cylinder 206 through the first working oil path, and the second working oil port B passes through The second working oil passage is in communication with the rod cavity of the lifting oil cylinder 206, and the pressure oil port P is in communication with the main oil passage. The tail button 211 is used to start the electronically controlled hydraulic system. The electronically controlled hydraulic valve 203, the force sensor 208, the position sensor 210, and the tail button 211 are all electrically connected to the electronic control unit 204. The electronic control unit 204 receives the relevant information of the force sensor 208 and the position sensor 210, and sends the electronically controlled hydraulic valve 203 after processing. give an order. These structures and principles are all well-known to those of ordinary skill in the art, and will not be repeated here.
本发明对现有技术的贡献主要体现在上述电控液压系统降低了对电控单元和电控液压阀的响应性要求，提高了对挂接农具的主动减震效果。如图2所示，在所述第一工作油路与所述第二工作油路之间设置有用于对提升油缸206的无杆腔进行溢流保压的第一溢流保压支油路和用于对提升油缸206的有杆腔进行溢流保压的第二溢流保压支油路，所述第一溢流保压支油路和所述第二溢流保压支油路设置有电控开关阀212，优选的，电控开关阀212为常闭式电控开关阀，所述第一溢流保压支油路和所述第二溢流保压支油路仅通过一个电控开关阀212实现通断控制。The contribution of the present invention to the prior art is mainly embodied in that the above-mentioned electronically controlled hydraulic system reduces the responsiveness requirements for the electronically controlled unit and the electronically controlled hydraulic valve, and improves the active shock absorption effect of the coupled agricultural tools. As shown in FIG. 2, a first overflow and pressure-maintaining branch oil channel for overflow and pressure maintenance of the rodless cavity of the lifting cylinder 206 is provided between the first working oil channel and the second working oil channel. And a second overflow and pressure-maintaining branch oil circuit for overflow and pressure maintenance of the rod cavity of the lift cylinder 206, the first overflow and pressure-maintaining branch oil circuit and the second overflow and pressure-maintaining branch oil circuit An electronically controlled switch valve 212 is provided. Preferably, the electronically controlled switch valve 212 is a normally closed electronically controlled switch valve, and the first overflow pressure maintaining branch oil circuit and the second overflow pressure maintaining branch oil path only pass An electronically controlled on-off valve 212 realizes on-off control.
所述第一溢流保压支油路设置有第一溢流保压阀213和节流阀214，第一溢流保压阀213的开启压力不小于在所述电控液压阀203处于中立状态时挂接农具300对第一工作油口A的压力。所述第二溢流保压支油路设置有第二溢流保压阀216和节流阀215。调整节流阀的大小，可调整充油速率，控制减震幅度不超过额定的大小，以免发生事故。The first overflow pressure-maintaining branch oil circuit is provided with a first overflow pressure-maintaining valve 213 and a throttle valve 214, and the opening pressure of the first overflow pressure-maintaining valve 213 is not less than that when the electronically controlled hydraulic valve 203 is in a neutral position. In the state, the pressure of the agricultural implement 300 on the first working oil port A is connected. The second overflow and pressure-maintaining branch oil path is provided with a second overflow and pressure-maintaining valve 216 and a throttle valve 215. Adjust the size of the throttle valve, adjust the oil filling rate, and control the shock absorption range not to exceed the rated size to avoid accidents.
使用上述液压悬挂装置的电控液压系统对挂接农具进行主动减震的控制方法，包括如下步骤：The control method of using the above-mentioned electronically controlled hydraulic system of the hydraulic suspension device to actively dampen agricultural implements includes the following steps:
1)拖拉机100用所述液压悬挂装置挂接农具300，开启转场作业模式时，通过电控单元204使电控开关阀212处于通电开通状态。当然，当拖拉机处于耕作模式时，电控开关阀212需要断电关闭。1) The tractor 100 uses the hydraulic suspension device to hook the agricultural implement 300, and when the transition operation mode is turned on, the electronic control switch valve 212 is turned on by the electronic control unit 204. Of course, when the tractor is in the farming mode, the electronically controlled switch valve 212 needs to be de-energized and closed.
2)自动充油步骤2) Automatic oil filling step
路面颠簸产生的震动从拖拉机100传至提升油缸206，使提升油缸206的缸体相对于活塞杆产生相对运动，这种相对运动分为两种情况，一种是瞬间上行，另一种是瞬间下行。The vibration caused by the bumpy road is transmitted from the tractor 100 to the lifting cylinder 206, so that the cylinder body of the lifting cylinder 206 produces relative movement with respect to the piston rod. This relative movement is divided into two situations, one is an instant upward movement, and the other is an instantaneous movement. Down.
先说提升油缸206的缸体相对于活塞杆瞬间上行时，在提升油缸206的无杆腔内产生高 压油，所述高压油通过第一溢流保压支油路自动流向提升油缸206的有杆腔，使与提升臂205连接的挂接农具300向上的震动幅度小于与提升油缸206的缸体连接的拖拉机100向上的震动幅度；同时，电控单元204采集力传感器208的拉力信息，并根据所述拉力信息判定向所述提升油缸206的充油量，此时暂不充油。First, when the cylinder body of the lifting cylinder 206 moves upward relative to the piston rod, high-pressure oil is generated in the rodless cavity of the lifting cylinder 206, and the high-pressure oil automatically flows to the lifting cylinder 206 through the first overflow pressure-maintaining branch oil path. The rod cavity makes the upward vibration amplitude of the agricultural implement 300 connected to the lifting arm 205 smaller than the upward vibration amplitude of the tractor 100 connected to the cylinder body of the lifting cylinder 206; at the same time, the electronic control unit 204 collects the pulling force information of the force sensor 208, and The oil filling amount to the lifting cylinder 206 is determined according to the pulling force information, and oil filling is not temporarily performed at this time.
再说提升油缸206的缸体相对于活塞杆瞬间下行时，在提升油缸206的有杆腔内产生高压油，所述高压油通过第二溢流保压支油路自动流向提升油缸206的无杆腔，使与提升臂205连接的挂接农具300向下的震动幅度小于与提升油缸206的缸体连接的拖拉机向下的震动幅度；同时，电控单元204采集力传感器208的拉力信息，并根据所述拉力信息判定向提升油缸206的充油量，此时暂不充油。Furthermore, when the cylinder body of the lift cylinder 206 moves down relative to the piston rod, high pressure oil is generated in the rod cavity of the lift cylinder 206, and the high pressure oil automatically flows to the rodless of the lift cylinder 206 through the second overflow pressure maintaining branch oil path. Cavity, so that the downward vibration amplitude of the agricultural implement 300 connected to the lifting arm 205 is smaller than the downward vibration amplitude of the tractor connected to the cylinder body of the lifting cylinder 206; at the same time, the electronic control unit 204 collects the pulling force information of the force sensor 208, and The oil filling amount to the lifting cylinder 206 is determined according to the pulling force information, and the oil filling is not temporarily performed at this time.
3)电控充油步骤3) Electronically controlled oil filling steps
针对上述提升油缸206的缸体相对于活塞杆瞬间上行的情况，在所述自动充油步骤接近结束时，电控单元204进一步采集位置传感器210的位置信息和力传感器208的拉力信息，电控单元204根据所述进一步采集的位置信息和拉力信息修正先前判定的提升油缸的充油量并启动电控液压阀203；在所述自动充油步骤结束时，立即通过电控液压阀203将所述主油路的高压油向提升油缸206的无杆腔充油，同时使提升油缸206的有杆腔回油泄压，直至提升油缸206的活塞杆与缸体的相对位置回复到初始位置，即位置传感器210回复到震动前的数值。In view of the situation that the cylinder body of the lifting cylinder 206 moves upward relative to the piston rod instantaneously, when the automatic refueling step is nearing the end, the electronic control unit 204 further collects the position information of the position sensor 210 and the pulling force information of the force sensor 208, and electronically controls The unit 204 corrects the previously determined oil filling amount of the lifting cylinder according to the further collected position information and pulling force information and activates the electronically controlled hydraulic valve 203; at the end of the automatic oil filling step, the electronically controlled hydraulic valve 203 will immediately The high-pressure oil of the main oil circuit fills the rodless cavity of the lift cylinder 206 with oil, and at the same time makes the rod cavity of the lift cylinder 206 return oil and release pressure until the relative position of the piston rod of the lift cylinder 206 and the cylinder body returns to the initial position, That is, the position sensor 210 returns to the value before the shock.
针对上述提升油缸206的缸体相对于活塞杆瞬间下行的情况，在所述自动充油步骤接近结束时，电控单元204进一步采集位置传感器210的位置信息和力传感器208的拉力信息，电控单元204根据所述进一步采集的位置信息和拉力信息修正先前判定的提升油缸的充油量并启动电控液压阀203；在所述自动充油步骤结束时，立即通过电控液压阀203将所述主油路的高压油向所述提升油缸的有杆腔充油，同时使所述提升油缸的无杆腔回油泄压，直至所述提升油缸206的活塞杆与缸体的相对位置回复到初始位置。In view of the situation that the cylinder body of the lifting cylinder 206 moves down instantaneously with respect to the piston rod, the electronic control unit 204 further collects the position information of the position sensor 210 and the pulling force information of the force sensor 208 when the automatic refueling step is about to end, and electronically controls The unit 204 corrects the previously determined oil filling amount of the lifting cylinder according to the further collected position information and pulling force information and activates the electronically controlled hydraulic valve 203; at the end of the automatic oil filling step, the electronically controlled hydraulic valve 203 will immediately The high-pressure oil of the main oil circuit fills the rod cavity of the lift cylinder with oil, and at the same time makes the rodless cavity of the lift cylinder return oil and release pressure until the relative position of the piston rod of the lift cylinder 206 and the cylinder body is restored Go to the initial position.
4)在路面颠簸产生连续震动时，重复上述相应步骤。4) Repeat the above corresponding steps when continuous vibration is caused by road bumps.
本发明中，牵引农装不局限于拖拉机，还可以是插秧机等其它农业装备。In the present invention, the tractor equipment is not limited to tractors, and can also be other agricultural equipment such as rice transplanters.
本发明不局限于上述实施例，一切基于本发明的构思、原理、结构及方法所做出的种种改进，都将落入本发明的保护范围之内。The present invention is not limited to the above-mentioned embodiments, and all improvements made based on the concept, principle, structure and method of the present invention will fall within the protection scope of the present invention.
工业实用性Industrial applicability
悬挂有农具的牵引农装(拖拉机)开始转场作业时，颠簸路面产生的震动会使提升油缸 的缸体和活塞杆瞬间产生相对运动，从而在无杆腔或有杆腔中产生高压油，由于在所述第一工作油路与所述第二工作油路之间设置了第一溢流保压支油路和第二溢流保压支油路，因此，该高压油可以通过第一溢流保压支油路或第二溢流保压支油路自动流向提升油缸的另一腔，使挂接农具的震动幅度小于牵引农装的震动幅度，实现了主动减震；在上述自动充油步骤中，不需要电控液压阀的参与，因此不存在响应滞后现象；在上述自动充油步骤结束前，可提前开启电控液压阀，并且，在自动充油步骤结束时通过电控液压阀可立即开始从主油路向流出高压油的腔补充液压油，由于上述电控充油步骤可以提前介入，从而弥补了系统的响应滞后带来的不利影响，因此对电控单元和电控液压阀的响应性要求大大降低，提高了对挂接农具的主动减震效果。When the traction farm equipment (tractor) with agricultural tools starts to transfer, the vibration produced by the bumpy road will cause the cylinder body and the piston rod of the lifting cylinder to instantly move relative to each other, thereby generating high pressure oil in the rodless cavity or the rod cavity. Since a first overflow pressure-maintaining branch oil passage and a second overflow pressure-maintaining branch oil passage are provided between the first working oil passage and the second working oil passage, the high-pressure oil can pass through the first The overflow pressure-maintaining branch oil path or the second overflow pressure-maintaining branch oil path automatically flows to the other cavity of the lifting cylinder, so that the vibration amplitude of the hooked agricultural implement is smaller than the vibration amplitude of the traction agricultural equipment, which realizes active shock absorption; During the oil filling step, there is no need for the participation of the electronically controlled hydraulic valve, so there is no response lag; before the above automatic filling step ends, the electronically controlled hydraulic valve can be opened in advance, and at the end of the automatic filling step through the electronic control The hydraulic valve can immediately start to replenish hydraulic oil from the main oil circuit to the cavity where the high-pressure oil flows out. Because the above-mentioned electronically controlled oil filling step can be intervened in advance to compensate for the adverse effects of the system's response lag, the electronic control unit and electronic control The responsiveness requirements of the hydraulic valve are greatly reduced, and the active shock absorption effect of the coupled agricultural tools is improved.

Claims (10)

  1. 一种液压悬挂装置的电控液压系统，包括：An electronically controlled hydraulic system of a hydraulic suspension device, including:
    油泵、提升油缸和电控液压阀，所述油泵、提升油缸的缸体和电控液压阀设置于牵引农装，所述提升油缸的活塞杆铰接于提升臂，所述电控液压阀设置有压力油口(P)、第一工作油口(A)和第二工作油口(B)，所述第一工作油口(A)通过第一工作油路与所述提升油缸的无杆腔连通，所述第二工作油口(B)通过第二工作油路与所述提升油缸的有杆腔连通，所述压力油口(P)与主油路连通；The oil pump, the lifting cylinder and the electronically controlled hydraulic valve, the cylinder body of the oil pump, the lifting cylinder and the electronically controlled hydraulic valve are arranged in the traction agricultural equipment, the piston rod of the lifting cylinder is hinged to the lifting arm, and the electronically controlled hydraulic valve is provided with The pressure oil port (P), the first working oil port (A) and the second working oil port (B), the first working oil port (A) passes through the first working oil path and the rodless cavity of the lifting cylinder Connected, the second working oil port (B) is in communication with the rod cavity of the lifting cylinder through a second working oil passage, and the pressure oil port (P) is in communication with the main oil passage;
    力传感器，所述力传感器用于检测下拉杆或上拉杆所承受的拉力信息；A force sensor, which is used to detect the pulling force information of the pull-down rod or the upper pull rod;
    位置传感器，所述位置传感器用于检测所述提升臂的位置信息；A position sensor, the position sensor is used to detect the position information of the lifting arm;
    所述力传感器、所述位置传感器和所述电控液压阀分别与电控单元电连接；其特征在于，The force sensor, the position sensor and the electronically controlled hydraulic valve are respectively electrically connected to an electronic control unit; characterized in that:
    所述第一工作油路与所述第二工作油路之间设置有用于对所述提升油缸的无杆腔进行溢流保压的第一溢流保压支油路和用于对所述提升油缸的有杆腔进行溢流保压的第二溢流保压支油路，所述第一溢流保压支油路和所述第二溢流保压支油路设置有电控开关阀；Between the first working oil circuit and the second working oil circuit is provided a first overflow pressure-maintaining branch oil circuit for overflow and pressure maintenance of the rodless cavity of the lift cylinder and a first overflow pressure-maintaining branch oil circuit for The second overflow pressure-maintaining branch oil circuit with a rod cavity of the lift cylinder for overflow and pressure-maintaining, the first overflow pressure-maintaining branch oil circuit and the second overflow pressure-maintaining branch oil circuit are provided with an electric control switch valve;
    所述第一溢流保压支油路包括第一溢流保压阀，所述第一溢流保压阀的开启压力不小于在所述电控液压阀处于中立状态时挂接农具对所述第一工作油口(A)的压力；The first overflow pressure-maintaining branch oil circuit includes a first overflow pressure-maintaining valve, and the opening pressure of the first overflow pressure-maintaining valve is not less than when the electronically controlled hydraulic valve is in a neutral state. State the pressure of the first working oil port (A);
    所述第二溢流保压支油路包括第二溢流保压阀。The second overflow and pressure-maintaining branch oil circuit includes a second overflow and pressure-maintaining valve.
  2. 如权利要求1所述液压悬挂装置的电控液压系统，其特征在于，所述电控开关阀为常闭式电控开关阀。The electronically controlled hydraulic system of the hydraulic suspension device according to claim 1, wherein the electronically controlled on-off valve is a normally closed electronically controlled on-off valve.
  3. 如权利要求1所述液压悬挂装置的电控液压系统，其特征在于，所述第一溢流保压支油路和所述第二溢流保压支油路仅通过一个所述电控开关阀实现通断控制。The electronically controlled hydraulic system of the hydraulic suspension device according to claim 1, wherein the first overflow pressure-maintaining branch oil circuit and the second overflow pressure-maintaining branch oil circuit only pass through one of the electronically controlled switches The valve realizes on-off control.
  4. 如权利要求1所述液压悬挂装置的电控液压系统，其特征在于，所述第一溢流保压支油路和所述第二溢流保压支油路分别设置有节流阀。The electronically controlled hydraulic system of the hydraulic suspension device according to claim 1, wherein the first overflow pressure-maintaining branch oil circuit and the second overflow pressure-maintaining branch oil circuit are respectively provided with throttle valves.
  5. 如权利要求1～4任一项所述液压悬挂装置的电控液压系统，其特征在于，所述牵引农装包括拖拉机。The electronically controlled hydraulic system of the hydraulic suspension device according to any one of claims 1 to 4, wherein the traction agricultural equipment comprises a tractor.
  6. 一种拖拉机，其特征在于，所述拖拉机设置有液压悬挂装置，所述液压悬挂装置采用权利要求1所述的电控液压系统，所述牵引农装即为所述拖拉机。A tractor, characterized in that the tractor is provided with a hydraulic suspension device, the hydraulic suspension device adopts the electronically controlled hydraulic system according to claim 1, and the tractor equipment is the tractor.
  7. 一种对挂接农具进行主动减震的控制方法，其特征在于，采用权利要求1所述液压悬挂装置的电控液压系统，包括如下步骤：A control method for active damping of hooked agricultural implements, characterized in that the electronically controlled hydraulic system adopting the hydraulic suspension device of claim 1 includes the following steps:
    1)所述牵引农装用所述液压悬挂装置挂接农具，开启转场作业模式，通过所述电控单元使所述电控开关阀处于开通状态；1) The hydraulic suspension device for the traction agricultural equipment is hooked up to agricultural tools, the transition operation mode is turned on, and the electronic control switch valve is in an open state through the electronic control unit;
    2)自动充油步骤2) Automatic oil filling step
    路面颠簸产生的震动从所述牵引农装传至所述提升油缸，使所述提升油缸的缸体相对于所述提升油缸的活塞杆瞬间上行，在所述提升油缸无杆腔内产生高压油，所述高压油通过第一溢流保压支油路自动流向所述提升油缸的有杆腔，使与所述提升臂连接的挂接农具向上的震动幅度小于与所述提升油缸缸体连接的牵引农装向上的震动幅度；同时，所述电控单元采集所述力传感器的拉力信息，并根据所述拉力信息判定向所述提升油缸的充油量；或者The vibration caused by road bumps is transmitted from the traction equipment to the lifting cylinder, so that the cylinder body of the lifting cylinder moves upward relative to the piston rod of the lifting cylinder instantaneously, and high pressure oil is generated in the rodless cavity of the lifting cylinder , The high-pressure oil automatically flows to the rod cavity of the lifting cylinder through the first overflow pressure-maintaining branch oil path, so that the upward vibration amplitude of the agricultural implement connected with the lifting arm is smaller than that of the cylinder connected with the lifting cylinder The amplitude of the upward vibration of the traction agricultural equipment; at the same time, the electronic control unit collects the pulling force information of the force sensor, and determines the amount of oil filling the lifting cylinder according to the pulling force information; or
    路面颠簸产生的震动从所述牵引农装传至所述提升油缸，使所述提升油缸的缸体相对于所述提升油缸的活塞杆瞬间下行，在所述提升油缸有杆腔内产生高压油，所述高压油通过第二溢流保压支油路自动流向所述提升油缸的无杆腔，使与所述提升臂连接的挂接农具向下的震动幅度小于与所述提升油缸缸体连接的牵引农装向下的震动幅度；同时，所述电控单元采集所述力传感器的拉力信息，并根据所述拉力信息判定向所述提升油缸的充油量；The vibration caused by road bumps is transmitted from the traction equipment to the lifting cylinder, so that the cylinder body of the lifting cylinder moves down instantaneously with respect to the piston rod of the lifting cylinder, and high pressure oil is generated in the rod cavity of the lifting cylinder , The high-pressure oil automatically flows to the rodless cavity of the lifting cylinder through the second overflow pressure-maintaining branch oil path, so that the downward vibration amplitude of the agricultural implement connected with the lifting arm is smaller than that of the lifting cylinder body The amplitude of the downward vibration of the connected traction agricultural equipment; at the same time, the electronic control unit collects the pulling force information of the force sensor, and determines the amount of oil filling the lifting cylinder according to the pulling force information;
    3)电控充油步骤3) Electronically controlled oil filling steps
    在所述自动充油步骤接近结束时，所述电控单元进一步采集所述位置传感器的位置信息和所述力传感器的拉力信息，所述电控单元根据所述进一步采集的位置信息和拉力信息修正先前判定的所述提升油缸的充油量并启动所述电控液压阀；在所述自动充油步骤结束时，立即通过所述电控液压阀将所述主油路的高压油向所述提升油缸的无杆腔充油，同时使所述提升油缸的有杆腔回油泄压，直至所述提升油缸活塞杆与所述提升油缸缸体的相对位置回复到初始位置；或者At the end of the automatic refueling step, the electronic control unit further collects the position information of the position sensor and the pulling force information of the force sensor, and the electronic control unit is based on the further collected position information and pulling force information Correct the previously determined oil charge amount of the lift cylinder and start the electronically controlled hydraulic valve; at the end of the automatic oil filling step, immediately use the electronically controlled hydraulic valve to direct the high-pressure oil of the main oil circuit to the The rodless cavity of the lifting cylinder is filled with oil, and at the same time the rod cavity of the lifting cylinder is returned and pressure-relieved until the relative position of the piston rod of the lifting cylinder and the cylinder body of the lifting cylinder returns to the initial position; or
    在所述自动充油步骤接近结束时，所述电控单元进一步采集所述位置传感器的位置信息和所述力传感器的拉力信息，所述电控单元根据所述进一步采集的位置信息和拉力信息修正先前判定的所述提升油缸的充油量并启动所述电控液压阀；在所述自动充油步骤结束时，立即通过所述电控液压阀将所述主油路的高压油向所述提升油缸的有杆腔充油，同时使所述提升油缸的无杆腔回油泄压，直至所述提升油缸活塞杆与所述提升油缸缸体的相对位置回复到初始位置；At the end of the automatic refueling step, the electronic control unit further collects the position information of the position sensor and the pulling force information of the force sensor, and the electronic control unit is based on the further collected position information and pulling force information Correct the previously determined oil charge amount of the lift cylinder and start the electronically controlled hydraulic valve; at the end of the automatic oil filling step, immediately use the electronically controlled hydraulic valve to direct the high-pressure oil of the main oil circuit to the The rod cavity of the lifting cylinder is filled with oil, and at the same time, the rodless cavity of the lifting cylinder is returned and depressurized until the relative position of the piston rod of the lifting cylinder and the cylinder body of the lifting cylinder returns to the initial position;
    4)在路面颠簸产生连续震动时，重复上述相应步骤。4) Repeat the above corresponding steps when continuous vibration is caused by road bumps.
  8. 如权利要求7所述对挂接农具进行主动减震的控制方法，其特征在于，所述电控开关阀为常闭式电控开关阀。7. The control method for actively damping a hooked agricultural implement according to claim 7, wherein the electronically controlled on-off valve is a normally closed electronically-controlled on-off valve.
  9. 如权利要求7所述对挂接农具进行主动减震的控制方法，其特征在于，所述第一溢流保压支油路和所述第二溢流保压支油路仅通过一个所述电控开关阀实现通断控制。The control method for active damping of hooked agricultural tools according to claim 7, wherein the first overflow pressure-maintaining branch oil path and the second overflow pressure-maintaining branch oil path only pass through one of the The electronically controlled on-off valve realizes on-off control.
  10. 如权利要求7所述对挂接农具进行主动减震的控制方法，其特征在于，所述第一溢流保压支油路和所述第二溢流保压支油路分别设置有节流阀。The control method for active damping of hooked agricultural tools according to claim 7, wherein the first overflow pressure-maintaining branch oil circuit and the second overflow pressure-maintaining branch oil circuit are respectively provided with throttles valve.
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CN107642514A (en) * 2017-10-27 2018-01-30 南京农业大学 A kind of application valve body for middle fraction horsepower Tractor Electronic Hydraulic Hitch System
CN210565406U (en) * 2019-07-10 2020-05-19 申学智 Hydraulic system of agricultural tricycle
CN111520367A (en) * 2020-06-04 2020-08-11 潍坊力创电子科技有限公司 Electric control hydraulic system of hydraulic suspension device, tractor and active damping control method

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CN106870480A (en) * 2015-12-13 2017-06-20 田佳聪 A kind of tractor hydraulic hitch pressurizing control system
CN107642514A (en) * 2017-10-27 2018-01-30 南京农业大学 A kind of application valve body for middle fraction horsepower Tractor Electronic Hydraulic Hitch System
CN210565406U (en) * 2019-07-10 2020-05-19 申学智 Hydraulic system of agricultural tricycle
CN111520367A (en) * 2020-06-04 2020-08-11 潍坊力创电子科技有限公司 Electric control hydraulic system of hydraulic suspension device, tractor and active damping control method

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