CN108755829A - Crawler-mounted excavator turns to automatic gear shifting control system and control method - Google Patents
Crawler-mounted excavator turns to automatic gear shifting control system and control method Download PDFInfo
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- CN108755829A CN108755829A CN201810505439.8A CN201810505439A CN108755829A CN 108755829 A CN108755829 A CN 108755829A CN 201810505439 A CN201810505439 A CN 201810505439A CN 108755829 A CN108755829 A CN 108755829A
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- Prior art keywords
- motor
- running motor
- gear
- controller
- crawler
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/225—Control of steering, e.g. for hydraulic motors driving the vehicle tracks
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention relates to excavator controls, to solve the problems, such as that existing excavator cornering ability when high speed is advanced is insufficient；A kind of crawler-mounted excavator steering automatic gear shifting control system is provided, including main pump, left and right running motor, main control valve, speed keeps off switching valve, controller, left and right motor flow sensor, speed gear switching valve is the solenoid valve that control terminal is connect with controller, controller flows through the flow difference that left lateral walks the high-pressure and hydraulic oil stream amount of motor and right running motor and calculates the high pressure liquid pressure oil for flowing through left running motor and right running motor by left motor flow sensor and the detection of right motor flow sensor, when flow difference is more than preset value, controller makes the left running motor and right running motor work in bottom gear to speed gear switching valve output control signal.Crawler-mounted excavator of the present invention is changed into bottom gear, to improve the cornering ability of excavator by top gear automatically when turning to.
Description
Technical field
The present invention relates to a kind of crawler-mounted excavators, and automatic become is turned to more specifically to a kind of crawler-mounted excavator
Speed control system and control method.
Background technology
Crawler-mounted excavator running gear includes left running motor, right running motor, main control valve, speed gear switching valve, master
Pump.Main pump is connect by main control valve with left running motor and right running motor, controls left running motor and right running motor is positive and negative
Turn, realizes moving forward and backward and turning to for crawler-mounted excavator.Speed gear switching valve is connected to left running motor and right lateral is walked
On the oil circuit of motor speed gear switching hydraulic fluid port, by blocking or being connected left running motor and right running motor speed gear switching hydraulic fluid port
Pressure input so that left running motor and right running motor work in different displacement modes, to realize crawler type excavate
Machine is in the switching between high speed traveling gear or low speed traveling gear.
Switching of the crawler-mounted excavator running motor between top gear and bottom gear at present is carried out by artificial.
When running motor is in high-speed rotation, torque is smaller.And excavator is when being turned, resistance increases, and running motor needs
The required torque of steering could be met by increasing torque.And the top gear due to existing digger travel motor and bottom gear it
Between be by manually open operation switching, and people cannot judge when excavator turn running motor export torque whether abundance without
Gear switching can be carried out in time.So as to cause existing excavator, when high speed is advanced, cornering ability is insufficient.
Invention content
The technical problem to be solved by the present invention is to for existing excavator high speed advance when cornering ability deficiency problem,
And a kind of shovel crawler is provided and turns to automatic gear shifting control system and control method, to automatically switch the high speed of running motor
Gear improves cornering ability of the excavator when top gear is advanced with bottom gear.
The present invention is to realize that the technical solution of its purpose is such：A kind of crawler-mounted excavator steering fluid drive is provided
Control system, including main pump, left running motor, right running motor, be connected to main pump and left running motor and right running motor it
Between main control valve, be connected to left running motor and right running motor speed gear control oil circuit on speed gear switching valve；Its feature
It is to further include controller, for detecting the left motor stream for flowing through the high-pressure and hydraulic oil stream amount that left lateral walks motor and right running motor
Quantity sensor and right motor flow sensor, the speed gear switching valve are the solenoid valves that control terminal is connect with the controller,
The controller flows through that left lateral walks motor and right lateral is galloped along on horseback by left motor flow sensor and the detection of right motor flow sensor
The high-pressure and hydraulic oil stream amount and calculating that reach flow through the flow difference of the high pressure liquid pressure oil of left running motor and right running motor, work as stream
Measure difference be more than preset value when, the controller to the speed gear switching valve output control signal make the left running motor and
Right running motor works in bottom gear.
Further, above-mentioned crawler-mounted excavator turns in automatic gear shifting control system, when flowing through left running motor and the right side
When the high-pressure and hydraulic oil stream amount difference of running motor is most less than preset value by being more than preset value variation, the controller is to speed
Gear switching valve output control signal makes left running motor and right running motor restore to work gear before.
Further, above-mentioned crawler-mounted excavator turns in automatic gear shifting control system, further includes that pioneer pump, left lateral walk elder generation
Pilot valve, right lateral walk pilot valve；The left lateral walks pilot valve and right lateral walks the hydraulic control end that pilot valve is connected to the main control valve, described
The oil outlet end of pioneer pump is by pipeline and the left lateral walks pilot valve, right lateral walks pilot valve and the oil inlet end of speed gear switching valve connects
It connects.
The present invention is to realize that the technical solution of its purpose is such：It is automatic to provide a kind of aforementioned crawler-mounted excavator steering
The automatic shift control method of change control system, it is characterised in that steps are as follows：Controller passes through left motor flow sensor
Left lateral is flowed through with the detection of right motor flow sensor to walk the high-pressure and hydraulic oil stream amount of motor and right running motor and calculate to flow through a left side
The flow difference of the high pressure liquid pressure oil of running motor and right running motor, when flow difference is more than preset value, controller is to fast
Slow gear switching valve output control signal makes left running motor and right running motor work in bottom gear.
Further, above-mentioned crawler-mounted excavator turns in automatic shift control method, when flowing through left running motor and the right side
When the flow difference of the high pressure liquid pressure oil of running motor is by being more than preset value variation for less than preset value, the controller is to speed
Gear switching valve output control signal makes left running motor and right running motor restore to work gear before.
Compared with prior art, the present invention when crawler-mounted excavator of the present invention is turned in the process of walking, it automatically will walking
Motor is adjusted to as bottom gear, to improve the cornering ability of excavator.
Description of the drawings
Fig. 1 is the control block diagram that crawler-mounted excavator of the present invention turns to automatic gear shifting control system.
Parts title and serial number in figure：
Main pump 1, pioneer pump 2, main control valve 3, left running motor 4, right running motor 5, speed gear switching valve 6, left motor stream
Quantity sensor 7, right motor flow sensor 8, controller 9, left lateral walk pilot valve 10, right lateral walks pilot valve 11, center steering connects
First 12, high-pressure oil passage 13, guide's oil circuit 14, Electrical signal lines 15.
Specific implementation mode
Illustrate specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, it includes main pump 1, guide that the crawler-mounted excavator in the present embodiment, which turns to automatic gear shifting control system,
Pump 2, main control valve 3, left running motor 4, right running motor 5, speed gear switching valve 6, left motor flow sensor 7, right motor stream
Quantity sensor 8, controller 9, left lateral walk pilot valve 10, right lateral walks pilot valve 11, centre revolving joint 12.As shown in Figure 1, main pump
1, it connects to form height by pressure duct between main control valve 3, centre revolving joint 12, left running motor 4, right running motor 5
Pressure oil road 13；Pioneer pump 2, left lateral walk pilot valve 10, right lateral walks pilot valve 11, the hydraulic control end of main control valve 3 is connected by low pressure line
The guide's oil circuit 14 to be formed and be controlled main control valve 3 is connect, pioneer pump 2, speed gear switching valve 6, left running motor 4 and right lateral are walked
It connects to be formed by low pressure line between speed gear switching control port (motor swashplate control port) of motor 5 and gallop along on horseback to left lateral
Up to the guide's oil circuit 14 of 4 and right running motor 5 switching control between top gear and bottom gear.Left 7 He of motor flow sensor
Motor flow sensor 8 is separately positioned on the high-pressure oil passage between left running motor 4 and right running motor 5 and main control valve, is used
The high-pressure and hydraulic oil stream amount that left lateral walks motor and right running motor is flowed through in detection, flow is just walking when running motor rotates forward
Motor is negative when inverting.Left motor flow sensor 7, the automatically controlled end of right motor flow sensor 8 and speed gear switching valve 6 and control
Device 9 processed connects, and forms Electrical signal lines 15.
The workflow of crawler-mounted excavator steering automatic gear shifting control system is as follows in the present invention：
The pilot pressure oil that pioneer pump 2 exports, arrive that left lateral walks pilot valve 10 and right lateral walks guide through guide's oil circuit 14 respectively
Valve 11.Operation left lateral walks pilot valve 10 and walks pilot valve 11 with right lateral, and pilot pressure oil walks pilot valve 10 and the right side by left lateral respectively
Walk pilot valve 11 left or right wing guide's oil circuit to the left hydraulic control end of main control valve 3 or right hydraulic control end.The work that main pump 1 exports
Pressure oil, successively through main control valve 3, centre revolving joint 12, arrives separately at left running motor 4 and gallops along on horseback with right lateral through high-pressure oil passage 13
Up to 5,5 forward or reverse of left running motor 4 and right running motor, excavator is driven to start to walk.
Left motor flow sensor 7, right motor flow sensor 8 measure respectively to be flowed through left running motor 4 and gallops along on horseback with right lateral
Up to 5 high-pressure and hydraulic oil stream amount Q (left side) and Q (right side), measured flow electric signal is through the conduction of Electrical signal lines 15 to control
Device 9 processed.Controller 9 calculates high-pressure and hydraulic oil stream amount difference the ⊿ Q, i.e. Q for flowing through left running motor 4 and right running motor 5
(left side) subtracts the absolute value on (right side) Q.The size of controller 9 more preset flow difference Q (setting) and Liu Liang Cha ⊿ Q.If
Liu Liang Cha ⊿ Q are more than preset flow difference Q (setting), and controller 9 exports electric signal control speed gear switching valve 6 and opens,
Guide oil flows to the motor swashplate of left running motor 4 and right running motor 5 by speed gear switching valve 6 respectively, and left lateral is made to gallop along on horseback
It is in bottom gear work up to 4 and right running motor 5.If left running motor 4 and right running motor 5 are in top gear before this,
This is changed to bottom gear；If working in bottom gear before this, it is maintained as bottom gear.If Liu Liang Cha ⊿ Q are set in advance by being more than
Fixed flow difference Q (setting) is changed to less than preset flow difference Q (setting), and controller 9 is exported to speed gear switching valve
Control signal makes left running motor 4 and right running motor 5 restore to work gear before, such as digger travel motor to be in
Top gear is advanced, and (⊿ Q are more than Q (setting) when turning) be automatically regulated to be bottom gear, (⊿ Q are less than Q (setting) after turning) by from
It is dynamic to be restored to top gear.If digger travel motor is in bottom gear traveling, when turning is still bottom gear, after turning and also
It is to maintain bottom gear traveling.
In the present invention, digger travel motor is adjusted to bottom gear working position automatically when excavator is turned to,
To improve the output torque of running motor, the stationary performance that excavator turns to is improved.
Claims (5)
1. a kind of crawler-mounted excavator turns to automatic gear shifting control system, including main pump, left running motor, right running motor, company
It is connected on the main control valve between main pump and left running motor and right running motor, is connected to left running motor and right running motor speed
Speed on gear control oil circuit keeps off switching valve；It flows through left lateral characterized by further comprising controller, for detecting and walks motor and the right side
The left motor flow sensor and right motor flow sensor of the high-pressure and hydraulic oil stream amount of running motor, the speed keep off switching valve
It is the solenoid valve that control terminal is connect with the controller, the controller is passed by left motor flow sensor and right motor flow
Sensor detection flows through left lateral and walks the high-pressure and hydraulic oil stream amount of motor and right running motor and calculate to flow through left running motor and right lateral
The flow difference for walking the high pressure liquid pressure oil of motor, when flow difference is more than preset value, the controller is cut to speed gear
Changing valve output control signal makes the left running motor and right running motor work in bottom gear.
2. crawler-mounted excavator according to claim 1 turns to automatic gear shifting control system, it is characterised in that when flowing through a left side
It is described when the high-pressure and hydraulic oil stream amount difference of running motor and right running motor is most less than preset value by being more than preset value variation
Controller makes left running motor and right running motor restore to work gear before to speed gear switching valve output control signal.
3. crawler-mounted excavator according to claim 1 or 2 turns to automatic gear shifting control system, it is characterised in that further include
Pioneer pump, left lateral walk pilot valve, right lateral walks pilot valve；The left lateral walks pilot valve and right lateral walks pilot valve and is connected to the master control
The hydraulic control end of valve, the oil outlet end of the pioneer pump by pipeline with the left lateral walks pilot valve, right lateral walks pilot valve and speed is kept off
The oil inlet end of switching valve connects.
4. a kind of automatic shift control method turning to automatic gear shifting control system based on crawler-mounted excavator in claim 1,
It is characterized in that steps are as follows：Controller is flowed through left lateral and is walked by left motor flow sensor and the detection of right motor flow sensor
The high-pressure and hydraulic oil stream amount of motor and right running motor simultaneously calculates the high pressure liquid pressure oil for flowing through left running motor and right running motor
Flow difference, when flow difference be more than preset value when, controller to speed gear switching valve output control signal so that left lateral is galloped along on horseback
Bottom gear is worked in up to right running motor.
5. crawler-mounted excavator according to claim 3 turns to automatic shift control method, it is characterised in that when flowing through a left side
It is described when the flow difference of the high pressure liquid pressure oil of running motor and right running motor is by being more than preset value variation for less than preset value
Controller makes left running motor and right running motor restore to work gear before to speed gear switching valve output control signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810505439.8A CN108755829A (en) | 2018-05-24 | 2018-05-24 | Crawler-mounted excavator turns to automatic gear shifting control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810505439.8A CN108755829A (en) | 2018-05-24 | 2018-05-24 | Crawler-mounted excavator turns to automatic gear shifting control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108755829A true CN108755829A (en) | 2018-11-06 |
Family
ID=64005501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810505439.8A Withdrawn CN108755829A (en) | 2018-05-24 | 2018-05-24 | Crawler-mounted excavator turns to automatic gear shifting control system and control method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108755829A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111155588A (en) * | 2020-01-10 | 2020-05-15 | 重庆智邦工程机械(集团)有限公司 | Automatic speed change control system and control method for steering of crawler excavator |
| CN111532340A (en) * | 2020-07-09 | 2020-08-14 | 山东科技职业学院 | Vehicle transmission speed difference steering device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05156666A (en) * | 1991-12-06 | 1993-06-22 | Hitachi Constr Mach Co Ltd | Travel and drive gear for construction machine |
| CN101157359A (en) * | 2007-11-29 | 2008-04-09 | 三一重工股份有限公司 | An engineering machinery steering control system of fluid pressure underpan |
| CN201635109U (en) * | 2010-02-03 | 2010-11-17 | 浙江濠泰重工制造有限公司 | Travel motor speed dual control device |
| EP2444557A1 (en) * | 2010-10-25 | 2012-04-25 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Hydraulically-Powered Working Vehicle |
| CN102536936A (en) * | 2010-12-24 | 2012-07-04 | 斗山英维高株式会社 | Hydraulic circuit of engineering machinery and method for driving the same |
| CN102251547B (en) * | 2011-06-14 | 2013-04-24 | 三一重机有限公司 | Pilot control system of novel hydraulic excavator |
| CN204185895U (en) * | 2014-08-28 | 2015-03-04 | 徐州徐工挖掘机械有限公司 | Large excavator height low speed automatic switching control equipment |
| CN107075832A (en) * | 2014-11-05 | 2017-08-18 | 沃尔沃建筑设备公司 | Straight-line travelling equipment and its control method for engineering machinery |
-
2018
- 2018-05-24 CN CN201810505439.8A patent/CN108755829A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05156666A (en) * | 1991-12-06 | 1993-06-22 | Hitachi Constr Mach Co Ltd | Travel and drive gear for construction machine |
| CN101157359A (en) * | 2007-11-29 | 2008-04-09 | 三一重工股份有限公司 | An engineering machinery steering control system of fluid pressure underpan |
| CN201635109U (en) * | 2010-02-03 | 2010-11-17 | 浙江濠泰重工制造有限公司 | Travel motor speed dual control device |
| EP2444557A1 (en) * | 2010-10-25 | 2012-04-25 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Hydraulically-Powered Working Vehicle |
| CN102536936A (en) * | 2010-12-24 | 2012-07-04 | 斗山英维高株式会社 | Hydraulic circuit of engineering machinery and method for driving the same |
| CN102251547B (en) * | 2011-06-14 | 2013-04-24 | 三一重机有限公司 | Pilot control system of novel hydraulic excavator |
| CN204185895U (en) * | 2014-08-28 | 2015-03-04 | 徐州徐工挖掘机械有限公司 | Large excavator height low speed automatic switching control equipment |
| CN107075832A (en) * | 2014-11-05 | 2017-08-18 | 沃尔沃建筑设备公司 | Straight-line travelling equipment and its control method for engineering machinery |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111155588A (en) * | 2020-01-10 | 2020-05-15 | 重庆智邦工程机械(集团)有限公司 | Automatic speed change control system and control method for steering of crawler excavator |
| CN111532340A (en) * | 2020-07-09 | 2020-08-14 | 山东科技职业学院 | Vehicle transmission speed difference steering device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181106 |