CN110303886A - A kind of traveling control device for crawler-type harvester - Google Patents
A kind of traveling control device for crawler-type harvester Download PDFInfo
- Publication number
- CN110303886A CN110303886A CN201910718403.2A CN201910718403A CN110303886A CN 110303886 A CN110303886 A CN 110303886A CN 201910718403 A CN201910718403 A CN 201910718403A CN 110303886 A CN110303886 A CN 110303886A
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- Prior art keywords
- harvester
- traveling
- controlling
- control device
- controller
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- 210000000635 valve cell Anatomy 0.000 claims abstract description 16
- 239000000523 sample Substances 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 10
- 239000012530 fluid Substances 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention relates to mechanical automatically controlled technical field more particularly to a kind of traveling control devices and system for crawler-type harvester；Traveling control device includes: a traveling controller, and traveling controller is used to control the walking of harvester；One solenoid-operated proportional valve cell, solenoid-operated proportional valve cell connects traveling controller, for controlling the speed of service of harvester；One electric control handle unit, electric control handle unit connects traveling controller, for controlling corresponding hydraulic port according to the speed of harvester.Above-mentioned technical proposal is monitored the utility model has the advantages that being acted using traveling controller to the speed of travel of harvester and operator's real-time operation, and the flow by adjusting current control hydraulic valve opening, to achieve the purpose that regulation speed；Traveling controller is in time handled emergency, realizes electric controlling stepless variable speed, can save complicated mechanical structure.
Description
Technical field
The present invention relates to mechanical automatically controlled technical field more particularly to a kind of travelling control dresses for crawler-type harvester
It sets.
Background technique
The most of hydraulic continuously variable transmission used on country's crawler-type harvester is using two mechanical push rods at present
The adjusting flow for controlling both sides crawler belt realizes that walking, the course changing control of vehicle, handle control harvester forward-reverse speed.
In this way, harvester need using both hands control speed, then with hand control handle operation when it is very inconvenient；Have simultaneously few
Part of the manufacturer controls variable speed flow using mechanical foot pedal to realize speed control, but mechanical part production is complicated, therefore
Barrier rate is high, and can not acquire the working condition of walking, cannot achieve stepless shift function.
Summary of the invention
For the above-mentioned problems in the prior art, a kind of travelling control dress for crawler-type harvester is now provided
It sets.
Specific technical solution is as follows:
A kind of traveling control device for crawler-type harvester, comprising:
One traveling controller, the traveling controller are used to control the walking of harvester；
One solenoid-operated proportional valve cell, the solenoid-operated proportional valve cell connects the traveling controller, for controlling harvester
The speed of service；
One electric control handle unit, the electric control handle unit connects the traveling controller, for the speed according to harvester
Degree is to control corresponding hydraulic port.
Preferably, the traveling controller includes a plurality of controller data interfaces, each controller data interface
For adjusting the openings of sizes of hydraulic fluid port.
Preferably, the solenoid-operated proportional valve cell includes a plurality of electromagnetic proportional valves,
Each electromagnetic proportional valve connects each controller data interface.
Preferably, a plurality of electromagnetic proportional valves include:
One it is left front connect the traveling controller into solenoid valve, for controlling the left forward travel of harvester；
One right advance solenoid valve, connects the traveling controller, for controlling the right forward travel of harvester；
One it is left back move back solenoid valve, the traveling controller is connected, for controlling the left setback of harvester；
One right retrogressing solenoid valve, connects the traveling controller, for controlling the right setback of harvester.
Preferably, the electric control handle unit includes:
One forward-reverse handle connects the activity control device, the movement of the forward-reverse for controlling harvester；
One steering tiller connects the activity control device, for controlling divertical motion.
Preferably, the traveling control device further includes a revolution speed sensing unit, described in the revolution speed sensing unit connection
Traveling controller, for controlling the revolving speed of harvester.
Preferably, the revolution speed sensing unit includes:
One left speed probe, the left speed probe connects the traveling controller, for controlling a left side for harvester
The size of revolving speed；
One right speed probe, the right speed probe connects the traveling controller, for controlling the right side of harvester
The size of revolving speed.
Above-mentioned technical proposal the utility model has the advantages that being grasped in real time using traveling controller to the speed of travel of harvester and operator
Work movement is monitored, and the flow by adjusting current control hydraulic valve opening, to achieve the purpose that regulation speed；Walking
Controller is in time handled emergency, realizes electric controlling stepless variable speed, can save complicated mechanical structure.
Detailed description of the invention
With reference to appended attached drawing, more fully to describe the embodiment of the present invention.However, appended attached drawing be merely to illustrate and
It illustrates, and is not meant to limit the scope of the invention.
Fig. 1 is a kind of functional block diagram of the embodiment of the traveling control device for crawler-type harvester of the present invention；
Fig. 2 is a kind of steering walking signal of embodiment of the traveling control system for crawler-type harvester of the present invention
Figure；
Traveling controller 1；Solenoid-operated proportional valve cell 2；It is left front into solenoid valve 21；Right advance solenoid valve 22；It is left back to move back electromagnetism
Valve 23；Right retrogressing solenoid valve 24；Electric control handle unit 3；Forward-reverse handle 31；Steering tiller 32；Revolution speed sensing unit 4；It is left
Speed probe 41；Right speed probe 42.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
A kind of traveling control device for crawler-type harvester, comprising:
One traveling controller 1, traveling controller 1 are used to control the walking of harvester；
One solenoid-operated proportional valve cell 2, solenoid-operated proportional valve cell 2 connects traveling controller 1, for controlling the operation of harvester
Speed；
One electric control handle unit 3, electric control handle unit 3 connects traveling controller 1, for being controlled according to the speed of harvester
Make corresponding hydraulic port.
Specifically, as shown in Figure 1, in the technical program, using traveling controller 1 to the speed of travel and operation of harvester
Person's real-time operation movement is monitored, and straight by the size of current that manipulation electric control handle unit 3 adjusts solenoid-operated proportional valve cell 2
The flow of control hydraulic port is connect, to achieve the purpose that control harvester speed, realizes electric controlling stepless variable speed, is overcome so existing
There is the defect problem of hydraulic continuously variable transmission Mechanical course in technology.
In a kind of preferably embodiment, traveling controller 1 includes a plurality of controller data interfaces, each controller number
According to interface, for adjusting the openings of sizes of hydraulic fluid port；Controller data interface can there are many plant data interface type, such as PWM
(Pulse Width Modulation, pulse width modulating technology) mouth, in this way, it is PWM mouthfuls each, for adjusting the opening of hydraulic fluid port
Size.
In a kind of preferably embodiment, solenoid-operated proportional valve cell 2 includes a plurality of electromagnetic proportional valves,
Each electromagnetic proportional valve connects each controller data interface.
Specifically, as shown in connection with fig. 1, traveling controller 1 includes a plurality of controller data interfaces, each controller data
Interface, for adjusting the openings of sizes of hydraulic fluid port.
Such as PWM (Pulse Width Modulation, pulse width modulating technology) mouth, in this way, it is PWM mouthfuls each, it uses
In the openings of sizes for adjusting hydraulic fluid port.
Further, solenoid-operated proportional valve cell 2 includes a plurality of electromagnetic proportional valves, and each electromagnetic proportional valve connects each control
Device data-interface processed, then traveling controller 1 can be adjusted by controlling each electromagnetic proportional valve of solenoid-operated proportional valve cell 2 to control
The flow of oil saving port and then the speed for controlling harvester.
In a kind of preferably embodiment, a plurality of electromagnetic proportional valves include:
One is left front into solenoid valve 21, traveling controller 1 is connected, for controlling the left forward travel of harvester；
One right advance solenoid valve 22 connects traveling controller 1, for controlling the right forward travel of harvester；
One it is left back move back solenoid valve 23, traveling controller 1 is connected, for controlling the left setback of harvester；
One right retrogressing solenoid valve 24 connects traveling controller 1, for controlling the right setback of harvester.
Specifically, as shown in connection with fig. 1, electromagnetic proportional valve include it is left front into solenoid valve 21, right advance solenoid valve 22, left back move back
Solenoid valve 23 and right retrogressing solenoid valve 24, this four solenoid valves all connect traveling controller 1, and then control the movement of harvester,
Such as the left front left forward travel for being used to control harvester into solenoid valve 21；Right advance solenoid valve 22 connects traveling controller 1,
For controlling the right forward travel of harvester；It is left back to move back solenoid valve 23, traveling controller 1 is connected, for controlling a left side for harvester
Setback；Right retrogressing solenoid valve 24 connects traveling controller 1, for controlling the right setback of harvester.
When the left back regression of harvester is walked, electric control handle unit 3 is controlled, one first control of the transmission of electric control handle unit 3 refers to
It enables to traveling controller 1, traveling controller 1 receives the first control instruction, and traveling controller 1 carries out information processing, and sends one
Second control instruction does corresponding processing to the left back solenoid valve 23 that moves back, and the adjusting of size is carried out to hydraulic valve port, to realize a left side
Retreat the function of walking.
In a kind of preferably embodiment, electric control handle unit 3 includes:
One forward-reverse handle 31, connection activation controller 1, the movement of the forward-reverse for controlling harvester；
One steering tiller 32, connection activation controller 1, for controlling divertical motion.
Specifically, referring to figs. 1 and 2, in the prior art, pushing mechanical valve by hydraulic push rod, control port is opened
Mouthful, and then the speed of travel of harvester is controlled, but since mechanical stability is poor, can only generally be divided into four gears, control is steady
It is qualitative, it cannot achieve variable speed.For the shortcomings and deficiencies occurred in the prior art, improve in the technical scheme,
Specifically, being set as electric control handle unit 3,3 signal of electric control handle unit accesses traveling controller 1, judges current target speed
Degree, corresponding initial hydraulic port size.
Further, the maximum value and minimum value of the initialization of activity control device 1 calibration hydraulic fluid port size, according to electric control handle list
Member 3 judges that current goal hydraulic valve is open, and carries out preliminary electric current output；
Further, during harvester straight-line travelling, PID walking is carried out by the velocity measuring of both sides crawler belt and is adjusted
Section carries out choosing the corresponding speed adjusting of suitable numerical value progress by different speed differences；
Further, when harvester is when being turned to, according to the operation of electric control handle unit 3, to the progress of hydraulic valve port
Adjust, according to the speed difference of the crawler belt on harvester both sides realize turn to function, such as can be realized simultaneously pivot stud and
The function that least radius turns to.
Further, for example, when harvester turns to, electric control handle unit 3, the transmission of electric control handle unit 3 one the are controlled
For one control instruction to traveling controller 1, traveling controller 1 receives the first control instruction, and traveling controller 1 carries out information processing,
And send one second control instruction and do corresponding processing to solenoid-operated proportional valve cell 2, the adjusting of size, root are carried out to hydraulic valve port
The function of realizing the function of turning to according to the speed difference of both sides crawler belt, while thering is pivot stud and least radius to turn to.
In a kind of preferably embodiment, traveling control device further includes a revolution speed sensing unit 4, revolution speed sensing unit 4
Traveling controller 1 is connected, for controlling the revolving speed of harvester.
In a kind of preferably embodiment, revolution speed sensing unit 4 includes:
One left speed probe 41, left speed probe 41 connect traveling controller 1, for controlling the left-hand rotation speed of harvester
Size；
One right speed probe 42, right speed probe 42 connect traveling controller 1, for controlling the right-hand rotation speed of harvester
Size.
Specifically, as shown in connection with fig. 1, revolution speed sensing unit 4 includes left speed probe 41 and right speed probe 42, this
Two speed probes are both connected to traveling controller 1, for controlling the revolving speed size of harvester；For example, left speed probe
41, left speed probe 41 connects traveling controller 1, the size of the left-hand rotation speed for controlling harvester；Right speed probe 42,
Right speed probe 42 connects traveling controller 1, the size of the right-hand rotation speed for controlling harvester.
Above-mentioned technical proposal the utility model has the advantages that being grasped in real time using traveling controller to the speed of travel of harvester and operator
Work movement is monitored, and the flow by adjusting current control hydraulic valve opening, to achieve the purpose that regulation speed；Walking
Controller is in time handled emergency, realizes electric controlling stepless variable speed, can save complicated mechanical structure.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (7)
1. a kind of traveling control device for crawler-type harvester, which is characterized in that the traveling control device includes:
One traveling controller, the traveling controller are used to control the walking of harvester；
One solenoid-operated proportional valve cell, the solenoid-operated proportional valve cell connects the traveling controller, for controlling the fortune of harvester
Scanning frequency degree；
One electric control handle unit, the electric control handle unit connect the traveling controller, for according to the speed of harvester come
Control corresponding hydraulic port.
2. being used for the traveling control device of crawler-type harvester according to claim 1, which is characterized in that the travelling control
Device includes a plurality of controller data interfaces, and each controller data interface is used to adjust the openings of sizes of hydraulic fluid port.
3. being used for the traveling control device of crawler-type harvester according to claim 2, which is characterized in that the solenoid-operated proportional
Valve cell includes a plurality of electromagnetic proportional valves,
Each electromagnetic proportional valve connects each controller data interface.
4. being used for the traveling control device of crawler-type harvester according to claim 1, which is characterized in that a plurality of electricity
Magnetic proportioning valve includes:
One it is left front connect the traveling controller into solenoid valve, for controlling the left forward travel of harvester；
One right advance solenoid valve, connects the traveling controller, for controlling the right forward travel of harvester；
One it is left back move back solenoid valve, the traveling controller is connected, for controlling the left setback of harvester；
One right retrogressing solenoid valve, connects the traveling controller, for controlling the right setback of harvester.
5. being used for the traveling control device of crawler-type harvester according to claim 1, which is characterized in that the electric control handle
Unit includes:
One forward-reverse handle connects the activity control device, the movement of the forward-reverse for controlling harvester；
One steering tiller connects the activity control device, for controlling divertical motion.
6. being used for the traveling control device of crawler-type harvester according to claim 1, which is characterized in that the travelling control
Device further includes a revolution speed sensing unit, and the revolution speed sensing unit connects the traveling controller, for controlling harvester
Revolving speed.
7. being used for the traveling control device of crawler-type harvester according to claim 6, it is characterised in that the revolution speed sensing
Unit includes:
One left speed probe, the left speed probe connect the traveling controller, for controlling the left-hand rotation speed of harvester
Size；
One right speed probe, the right speed probe connect the traveling controller, for controlling the right-hand rotation speed of harvester
Size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910718403.2A CN110303886A (en) | 2019-08-05 | 2019-08-05 | A kind of traveling control device for crawler-type harvester |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910718403.2A CN110303886A (en) | 2019-08-05 | 2019-08-05 | A kind of traveling control device for crawler-type harvester |
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| CN110303886A true CN110303886A (en) | 2019-10-08 |
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| CN201910718403.2A Pending CN110303886A (en) | 2019-08-05 | 2019-08-05 | A kind of traveling control device for crawler-type harvester |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111043299A (en) * | 2019-12-17 | 2020-04-21 | 山东潍坊鲁中拖拉机有限公司 | Power reversing control system and control method thereof |
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| CN101942793A (en) * | 2010-08-25 | 2011-01-12 | 徐州万邦重型机械科技有限公司 | Device for intelligently controlling travelling direction of paver |
| CN104898687A (en) * | 2014-08-21 | 2015-09-09 | 宁波市鄞州麦谷农业科技有限公司 | Automatic driving system of crawler type combined harvester and control method |
| CN105378189A (en) * | 2013-07-12 | 2016-03-02 | 卡特彼勒Sarl | Pilot circuit for working vehicle |
| CN105540492A (en) * | 2015-12-10 | 2016-05-04 | 中国船舶重工集团公司第七一三研究所 | Omnidirectional static forklift control system |
| CN205856982U (en) * | 2016-06-08 | 2017-01-04 | 宿迁学院 | Intelligent control system for paving machine |
| CN210652690U (en) * | 2019-08-05 | 2020-06-02 | 上海宏英智能科技有限公司 | Walking control device for crawler-type harvester |
-
2019
- 2019-08-05 CN CN201910718403.2A patent/CN110303886A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101942793A (en) * | 2010-08-25 | 2011-01-12 | 徐州万邦重型机械科技有限公司 | Device for intelligently controlling travelling direction of paver |
| CN105378189A (en) * | 2013-07-12 | 2016-03-02 | 卡特彼勒Sarl | Pilot circuit for working vehicle |
| CN104898687A (en) * | 2014-08-21 | 2015-09-09 | 宁波市鄞州麦谷农业科技有限公司 | Automatic driving system of crawler type combined harvester and control method |
| CN105540492A (en) * | 2015-12-10 | 2016-05-04 | 中国船舶重工集团公司第七一三研究所 | Omnidirectional static forklift control system |
| CN205856982U (en) * | 2016-06-08 | 2017-01-04 | 宿迁学院 | Intelligent control system for paving machine |
| CN210652690U (en) * | 2019-08-05 | 2020-06-02 | 上海宏英智能科技有限公司 | Walking control device for crawler-type harvester |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111043299A (en) * | 2019-12-17 | 2020-04-21 | 山东潍坊鲁中拖拉机有限公司 | Power reversing control system and control method thereof |
| CN111043299B (en) * | 2019-12-17 | 2021-07-06 | 山东潍坊鲁中拖拉机有限公司 | Power reversing control system and control method thereof |
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