CN109441899A - Walking chassis control system and engineering machinery - Google Patents

Walking chassis control system and engineering machinery Download PDF

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Publication number
CN109441899A
CN109441899A CN201811483728.9A CN201811483728A CN109441899A CN 109441899 A CN109441899 A CN 109441899A CN 201811483728 A CN201811483728 A CN 201811483728A CN 109441899 A CN109441899 A CN 109441899A
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CN
China
Prior art keywords
vehicle bridge
control
valve
walking
walking chassis
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Granted
Application number
CN201811483728.9A
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Chinese (zh)
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CN109441899B (en
Inventor
陈豪
李丛南
陈思瑶
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Xugong Fire Safety Equipment Co Ltd
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Xugong Fire Safety Equipment Co Ltd
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Priority to CN201811483728.9A priority Critical patent/CN109441899B/en
Publication of CN109441899A publication Critical patent/CN109441899A/en
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Braking Systems And Boosters (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

Present disclose provides a kind of walking chassis control system and engineering machinery.Walking chassis control system includes: vehicle bridge control unit, including vehicle bridge controls working barrel, vehicle bridge executing agency and vehicle bridge control valve;With travelling control unit, including linkage controlling valve, travelling control unit is coupled with vehicle bridge control unit by linkage controlling valve, when walking control unit control walking mechanism walking, linkage controlling valve makes vehicle bridge control valve execute the control to vehicle bridge executing agency, when control unit control walking mechanism of walking stops, linkage controlling valve makes vehicle bridge control valve lose the control to vehicle bridge executing agency.It is able to achieve the control that bridge movement cannot be turned to and/or expanded in the case where walking chassis is in halted state based on the walking chassis control system that the disclosure provides, the control of bridge movement can only be turned to and/or expanded in walking chassis walking process.

Description

Walking chassis control system and engineering machinery
Technical field
This disclosure relates to technical field of engineering machinery, in particular to a kind of walking chassis control system and engineering machinery.
Background technique
With infrastructure construction in china fast development, engineering machinery, such as self-travel type aerial work platform, demand With ownership also in rapid growth.The operating environment faced by engineering machinery is more harsh, working condition is increasingly complex, because This is also higher and higher to engineering machinery requirement.
Vehicle bridge control system is that have the important component of the engineering machinery of walking chassis, the job family with engineering machinery System is compared, and vehicle bridge steering system not only determines the flexibility and high efficiency of entire engineering machinery operational process, it is desirable that is had fine Handling and instantaneity, it is also desirable in terms of control mode and safeguard protection have good ability.
Existing engineering machinery is mainly to be acted by the executing agency that solenoid directional control valve controls vehicle bridge control system.This control Mode processed is relatively simple, and driving status is single in the walking chassis driving process of engineering machinery, it is also possible to due to when static Turning to expansion bridge causes resistance excessive, damages vehicle, reduces the service life of vehicle.
Fig. 1 is a kind of simplified pinciple figure of typical vehicle bridge control system in the prior art.As shown in Figure 1, vehicle bridge controls System includes variable pump 111, the first overflow valve 121, vehicle bridge control valve 130, multiple balanced valves and multiple executing agencies.
Variable pump 111 is used for each executing agency's fuel feeding of vehicle bridge control system.
Multiple executing agencies include front left steering cylinder 141, front right steering cylinder 142, front left expansion bridge oil cylinder 143, front right Expand bridge oil cylinder 144, rear left expands bridge oil cylinder 145 and rear right expansion bridge oil cylinder 146.
First overflow valve 121 is set between variable pump 111 and fuel tank, for preventing vehicle bridge control system superpressure.
Vehicle bridge control valve 130 includes the first solenoid directional control valve 131, the second solenoid directional control valve 132, third solenoid directional control valve 133 and second overflow valve 134.As shown in Figure 1, vehicle bridge control valve 130 has oil inlet P 1, oil discharge outlet T1 and eight actuator ports A1、B1、A2、B2、A3、B3、A4、B4。
First solenoid directional control valve 131 can make one in the big chamber and small chamber of front left steering cylinder 141 by position switching When being connected to the outlet P of variable pump 111, another is connected to fuel tank.
Second solenoid directional control valve 132 can make one in the big chamber and small chamber of front right steering cylinder 142 by position switching When being connected to the outlet P of variable pump 111, another is connected to fuel tank.
Third solenoid directional control valve 133 can make one and variable in each big chamber and small chamber for expanding bridge oil cylinder by position switching When the outlet P connection of pump 111, another is connected to fuel tank.
Second overflow valve 134 is used to prevent each big chamber superpressure for expanding bridge oil cylinder 143 to 146, in favor of preventing expanding bridge system Expand bridge by force and subelement is caused to damage.
Multiple balanced valves include the first balanced valve 151, the second balanced valve 152, third balanced valve 153 and the 4th balanced valve 154, it is respectively arranged at front left and expands bridge oil cylinder 143, front right expansion bridge oil cylinder 144, rear left expansion bridge oil cylinder 145 and rear right expansion bridge oil cylinder Between 146 and vehicle bridge control valve 130.
As shown in Figure 1, the vehicle bridge control system is to separate with traveling control system, the two is independent of each other, and causes to be expert at Walking can also be to each steering cylinder and each expansion bridge oil cylinder fuel feeding, to can cause a series of security risk when chassis is not exercised.
When walking chassis is under enforcement state, walking mechanism, such as tire, and ground face contact, and it is complete to bear engineering machinery Portion's weight.Hydraulic oil reaches the first overflow valve 121 by variable pump 1111, the liquid after by 121 overflow of the first overflow valve Pressure oil enters the oil inlet P of vehicle bridge control valve 130.At this time if it is desired to walking chassis is allowed to be turned to or be expanded under static state Bridge movement obtains the spool of the solenoid directional control valve of electric signal just to solenoid directional control valve electric signal corresponding in vehicle bridge control valve 130 Mobile, hydraulic oil is entered in the corresponding oil pocket of corresponding oil cylinder by solenoid directional control valve, and Fluid pressure increases in corresponding oil pocket, Cylinder rod is pushed, expected control action is completed.
However, can have some problems under the non-driving status of walking chassis.Walking chassis is now in stationary state, It moves ahead and perhaps retreats so will receive huge when oil cylinder lever pushing tire turns to or push expansion bridge system to expand bridge Resistance.Frictional force of the resistance between tire and ground, and the roughness of tire is relatively high, adds engineering machinery Weight it is very big so that the frictional force between tire and ground is very big, hydraulic oil pushes oil cylinder lever to be difficult to overcome the frictional force, The hydraulic fluid pressure in oil cylinder is caused to increase, in addition being acted by force at this time, the stress condition of Hydraulic Elements and structural member It complicates, may finally cause cylinder tube stress is excessive to cause to deform, cylinder rod bending is expanded the bending of bridge system structural member and become Shape, the dangerous situations such as worn tire.
Summary of the invention
The disclosure is designed to provide a kind of walking chassis control system and engineering machinery.
Disclosure first aspect provides a kind of walking chassis control system, comprising:
Vehicle bridge control unit, including vehicle bridge control working barrel, vehicle bridge executing agency and vehicle bridge control valve, and the vehicle bridge executes Mechanism is used to drive the vehicle bridge of walking chassis to turn to and/or expand bridge, and the vehicle bridge control valve controls the vehicle bridge and controls working barrel To the oil condition of the vehicle bridge executing agency to control the vehicle bridge executing agency movement;With
Travelling control unit, for driving the walking mechanism walking and stopping of the walking chassis, including linkage controlling valve, The travelling control unit is coupled with the vehicle bridge control unit by the linkage controlling valve, in the travelling control unit control When making walking mechanism walking, the linkage controlling valve makes the vehicle bridge control valve execute the control to the vehicle bridge executing agency System, when the travelling control unit controls walking mechanism stopping, the linkage controlling valve loses the vehicle bridge control valve Go the control to the vehicle bridge executing agency.
In some embodiments, oil inlet and the vehicle bridge of the linkage controlling valve by the control vehicle bridge control valve Whether the outlet of control working barrel is connected to the control for controlling the vehicle bridge control valve execution or losing to the vehicle bridge executing agency.
In some embodiments, the linkage controlling valve is connected to the outlet and the vehicle bridge of the vehicle bridge control working barrel Between the oil inlet of control valve, wherein
When the travelling control unit controls walking mechanism walking, the linkage controlling valve controls the vehicle bridge control The outlet of working barrel processed is connected to the oil inlet of the vehicle bridge control valve;
When the travelling control unit controls walking mechanism stopping, the linkage controlling valve controls the vehicle bridge control The outlet of working barrel processed is disconnected with the oil inlet of the vehicle bridge control valve.
In some embodiments, when the travelling control unit controls walking mechanism stopping, the linkage control The outlet that valve controls the vehicle bridge control working barrel is connected to oil extraction.
In some embodiments, the travelling control unit includes running motor and brake, and the brake includes the The Fluid pressure of one brake chamber and the second brake chamber, first brake chamber controls whether the running motor stops;
The linkage controlling valve includes the control mouth being connected to first brake chamber.
In some embodiments, the linkage controlling valve is pilot operated directional control valve, and the control mouth is the pilot operated directional control valve Hydraulic control mouth.
In some embodiments, the linkage controlling valve includes the first hydraulic fluid port, the second hydraulic fluid port and third hydraulic fluid port, the hydraulic control First hydraulic fluid port of reversal valve is connect with the oil inlet of the vehicle bridge control valve, and the second hydraulic fluid port and the vehicle bridge control going out for working barrel Mouthful connection, third hydraulic fluid port is connected to oil extraction, the control mouth control linkage controlling valve the first valve position and the second valve position it Between switch, in the first valve position of the linkage controlling valve, the first hydraulic fluid port and the second hydraulic fluid port connection and third hydraulic fluid port disconnect, in institute The second valve position of linkage controlling valve is stated, the first hydraulic fluid port is connected to third hydraulic fluid port and the second hydraulic fluid port disconnects.
In some embodiments, the vehicle bridge control unit includes multiple vehicle bridge executing agencies, the multiple vehicle bridge Executing agency includes steering cylinder and/or expansion bridge oil cylinder.
Disclosure second aspect provides a kind of engineering machinery, the row including walking chassis and for controlling the walking chassis Chassis control system is walked, the walking chassis control system is the walking chassis according to any one of disclosure first aspect Control system.
In some embodiments, the engineering machinery is self-travel type aerial work platform.
The walking chassis control system provided based on the disclosure detects the work of travelling control unit using linkage controlling valve The driving status for making state and walking chassis determines that vehicle bridge turns to and/or expands bridge movement and is according to the driving status of walking chassis It is no to execute, it is able to achieve the control that bridge movement cannot be turned to and/or expanded in the case where walking chassis is in halted state, only The control that bridge movement can be turned to and/or expanded in walking chassis walking process, avoids some unreasonable operations, Yi Mianzao At unnecessary loss, it is able to extend the service life of walking chassis.
The engineering machinery of the disclosure has the advantages that the walking chassis control system of the disclosure.
By the detailed description referring to the drawings to the exemplary embodiment of the disclosure, the other feature of the disclosure and its Advantage will become apparent.
Detailed description of the invention
Attached drawing described herein is used to provide further understanding of the disclosure, constitutes part of this application, this public affairs The illustrative embodiments and their description opened do not constitute the improper restriction to the disclosure for explaining the disclosure.In the accompanying drawings:
Fig. 1 is the schematic diagram of the vehicle bridge control system of the prior art.
Fig. 2 is the schematic diagram of the walking chassis control system of one specific embodiment of the disclosure.
Fig. 3 is the partial schematic diagram of the walking chassis control system of embodiment illustrated in fig. 2.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete Site preparation description, it is clear that described embodiment is only disclosure a part of the embodiment, instead of all the embodiments.Below Description only actually at least one exemplary embodiment be it is illustrative, never as to the disclosure and its application or making Any restrictions.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making creative work premise Under every other embodiment obtained, belong to the disclosure protection range.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments Up to the unlimited the scope of the present disclosure processed of formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached It does not need that it is further discussed in figure.
Fig. 2 is the schematic diagram of the walking chassis control system of one specific embodiment of the disclosure.Fig. 3 is embodiment illustrated in fig. 2 Walking chassis control system partial schematic diagram.As shown in Figures 2 and 3, the walking chassis control system of the embodiment of the present disclosure Including vehicle bridge control unit and travelling control unit.
As shown in Fig. 2, vehicle bridge control unit includes vehicle bridge control working barrel 111, vehicle bridge executing agency and it is connected to vehicle bridge Control the vehicle bridge control valve 130 of working barrel 111 and vehicle bridge executing agency.Vehicle bridge executing agency is used to drive the vehicle bridge of walking chassis Turn to and/or expand bridge.Vehicle bridge control valve 130 controls vehicle bridge control working barrel 111 to the oil condition of vehicle bridge executing agency to control Vehicle bridge executing agency movement processed.
As shown in Figures 2 and 3, travelling control unit is used to drive the walking mechanism of walking chassis to walk and stop, including Linkage controlling valve, travelling control unit are coupled with vehicle bridge control unit by linkage controlling valve.In walking control unit control row When walking mechanism walking, linkage controlling valve makes vehicle bridge control valve 130 execute the control to vehicle bridge executing agency.In walking control unit When controlling walking mechanism stopping, linkage controlling valve makes vehicle bridge control valve 130 lose the control to vehicle bridge executing agency.
The walking chassis control system of the embodiment of the present disclosure detects the work of travelling control unit using linkage controlling valve The driving status of state and walking chassis determines whether vehicle bridge turns to and/or expand bridge movement according to the driving status of walking chassis It can execute, be able to achieve the control that bridge movement cannot be turned to and/or expanded in the case where walking chassis is in halted state, it can only The control that bridge movement is turned to and/or expanded in walking chassis walking process, avoids some unreasonable operations, in order to avoid cause Unnecessary loss is able to extend the service life of walking chassis.
In some embodiments, linkage controlling valve can pass through the oil inlet P 1 and vehicle bridge control of control vehicle bridge control valve 130 Whether the outlet of working barrel 111 processed is connected to the execution of control vehicle bridge control valve 130 or loses the control to vehicle bridge executing agency.Exist When travelling control unit controls walking mechanism walking, vehicle bridge control valve 130 controls the outlet of working barrel 111 with vehicle bridge to hold Control of the row to vehicle bridge executing agency.When control unit control walking mechanism of walking stops, vehicle bridge control valve 130 and vehicle bridge control The outlet of working barrel 111 processed is disconnected to lose the control to vehicle bridge executing agency.The setting can be realized using simple structure Control purpose.
For example, linkage controlling valve can connect in vehicle bridge control working barrel 111 outlet P and vehicle bridge control valve 130 into Between hydraulic fluid port P1.When walking control unit control walking mechanism walking, linkage controlling valve controls vehicle bridge control working barrel 111 Outlet P is connected to the oil inlet P 1 of vehicle bridge control valve 130.When control unit control walking mechanism of walking stops, linkage control The oil inlet P 1 of outlet P and vehicle bridge control valve 130 that valve controls vehicle bridge control working barrel 111 disconnect.
It is described in detail below in conjunction with walking chassis control system of the Fig. 2 and Fig. 3 to one embodiment of the disclosure.
In Fig. 2 and embodiment shown in Fig. 3, vehicle bridge control unit includes vehicle bridge control working barrel 111, the first overflow valve 121, vehicle bridge control valve 130, multiple balanced valves, multiple vehicle bridge executing agencies, fuel tank and corresponding connecting line etc..
Vehicle bridge controls working barrel 111 and is used for each vehicle bridge executing agency fuel feeding of vehicle bridge control unit.In the present embodiment, vehicle It is variable pump that bridge, which controls working barrel 111,.
Multiple vehicle bridge executing agencies include front left steering cylinder 141, front right steering cylinder 142, front left expand bridge oil cylinder 143, Front right expands bridge oil cylinder 144, rear left expands bridge oil cylinder 145 and rear right expansion bridge oil cylinder 146.
First overflow valve 121 is set between vehicle bridge control working barrel 111 and fuel tank, for preventing vehicle bridge control unit super Pressure.
Vehicle bridge control valve 130 includes the first solenoid directional control valve 131, the second solenoid directional control valve 132, third solenoid directional control valve 133 and second overflow valve 134.
As shown in Fig. 2, vehicle bridge control valve 130 have oil inlet P 1, oil discharge outlet T1 and eight actuator port A1, B1, A2, B2, A3, B3, A4 and B4.
The oil inlet of first solenoid directional control valve 131 controls working barrel by the oil inlet P 1 and vehicle bridge of vehicle bridge control valve 130 The oil discharge outlet of 111 outlet P connection, the first solenoid directional control valve 131 is connected by the oil discharge outlet T1 and fuel tank of vehicle bridge control valve 130 Connect, two actuator ports of the first solenoid directional control valve 131 pass through respectively two actuator ports A1, B1 of vehicle bridge control valve 130 with The big chamber of front left steering cylinder 141 is connected with small chamber.First solenoid directional control valve 131 can make front left steering cylinder by position switching When an outlet P for controlling working barrel 111 with vehicle bridge in 141 big chamber and small chamber is connected to, another is connected to fuel tank.This reality Applying the first solenoid directional control valve 131 in example is three-position four-way electromagnetic directional valve.
The oil inlet of second solenoid directional control valve 132 controls working barrel by the oil inlet P 1 and vehicle bridge of vehicle bridge control valve 130 The oil discharge outlet of 111 outlet P connection, the second solenoid directional control valve 132 is connected by the oil discharge outlet T1 and fuel tank of vehicle bridge control valve 130 Connect, two actuator ports of the second solenoid directional control valve 132 pass through respectively two actuator ports A2, B2 of vehicle bridge control valve 130 with The big chamber of front right steering cylinder 142 is connected with small chamber.Second solenoid directional control valve 132 can make front right steering cylinder by position switching When an outlet P for controlling working barrel 111 with vehicle bridge in 142 big chamber and small chamber is connected to, another is connected to fuel tank.This reality Applying the second solenoid directional control valve 132 in example is three-position four-way electromagnetic directional valve.
The oil inlet of third solenoid directional control valve 133 controls working barrel by the oil inlet P 1 and vehicle bridge of vehicle bridge control valve 130 The oil discharge outlet of 111 outlet P connection, third solenoid directional control valve 133 is connected by the oil discharge outlet T1 and fuel tank of vehicle bridge control valve 130 Connect, two actuator ports of third solenoid directional control valve 133 pass through respectively four actuator port A3, B3 of vehicle bridge control valve 130, A4, B4 are connect with each big chamber for expanding bridge oil cylinder 143 to 144 and small chamber.Wherein, two actuator port A3 of vehicle bridge control valve 130 It is connected to A4, two actuator port B3 are connected to B4.Third solenoid directional control valve 133 can make each expansion bridge oil cylinder by position switching When an outlet P for controlling working barrel 111 with vehicle bridge in big chamber and small chamber is connected to, another is connected to fuel tank.The present embodiment Middle third solenoid directional control valve 133 is three-position four-way electromagnetic directional valve.
Second overflow valve 134 is connected to each expansion bridge oil cylinder 143 by two actuator ports A3 and A4 of vehicle bridge control valve 130 To between 146 big chamber and fuel tank, for preventing each big chamber superpressure for expanding bridge oil cylinder 143 to 146, in favor of preventing expanding bridge system Expand bridge by force and subelement is caused to damage.
Multiple balanced valves include the first balanced valve 151, the second balanced valve 152, third balanced valve 153 and the 4th balanced valve 154。
Front left, which expands, passes through the first balanced valve between bridge oil cylinder 143 and two actuator ports A3, B3 of vehicle bridge control valve 130 151 connections.Front right, which expands, passes through the second balanced valve between bridge oil cylinder 144 and two actuator ports A4, B4 of vehicle bridge control valve 130 152 connections.Rear left, which expands, passes through third balanced valve between bridge oil cylinder 145 and two actuator ports A3, B3 of vehicle bridge control valve 130 153 connections.Pass through the 4th balanced valve between right expansion bridge oil cylinder 146 and two actuator ports A4, B4 of vehicle bridge control valve 130 afterwards 154 connections.
In the embodiment of the present disclosure, travelling control unit includes two travelling control working barrels, travel control valve 230 and multiple Walking executing agency.
Two travelling control working barrels are used for walking executing agency's fuel feeding, respectively the first enclosed variable pump 211 and the Two enclosed variable pumps 212.
Walking executing agency is for driving the walking mechanism of walking chassis to walk.Walking mechanism is, for example, tire, can also be with For other walking mechanisms such as crawler belt.In the present embodiment, walking mechanism is tire.
As shown in Figures 2 and 3, walking executing agency includes right preceding executing agency 221 of walking, executing agency of walking before right 222, it walks behind left back walking executing agency 223 and the right side executing agency 224.Each walking executing agency includes for driving vehicle with walking machine The running motor of structure walking and the brake whether stopped for controlling running motor.
As shown in Figures 2 and 3, in the present embodiment, the first enclosed variable pump 211 passes through the working oil of travel control valve 230 Mouthful C1 and D1 be it is right before walking executing agency 222 running motor and it is right after walk executing agency 224 running motor fuel feeding with Power is provided for the rotation of corresponding running motor;Second enclosed variable pump 212 by the actuator port C2 of travel control valve 230 and D2 be it is left front walking executing agency 221 running motor and it is left back walking executing agency 223 running motor fuel feeding to be corresponding Running motor rotation provide power.
Travel control valve 230 controls travelling control working barrel and is executed to the oil condition of walking executing agency with controlling walking Mechanism action.As shown in Figures 2 and 3, travel control valve 230 mainly includes brake oil delivery valve 234, two brake valves, hydraulic control Reversal valve 233, overflow valve 235 and other Hydraulic Elements and corresponding connecting line.
Brake oil delivery valve 234 is connected between the first enclosed variable pump 211 and two brake valves, is closed for controlling first Whether the oil return of formula variable pump 211 is connected to brake valve for the interface into brake oil, to provide brake oil for brake. In the present embodiment, brake oil delivery valve 234 is three-position three way hydraulic reversal valve.
Two brake valves are respectively left brake valve 231 and right brake valve 232, for received brake oil to be delivered to braking In device.In the present embodiment, two brake valves are two position, three-way electromagnetic change valve.
Pilot operated directional control valve 233 is used as aforementioned linkage controlling valve in the present embodiment.Travelling control unit and vehicle bridge control unit It is coupled by pilot operated directional control valve 233.Pilot operated directional control valve 233 is two-bit triplet pilot operated directional control valve.
The brake of each walking executing agency includes the first brake chamber and the second brake chamber, the Fluid pressure of the first brake chamber Control whether corresponding running motor stops, the hydraulic control mouth of pilot operated directional control valve 233 is connected to the first brake chamber.
In other embodiments, if travelling control unit is braked by gas control mode, the control of linkage controlling valve Mouth or air control port.In other embodiments, the control terminal of linkage controlling valve may be Electromagnetic Control end, the electricity Magnetic control end can control linkage controlling valve according to the signal at the Electromagnetic Control end of brake valve, to execute linkage controlling valve Corresponding function.
As shown in Figures 2 and 3, in the present embodiment, the first brake chamber is the small chamber of each brake, and the second brake chamber is each system The big chamber of dynamic device, it is big intracavitary equipped with tripping spring.Under the control of brake valve, when the small chamber of brake is connected to oil extraction, system Spring of moving stretches out the piston rod of brake, brakes corresponding running motor.It is small when the small chamber of brake is connected to brake oil Intracavitary brake oil can push tripping spring to compress, and the piston rod retraction of brake is detached from running motor.
Pilot operated directional control valve 233 includes the first hydraulic fluid port, the second hydraulic fluid port and third hydraulic fluid port, the first hydraulic fluid port and vehicle of pilot operated directional control valve The oil inlet P 1 of bridge control valve 130 connects, and the second hydraulic fluid port controls working barrel by the hydraulic fluid port P2 and vehicle bridge of travel control valve 230 111 outlet P connection, third hydraulic fluid port are connect with the oil discharge outlet T2 of travel control valve 230.Hydraulic control mouth controls pilot operated directional control valve 233 Switch between the first valve position and the second valve position, in the first valve position of pilot operated directional control valve 233, the first hydraulic fluid port and the second hydraulic fluid port connect Lead to and the disconnection of third hydraulic fluid port, in the second valve position, the first hydraulic fluid port is connected to third hydraulic fluid port and the second hydraulic fluid port disconnects.
When walking chassis is under non-enforcement state, the working principle of walking chassis control system is as follows:
The vehicle bridge control oil suction from fuel tank of working barrel 111 is then exhausted from high pressure liquid pressure oil, reaches the first overflow valve 121.First Overflow valve 121 can control the maximum pressure of the outlet P of vehicle bridge control working barrel 111.Then hydraulic oil then flows into liquid controlled reversing Valve 233.Whether pilot operated directional control valve 233 controls in vehicle bridge control unit has pressure oil to control each vehicle bridge executing agency movement.
234 both ends control port of brake oil delivery valve respectively connected the both ends of the first enclosed variable pump 211, and brake oil supplies The brake oil of the oil outlet supply of oil valve 234 is the oil return of the low pressure of the first enclosed variable pump 211, and third overflow valve always 235 limitations reach the pressure of the brake oil of left brake valve 231 and right brake valve 232.Left brake valve 231 and right brake valve 232 are controlled The brake oil oil circuit connecting with the small chamber of brake is made, for the opening and closing of control brake.
Walking chassis is not exercised at this time, the electromagnet of left brake valve 231 must not electricity, spool is in Fig. 2 and shown in Fig. 3 Right position, the oil discharge outlet T2 of the small chamber connection travel control valve 230 of brake, no pressure, so the big chamber spring of brake pushes piston Bar brakes motor, and walking chassis is static not to be exercised.
The small chamber of brake is connected to the hydraulic control mouth of pilot operated directional control valve 233, so the spool of pilot operated directional control valve 233 does not move, It is now in right position as shown in Figures 2 and 3, the hydraulic fluid of the outlet P of vehicle bridge control working barrel 111 can not pass through liquid controlled reversing Valve 233 and reach vehicle bridge control valve 130, so the first solenoid directional control valve 131, the second solenoid directional control valve 132, third electromagnetism at this time Which kind of electric signal no matter 133 electromagnet of reversal valve receive, and each steering cylinder and each expand in bridge oil cylinder all push away without enough pressure The movement of its cylinder rod is moved, is unable to complete and expands bridge and/or go to action.
When walking chassis is under driving status, the working principle of walking chassis control system is as follows:
Hydraulic oil controls working barrel 111 by vehicle bridge and reaches the first overflow valve 121, and the first overflow valve 121 can limit vehicle Bridge controls the maximum pressure of the outlet P of working barrel 111, and then hydraulic oil then flows into pilot operated directional control valve 233.
Because walking chassis is under driving status at this time, the electromagnet of left brake valve 231 obtains electric, its spool is pushed to move right Move to left position, so that the oil outlet of the small chamber connection brake oil delivery valve 234 of brake has pressure, so the small chamber liquid of brake Hydraulic fluid pressure overcomes the spring force of big intracavitary tripping spring, pushes the piston rod of brake to bounce back, opens brake, walks Chassis can exercise.
The small chamber of brake is connected to the hydraulic control mouth of pilot operated directional control valve 233, and the spool of pilot operated directional control valve 233 moves right commutation To left position, hydraulic oil reaches vehicle bridge control valve 130 by pilot operated directional control valve 233, so at this time can be by giving the first electromagnetism Reversal valve 131, the second solenoid directional control valve 132, third solenoid directional control valve 133 the corresponding electric signal of electromagnet, control first electricity The hydraulic oil direction of magnetic reversal valve 131, the second solenoid directional control valve 132, third solenoid directional control valve 133 reaches hydraulic oil corresponding The first corresponding chambers for executing oil cylinder, push cylinder rod to execute corresponding actions, expand bridge and/or go to action to realize.
The embodiment of the present disclosure also provides a kind of engineering machinery comprising the walking chassis of walking chassis and the embodiment of the present disclosure Control system.Engineering machinery can be for example the various special vehicles with walking chassis, self-travel type aerial work platform etc..
The engineering machinery of the disclosure has the advantages that the walking chassis control system of the disclosure.For example, in self-travel type height The walking chassis control system that the disclosure is used in working platform, forbid carrying out under walking chassis halted state turning to and/ Or expand bridge movement, it can protect self-travel type aerial work platform, improve the security performance of self-travel type aerial work platform.
From the above description, it can be seen that the embodiment of the present disclosure is coupled by vehicle bridge control unit and travelling control unit, use Pilot operated directional control valve detects the state of brake and the driving status of walking chassis, determines vehicle according to the driving status of walking chassis Bridge turns to and/or expands whether bridge movement can execute, and being able to achieve cannot be turned in the case where walking chassis is in halted state The control for expanding bridge movement can only be carried out turning to the control for expanding bridge movement in walking chassis walking process, be avoided some unreasonable Operation, extend the service life of walking chassis, in order to avoid cause unnecessary loss.
Finally it should be noted that: above embodiments are only to illustrate the technical solution of the disclosure rather than its limitations;To the greatest extent Pipe is described in detail the disclosure referring to preferred embodiment, it should be understood by those ordinary skilled in the art that: still It can modify to the specific embodiment of the disclosure or some technical features can be equivalently replaced;Without departing from this public affairs The spirit of technical solution is opened, should all be covered in the claimed technical proposal scope of the disclosure.

Claims (10)

1. a kind of walking chassis control system characterized by comprising
Vehicle bridge control unit, including vehicle bridge control working barrel (111), vehicle bridge executing agency and vehicle bridge control valve (130), the vehicle Bridge executing agency is used to drive the vehicle bridge of walking chassis to turn to and/or expand bridge, and the vehicle bridge control valve (130) controls the vehicle bridge The oil condition of working barrel (111) Xiang Suoshu vehicle bridge executing agency is controlled to control the vehicle bridge executing agency movement;With
Travelling control unit, it is described for driving the walking mechanism walking and stopping of the walking chassis, including linkage controlling valve Travelling control unit is coupled with the vehicle bridge control unit by the linkage controlling valve, controls institute in the travelling control unit When stating walking mechanism walking, the linkage controlling valve executes the vehicle bridge control valve (130) to the vehicle bridge executing agency Control, when the travelling control unit controls walking mechanism stopping, the linkage controlling valve makes the vehicle bridge control valve (130) control to the vehicle bridge executing agency is lost.
2. walking chassis control system according to claim 1, which is characterized in that the linkage controlling valve passes through control institute Whether the oil inlet (P1) for stating vehicle bridge control valve (130) is connected to described in control with the outlet of vehicle bridge control working barrel (111) Vehicle bridge control valve (130) executes or loses the control to the vehicle bridge executing agency.
3. walking chassis control system according to claim 2, which is characterized in that the linkage controlling valve is connected to described Vehicle bridge controls between the outlet (P) of working barrel (111) and the oil inlet (P1) of the vehicle bridge control valve (130), wherein
When the travelling control unit controls walking mechanism walking, the linkage controlling valve controls the vehicle bridge and controls work The outlet (P) for pumping (111) is connected to the oil inlet (P1) of the vehicle bridge control valve (130);
When the travelling control unit controls walking mechanism stopping, the linkage controlling valve controls the vehicle bridge and controls work The oil inlet (P1) of the outlet (P) and the vehicle bridge control valve (130) that pump (111) disconnects.
4. walking chassis control system according to claim 3, which is characterized in that control institute in the travelling control unit When stating walking mechanism stopping, the linkage controlling valve controls the outlet (P) of vehicle bridge control working barrel (111) and oil extraction connects It is logical.
5. walking chassis control system according to claim 2, which is characterized in that
The travelling control unit includes running motor and brake, and the brake includes the first brake chamber and the second braking The Fluid pressure of chamber, first brake chamber controls whether the running motor stops;
The linkage controlling valve includes the control mouth being connected to first brake chamber.
6. walking chassis control system according to claim 5, which is characterized in that the linkage controlling valve is liquid controlled reversing Valve (233), the control mouth are the hydraulic control mouth of the pilot operated directional control valve (233).
7. walking chassis control system according to claim 5, which is characterized in that the linkage controlling valve includes the first oil Mouth, the second hydraulic fluid port and third hydraulic fluid port, the oil inlet of the first hydraulic fluid port of the pilot operated directional control valve and the vehicle bridge control valve (130) (P1) it connects, the second hydraulic fluid port is connect with the outlet (P) of vehicle bridge control working barrel (111), and third hydraulic fluid port is connected to oil extraction, institute It states the control mouth control linkage controlling valve to switch between the first valve position and the second valve position, the first of the linkage controlling valve Valve position, the first hydraulic fluid port and the connection of the second hydraulic fluid port and third hydraulic fluid port disconnects, in the second valve position of the linkage controlling valve, first Hydraulic fluid port is connected to third hydraulic fluid port and the second hydraulic fluid port disconnects.
8. walking chassis control system according to claim 1, which is characterized in that the vehicle bridge control unit includes multiple The vehicle bridge executing agency, the multiple vehicle bridge executing agency include steering cylinder and/or expansion bridge oil cylinder.
9. a kind of engineering machinery, the walking chassis control system including walking chassis and for controlling the walking chassis is special Sign is that the walking chassis control system of the walking chassis is according to walking chassis described in any item of the claim 1 to 8 Control system.
10. engineering machinery according to claim 9, which is characterized in that the engineering machinery is self-travel type high altitude operation Platform.
CN201811483728.9A 2018-12-05 2018-12-05 Walking chassis control system and engineering machinery Active CN109441899B (en)

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