CN111637105A - Hydraulic control system and control method for ground clearance and wheel track variable walking platform - Google Patents
Hydraulic control system and control method for ground clearance and wheel track variable walking platform Download PDFInfo
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- CN111637105A CN111637105A CN202010497063.8A CN202010497063A CN111637105A CN 111637105 A CN111637105 A CN 111637105A CN 202010497063 A CN202010497063 A CN 202010497063A CN 111637105 A CN111637105 A CN 111637105A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
- A01B71/02—Setting or adjusting mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
- F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators
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- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
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- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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Abstract
A hydraulic control system of a walking platform with variable ground clearance and wheel track belongs to the technical field of agricultural equipment, and comprises an oil drain valve, an oil tank, a one-way variable hydraulic pump, an air filter, a liquid temperature liquid level meter, an overflow valve, a pressure gauge, a one-way valve, a front wheel hydraulic motor, a speed regulating valve, a rear wheel hydraulic motor, a three-position four-way electromagnetic valve, a height regulating hydraulic cylinder, a hydraulic control one-way valve, a width regulating hydraulic cylinder, a flow distributing and collecting valve and a return oil filter, and is controlled by a plurality of three-position four-way electromagnetic reversing valves, under the effect of the unidirectional variable hydraulic pump, the synchronous control of the hydraulic cylinder and the hydraulic motor can be realized, the independent control of the hydraulic cylinder and the hydraulic motor can also be realized, and the unidirectional variable hydraulic pump has the characteristics of flexibility and changeability, so that the cultivation, fertilization, pest control, soil and environment monitoring of crops in different terrain environments can be realized, the labor cost can be further reduced, and the working efficiency can be improved.
Description
Technical Field
The invention belongs to the technical field of agricultural equipment, relates to a hydraulic control system and a control method for an agricultural operation platform, and particularly relates to a hydraulic control system for a ground clearance and wheel track variable walking platform and a control method thereof.
Background
With the increasing importance of the country on agricultural production, various agricultural machines emerge endlessly, and the agricultural machine fundamentally changes the mode of rural production activities and promotes the improvement of agricultural production efficiency.
The cultivation of crops, fertilization, plant diseases and insect pests prevention and cure, soil and environmental monitoring, results etc. still lean on the manpower to go on under the different terrain environment, and is inefficient, and the cost of labor is high, and a variable walking platform in ground clearance and wheel base is urgently needed, because this walking platform is hydraulic control, need a hydraulic control system, make this walking platform can satisfy the design needs, make cultivation, fertilization, plant diseases and insect pests prevention and cure, soil and environmental monitoring, the results of crops can realize on same moving platform under the different terrain environment, reduce the cost of labor, improve work efficiency.
Disclosure of Invention
The invention aims to solve the problems that the cultivation, fertilization, pest control, soil and environment monitoring, harvesting and the like of crops are still carried out by manpower under different terrain environments at present, the efficiency is low, and the labor cost is high, and provides a hydraulic control system of a walking platform with variable ground clearance and wheel track and a control method thereof.
The technical scheme of the invention is as follows: the utility model provides a variable walking platform hydraulic control system of ground clearance and wheel base which characterized in that: the hydraulic control system consists of an oil drain valve, an oil tank, a one-way variable hydraulic pump, an air filter, a liquid temperature liquid level meter, an overflow valve, a pressure gauge, a one-way valve, a front wheel hydraulic motor, a speed regulating valve, a rear wheel hydraulic motor, a three-position four-way electromagnetic valve, a height regulating hydraulic cylinder, a hydraulic control one-way valve, a width regulating hydraulic cylinder, a flow dividing and collecting valve and a backflow oil filter; the air filter, the liquid temperature liquid level meter and the oil drain valve are arranged in the oil tank, the one-way variable hydraulic pump is connected with the oil tank through an oil absorption and filtration device, an oil outlet of the one-way variable hydraulic pump is connected with an overflow valve, the pressure gauge is connected with the overflow valve, and an oil outlet of the overflow valve is respectively connected with a first one-way valve on the first main oil way, a second one-way valve on the second main oil way and a third one-way valve on the third main oil way; the whole hydraulic control system consists of three main oil ways;
the first main oil way is divided into two branch ways, and each oil dividing way consists of a three-position four-way first electromagnetic valve, a front wheel hydraulic motor, a speed regulating valve, a front wheel hydraulic motor and a rear wheel hydraulic motor; the working oil port A of the three-position four-way first electromagnetic valve is connected with the oil inlet of the speed regulating valve, the oil outlet of the speed regulating valve is connected with the oil inlet of the front wheel hydraulic motor, the oil outlet of the front wheel hydraulic motor is connected with the working oil port B of the three-position four-way first electromagnetic valve, the oil return port T of the three-position four-way first electromagnetic valve directly returns to the oil tank, and the connecting structure of the rear wheel hydraulic motor is the same as that of the front wheel hydraulic motor;
the second main oil way is connected with four branches, each branch consists of a height adjusting hydraulic cylinder, a three-position four-way second electromagnetic valve and two hydraulic control one-way valves, a working oil port A of the three-position four-way second electromagnetic valve is connected with an oil inlet of the hydraulic control one-way valve, an oil outlet of the hydraulic control one-way valve is connected with a rodless cavity of the height adjusting hydraulic cylinder, a rod cavity of the height adjusting hydraulic cylinder is connected with an oil outlet of the hydraulic control one-way valve, an oil inlet of the hydraulic control one-way valve in a loop is connected with a working oil port B of the three-position four-way second electromagnetic valve, and an oil outlet T of the three-position four-way second electromagnetic;
the third main oil line consists of a width adjusting hydraulic cylinder, a three-position four-way third electromagnetic valve and a flow distributing and collecting valve; the working oil port A of the three-position four-way third electromagnetic valve is connected with the oil inlet of the flow distributing and collecting valve, the oil outlet of the flow distributing and collecting valve is connected with the rodless cavity of the width adjusting hydraulic cylinder, the rod cavity of the width adjusting hydraulic cylinder is connected with the working oil port B of the three-position four-way third electromagnetic valve, and the oil outlet T of the three-position four-way third electromagnetic valve directly returns to the oil tank.
Overflow valves are connected among the first one-way valve, the second one-way valve, the third one-way valve and the one-way variable hydraulic pump, and the one-way variable hydraulic pump is connected with an oil tank through an oil absorption oil filter.
Two front wheel hydraulic motors and two rear wheel hydraulic motors in the first main oil way are arranged in parallel, and each hydraulic motor is connected with a working oil port A of the three-position four-way first electromagnetic valve through a speed regulating valve.
The height adjusting hydraulic cylinders are respectively connected with the three-position four-way second electromagnetic valves, and an oil return path and an oil inlet path of each height adjusting hydraulic cylinder are respectively provided with a hydraulic control one-way valve.
The rodless cavity of the width adjusting hydraulic cylinder is connected with an oil outlet of the flow distributing and collecting valve, a working oil port A of the three-position four-way third electromagnetic valve is connected with an oil inlet of the flow distributing and collecting valve, and a rod cavity of the width adjusting hydraulic cylinder is connected with a working oil port B of the three-position four-way third electromagnetic valve.
The three-position four-way first electromagnetic valve and the three-position four-way third electromagnetic valve have O-shaped median functions, and the three-position four-way second electromagnetic valve has Y-shaped median functions.
And oil return ports T of the three-position four-way first electromagnetic valve, the three-position four-way second electromagnetic valve and the three-position four-way third electromagnetic valve are connected with an oil tank through an oil return oil filter.
A control method of a hydraulic control system of a ground clearance and wheel track variable walking platform is characterized by comprising the following steps:
(1) when the first main oil way works, the rotating speed of the hydraulic motor can be controlled under the action of the speed regulating valve, when the three-position four-way electromagnetic valve is electrified, the hydraulic motor rotates to drive the walking platform to move, and under the action of a slide valve of the three-position four-way electromagnetic valve, the forward rotation and the reverse rotation of the hydraulic motor are realized;
(2) when the second oil way works, the oil inlet way and the oil outlet way of the height adjusting hydraulic cylinder are both connected with hydraulic control one-way valves, the piston rod can advance and retreat under the action of the three-position four-way solenoid valve, the middle position of the three-position four-way solenoid valve connected with the height adjusting hydraulic cylinder is Y-shaped, the working oil ports A and B are communicated with the oil return port T, the piston cylinder can return to the middle position after moving to the designated position, and the pressure can be quickly relieved, so that the piston rod can accurately stop at the required position and cannot slide due to the change of external load; the four height adjusting hydraulic cylinders work on the same principle and can work independently or simultaneously, when a three-position four-way electromagnetic valve with a Y-shaped middle position function is electrified, a piston rod of each height adjusting hydraulic cylinder moves, when the height adjusting hydraulic cylinder moves to a specified position, the three-position four-way electromagnetic valve is powered off, a sliding valve returns to the middle position, a hydraulic control one-way valve closes a valve port, and the piston rod stops moving immediately;
(3) when the third main oil way works, the oil way flows into an oil inlet of a flow dividing and collecting valve through a working oil port A of a three-position four-way solenoid valve, pressure can be evenly distributed to two width adjusting hydraulic cylinders under the flow dividing effect of the flow dividing and collecting valve, the two hydraulic cylinders work synchronously, and when a piston rod needs to move reversely, the flow dividing and collecting valve serves as a flow dividing effect, so that the flow of oil at the outlet of the piston rod is ensured to be the same, and the hydraulic cylinders can still work synchronously;
(4) the executive elements on the three main oil paths can work simultaneously or independently under the action of the three-position four-way electromagnetic valve.
The invention has the beneficial effects that: the invention provides a hydraulic control system of a ground clearance and wheel track variable walking platform, which consists of an oil drain valve, an oil tank, a one-way variable hydraulic pump, an air filter, a liquid temperature liquid level meter, an overflow valve, a pressure gauge, a one-way valve, a front wheel hydraulic motor, a speed regulating valve, a rear wheel hydraulic motor, a three-position four-way electromagnetic valve, a height adjusting hydraulic cylinder, a hydraulic control one-way valve, a width adjusting hydraulic cylinder, a flow dividing and collecting valve and a return oil filter, and is controlled by a plurality of three-position four-way electromagnetic reversing valves, under the effect of the unidirectional variable hydraulic pump, the synchronous control of the hydraulic cylinder and the hydraulic motor can be realized, the independent control of the hydraulic cylinder and the hydraulic motor can also be realized, and the unidirectional variable hydraulic pump has the characteristics of flexibility and changeability, so that the cultivation, fertilization, pest control, soil and environment monitoring of crops in different terrain environments can be realized, the labor cost can be further reduced, and the working efficiency can be improved.
Drawings
Fig. 1 is a schematic structural diagram of a hydraulic control system of the present invention.
In the figure: the hydraulic control system comprises an oil drain valve 1, an oil tank 2, a motor 3, a one-way variable hydraulic pump 4, an oil suction oil filter 5, an air filter 6, a liquid temperature liquid level meter 7, an overflow valve 8, a pressure gauge 9, a first one-way valve 10, a second one-way valve 11, a three-position four-way first electromagnetic valve 12, a front wheel hydraulic motor 13, a speed regulating valve 14, a rear wheel hydraulic motor 15, a three-position four-way second electromagnetic valve 16, a height regulating hydraulic cylinder 17, a hydraulic control one-way valve 18, a width regulating hydraulic cylinder 19, a flow dividing and collecting valve 20, a three-position four-way third electromagnetic valve 21, a third one-way.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in figure 1, the hydraulic control system for the ground clearance and wheel track variable walking platform comprises an oil tank 2, a one-way variable hydraulic pump 4, two front wheel hydraulic motors 13 connected in parallel, two rear wheel hydraulic motors 15 connected in parallel, four height adjusting hydraulic cylinders 17 and two width adjusting hydraulic cylinders 19 connected in parallel, wherein an air filter 6, a liquid temperature liquid level meter 7 and an oil drain valve 1 are arranged in the oil tank 2, the whole hydraulic control system is divided into three main oil ways, the one-way variable hydraulic pump 4 is connected with the oil tank 2 through an oil absorption and filtration device 5, an oil outlet of the one-way variable hydraulic pump 4 is connected with an overflow valve 8, a pressure gauge 9 is connected with the overflow valve 8, and an oil outlet of the overflow valve 8 is connected with one- way valves 10, 11 and 22 on the.
As shown in fig. 1, a hydraulic control system for a variable-clearance and variable-wheel-track walking platform is characterized in that a first main oil path is divided into two branches, each branch comprises a three-position four-way electromagnetic valve 12, a front wheel hydraulic motor 13, a speed regulating valve 14 and a rear wheel hydraulic motor 15, the middle position of the three-position four-way electromagnetic valve 12 can be in an O shape, working oil ports A and B, an oil inlet P and an oil return port T are closed in the middle position, the working oil port A of the three-position four-way electromagnetic valve 12 is connected with an oil inlet of the speed regulating valve 14, an oil outlet of the speed regulating valve 14 is connected with one oil port of the hydraulic motor 13, and an executing mechanism can stop at any position in the power-on; the speed regulating valve 14 is formed by serially connecting a throttle valve and a fixed-differential pressure reducing valve, the throttle valve can ensure that the front and back pressure difference is constant, even if the load changes, the speed of an executing element can also be ensured to be stable, when the three-position four-way electromagnetic valve is electrified 12, the hydraulic motor rotates to drive the walking platform to move, the rotating speed of the hydraulic motor can be controlled under the action of the speed regulating valve 14, and the forward rotation and the reverse rotation of the hydraulic motor can be realized under the action of a slide valve of the three-position four-way electromagnetic valve 12.
As shown in fig. 1, a hydraulic control system for a variable ground clearance and wheel track walking platform, wherein a second main oil path comprises four height adjusting hydraulic cylinders 17 and four three-position four-way electromagnetic valves 16, oil inlets P of the three-position four-way electromagnetic valves 16 are respectively connected to oil outlets of check valves 11, working oil ports a of the three-position four-way electromagnetic valves 16 are connected with rodless cavities of the height adjusting hydraulic cylinders 17 through hydraulic control check valves 18, rod cavities of the hydraulic cylinders are connected with working oil ports B of the three-position four-way electromagnetic valves 16 through another hydraulic control check valve 18, and hydraulic control check valves 18 are respectively arranged on an oil inlet path and an oil return path of each height adjusting hydraulic cylinder 17; in order to enable the execution mechanism to accurately and rapidly stop at a designated position for a long time without being influenced by load and dead weight of a piston rod, a three-position four-way electromagnetic valve 16 with a Y-shaped middle position function is connected with a hydraulic control one-way valve 18, a control oil reversing valve of the hydraulic control one-way valve 18 seals a control port and must rapidly release pressure to enable the one-way valve to rapidly close, the one-way valve 18 is closed until the control pressure oil diameter reversing valve releases pressure or loses pressure due to other reasons, in order to improve positioning accuracy, the middle position function of the reversing valve needs to use a Y-shaped structure, when the Y-shaped three-position four-way electromagnetic valve 16 is positioned at the middle position, two working oil ports A and B are connected with an oil tank 2, the hydraulic control oil port of the hydraulic control one-way valve 18 can rapidly release pressure, the hydraulic control one-way valve 18 is immediately closed, the piston rod rapidly stops moving, the positioning accuracy of a height adjusting hydraulic, the oil inlet P is closed, two working oil ports A and B are communicated with an oil return port T, the two working oil ports A and B are connected with an oil return tank 2 through an oil return oil filter 23, when a three-position four-way electromagnetic valve 16 with a Y-shaped middle position function is electrified, a piston rod of a height adjusting hydraulic cylinder 17 moves, when the three-position four-way electromagnetic valve 16 moves to a specified position, the three-position four-way electromagnetic valve 16 is powered off, a slide valve returns to the middle position, a hydraulic control one-way valve 18; when the three-position four-way electromagnetic valve with the Y-shaped middle position function is electrified, the piston rod of the height adjusting hydraulic cylinder moves, when the three-position four-way electromagnetic valve moves to a specified position, the three-position four-way electromagnetic valve is powered off, the sliding valve returns to the middle position, the hydraulic control one-way valve closes the valve port, and the piston rod immediately stops moving; the working principle of the other three height adjusting hydraulic cylinders is the same.
As shown in fig. 1, a hydraulic control system for a variable-clearance and variable-wheel-track walking platform comprises a third main oil path, a third main oil path and a third main oil path, wherein the third main oil path comprises a three-position four-way solenoid valve 21, a flow dividing and collecting valve 20 and two width adjusting hydraulic cylinders 19 connected in parallel, the middle position of the three-position four-way solenoid valve 21 can be in an O shape, a working oil port a of the three-position four-way solenoid valve 21 is connected with an oil inlet of the flow dividing and collecting valve 20, an oil outlet of the flow dividing and collecting valve 20 is connected with a rodless cavity of the width adjusting hydraulic cylinder 19, a rod cavity of the hydraulic cylinder is connected with a working oil port B of the three-position four-way solenoid valve 21; when the three-position four-way electromagnetic valve 21 is electrified, an oil path flows into an oil inlet of the flow dividing and collecting valve 20 through a working oil port A of the three-position four-way electromagnetic valve 21, under the flow dividing effect of the flow dividing and collecting valve 20, pressure can be evenly distributed to the two width adjusting hydraulic cylinders 19, the two hydraulic cylinders work synchronously, when the piston rod needs to move reversely, the flow dividing and collecting valve 20 serves as a flow collecting effect, the flow of oil at the outlet of the piston rod is ensured to be the same, and the hydraulic cylinders can still work synchronously.
Because the hydraulic system of the ground clearance and wheel track variable walking platform is controlled by a plurality of three-position four-way electromagnetic directional valves, the motion of each actuating mechanism is not influenced mutually under the action of the one-way variable hydraulic pump 4, and each actuating mechanism can work simultaneously and independently and respectively, so that the ground clearance and wheel track variable walking platform can work under a multi-terrain environment.
Claims (8)
1. The utility model provides a variable walking platform hydraulic control system of ground clearance and wheel base which characterized in that: the hydraulic control system consists of an oil drain valve (1), an oil tank (2), a one-way variable hydraulic pump (4), an air filter (6), a liquid temperature liquid level meter (7), an overflow valve (8), a pressure gauge (9), a one-way valve, a front wheel hydraulic motor (13), a speed regulating valve (14), a rear wheel hydraulic motor (15), a three-position four-way electromagnetic valve, a height regulating hydraulic cylinder (17), a hydraulic control one-way valve (18), a width regulating hydraulic cylinder (19), a flow distributing and collecting valve (20) and a backflow oil filter (23); the air filter (6), the liquid temperature liquid level meter (7) and the oil drain valve (1) are arranged in the oil tank (2), the one-way variable hydraulic pump (4) is connected with the oil tank (2) through an oil absorption and filtration device (5), the oil outlet of the one-way variable hydraulic pump (4) is connected with an overflow valve (8), the pressure gauge (9) is connected with the overflow valve (8), and the oil outlet of the overflow valve (8) is respectively connected with a first one-way valve (10) on a first main oil way, a second one-way valve (11) on a second main oil way and a third one-way valve (22) on a third main oil way; the whole hydraulic control system consists of three main oil ways;
the first main oil way is divided into two branch ways, and each oil dividing way consists of a three-position four-way first electromagnetic valve (12), a front wheel hydraulic motor (13), a speed regulating valve (14), the front wheel hydraulic motor (13) and a rear wheel hydraulic motor (15); a working oil port A of the three-position four-way first electromagnetic valve (12) is connected with an oil inlet of a speed regulating valve (14), an oil outlet of the speed regulating valve (14) is connected with an oil inlet of the front wheel hydraulic motor (13), an oil outlet of the front wheel hydraulic motor (13) is connected with a working oil port B of the three-position four-way first electromagnetic valve (12), an oil return port T of the three-position four-way first electromagnetic valve (12) directly returns to the oil tank (2), and a connecting structure of the rear wheel hydraulic motor (15) is the same as that of the front wheel hydraulic motor (13);
the second main oil way is connected with four branches, each branch is composed of a height adjusting hydraulic cylinder (17), a three-position four-way second electromagnetic valve (16) and two hydraulic control one-way valves (18), a working oil port A of the three-position four-way second electromagnetic valve (16) is connected with an oil inlet of the hydraulic control one-way valve (18), an oil outlet of the hydraulic control one-way valve (18) is connected with a rodless cavity of the height adjusting hydraulic cylinder (17), a rod cavity of the height adjusting hydraulic cylinder (17) is connected with an oil outlet of the hydraulic control one-way valve (18), an oil inlet of the hydraulic control one-way valve (18) in a loop is connected with a working oil port B of the three-position four-way second electromagnetic valve (16), and an oil outlet T of the three-position four-way second electromagnetic valve (16) directly;
the third main oil line consists of a width adjusting hydraulic cylinder (19), a three-position four-way third electromagnetic valve (21) and a flow distributing and collecting valve (20); the working oil port A of the three-position four-way third electromagnetic valve (21) is connected with the oil inlet of the flow distributing and collecting valve (20), the oil outlet of the flow distributing and collecting valve (20) is connected with the rodless cavity of the width adjusting hydraulic cylinder (19), the rod cavity of the width adjusting hydraulic cylinder (19) is connected with the working oil port B of the three-position four-way third electromagnetic valve (21), and the oil outlet T of the three-position four-way third electromagnetic valve (21) directly returns to the oil tank (2).
2. The hydraulic control system for the ground clearance and wheel track variable walking platform of claim 1, wherein: overflow valves (8) are connected between the first check valve (10), the second check valve (11), the third check valve (22) and the one-way variable hydraulic pump (4), and the one-way variable hydraulic pump (4) is connected with the oil tank (2) through an oil absorption oil filter (5).
3. The hydraulic control system for the ground clearance and wheel track variable walking platform of claim 1, wherein: two front wheel hydraulic motors (13) and two rear wheel hydraulic motors (15) in the first main oil way are arranged in parallel, and each hydraulic motor is connected with a working oil port A of the three-position four-way first electromagnetic valve (12) through a speed regulating valve (14).
4. The hydraulic control system for the ground clearance and wheel track variable walking platform of claim 1, wherein: the height adjusting hydraulic cylinders (17) are respectively connected with the three-position four-way second electromagnetic valve (16), and an oil return path and an oil inlet path of each height adjusting hydraulic cylinder (17) are respectively provided with a hydraulic control one-way valve (18).
5. The hydraulic control system for the ground clearance and wheel track variable walking platform of claim 1, wherein: the rodless cavity of the width adjusting hydraulic cylinder (19) is connected with an oil outlet of the flow distributing and collecting valve (20), a working oil port A of the three-position four-way third electromagnetic valve (21) is connected with an oil inlet of the flow distributing and collecting valve (20), and a rod cavity of the width adjusting hydraulic cylinder (19) is connected with a working oil port B of the three-position four-way third electromagnetic valve (21).
6. The hydraulic control system for the ground clearance and wheel track variable walking platform of claim 1, wherein: the three-position four-way first electromagnetic valve (12) and the three-position four-way third electromagnetic valve (21) have O-shaped median functions, and the three-position four-way second electromagnetic valve (16) has Y-shaped median functions.
7. The hydraulic control system for the ground clearance and wheel track variable walking platform of claim 1, wherein: and oil return ports T of the three-position four-way first electromagnetic valve (12), the three-position four-way second electromagnetic valve (16) and the three-position four-way third electromagnetic valve (21) are connected with the oil tank (2) through an oil return oil filter (23).
8. A control method of a hydraulic control system of a ground clearance and wheel track variable walking platform is characterized in that the hydraulic control system of the ground clearance and wheel track variable walking platform of any one of claims 1 to 7 is used, and the control method comprises the following steps:
(1) when the first main oil way works, the rotating speed of the hydraulic motor can be controlled under the action of the speed regulating valve, when the three-position four-way electromagnetic valve is electrified, the hydraulic motor rotates to drive the walking platform to move, and under the action of a slide valve of the three-position four-way electromagnetic valve, the forward rotation and the reverse rotation of the hydraulic motor are realized;
(2) when the second oil way works, the oil inlet way and the oil outlet way of the height adjusting hydraulic cylinder are both connected with hydraulic control one-way valves, the piston rod can advance and retreat under the action of the three-position four-way solenoid valve, the middle position of the three-position four-way solenoid valve connected with the height adjusting hydraulic cylinder is Y-shaped, the working oil ports A and B are communicated with the oil return port T, the piston cylinder can return to the middle position after moving to the designated position, and the pressure can be quickly relieved, so that the piston rod can accurately stop at the required position and cannot slide due to the change of external load; the four height adjusting hydraulic cylinders work on the same principle and can work independently or simultaneously, when a three-position four-way electromagnetic valve with a Y-shaped middle position function is electrified, a piston rod of each height adjusting hydraulic cylinder moves, when the height adjusting hydraulic cylinder moves to a specified position, the three-position four-way electromagnetic valve is powered off, a sliding valve returns to the middle position, a hydraulic control one-way valve closes a valve port, and the piston rod stops moving immediately;
(3) when the third main oil way works, the oil way flows into an oil inlet of a flow dividing and collecting valve through a working oil port A of a three-position four-way solenoid valve, pressure can be evenly distributed to two width adjusting hydraulic cylinders under the flow dividing effect of the flow dividing and collecting valve, the two hydraulic cylinders work synchronously, and when a piston rod needs to move reversely, the flow dividing and collecting valve serves as a flow dividing effect, so that the flow of oil at the outlet of the piston rod is ensured to be the same, and the hydraulic cylinders can still work synchronously;
(4) the executive elements on the three main oil paths can work simultaneously or independently under the action of the three-position four-way electromagnetic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010497063.8A CN111637105A (en) | 2020-06-04 | 2020-06-04 | Hydraulic control system and control method for ground clearance and wheel track variable walking platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010497063.8A CN111637105A (en) | 2020-06-04 | 2020-06-04 | Hydraulic control system and control method for ground clearance and wheel track variable walking platform |
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Application publication date: 20200908 |