CN112983903B - Full hydraulic steering system of high-ground-clearance spraying machine with automatic steering function - Google Patents
Full hydraulic steering system of high-ground-clearance spraying machine with automatic steering function Download PDFInfo
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- CN112983903B CN112983903B CN202110167679.3A CN202110167679A CN112983903B CN 112983903 B CN112983903 B CN 112983903B CN 202110167679 A CN202110167679 A CN 202110167679A CN 112983903 B CN112983903 B CN 112983903B
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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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/05—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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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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- 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
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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
- F15B13/025—Pressure reducing valves
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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
- F15B13/026—Pressure compensating valves
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
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- Environmental Sciences (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to a full hydraulic steering system of a high-ground-clearance sprayer with an automatic steering function, which comprises a steering hydraulic pump, a brake control valve, a front wheel steering hydraulic cylinder, a rear wheel steering hydraulic cylinder, a navigation valve block, a load induction core-closing type full hydraulic steering device, a rear wheel steering hydraulic control valve block, a flow priority control valve block and a differential pressure valve block. The invention can realize the switching of two-wheel steering and four-wheel steering of the large-scale high-clearance spraying machine and can complete the automatic steering of the large-scale high-clearance spraying machine at the same time.
Description
Technical Field
The invention relates to a hydraulic system, in particular to a full hydraulic steering system of a high-ground-clearance spraying machine with an automatic steering function, which can realize the switching of two-wheel steering and four-wheel steering modes of a large-scale high-ground-clearance spraying machine and can complete the automatic steering of the large-scale high-ground-clearance spraying machine at the same time.
Background
The high-ground-clearance spraying machine is one of large-scale plant protection agricultural machinery equipment, has the excellent characteristics of high ground clearance, large operation width, high intellectualization and small weather influence, can realize high-efficiency plant protection operation of crops, and is particularly suitable for large-area spraying of high-stalk crops. The hydraulic steering system is used as an important component of the high-ground-clearance spraying machine and is responsible for controlling the extension and retraction of a steering hydraulic cylinder to realize wheel deflection so as to achieve the purpose of steering. The high-clearance sprayer is large in size and extremely easy to damage crops in the operation process, so that the flexibility of the whole machine can be improved by adopting the steering system with more comprehensive functions, and the steering and line changing of the high-clearance sprayer in the field operation are convenient to realize. At present, the research on a multi-wheel steering system of a large high-ground-clearance spraying machine is few in China, the steering system of the high-ground-clearance spraying machine is in a stage of only being provided with two-wheel steering, the front-wheel steering form has the problems of large turning radius and difficulty in line changing, the four-wheel steering system of the high-ground-clearance spraying machine is not widely researched, the working efficiency of the high-ground-clearance spraying machine is seriously reduced, and the development prospect of the high-ground-clearance spraying machine is restricted.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide a full hydraulic steering system of a high-clearance sprayer with an automatic steering function, which can realize the switching between two-wheel steering and four-wheel steering of the high-clearance sprayer, and on the basis, complete the automatic steering of the high-clearance sprayer and ensure the excellent performance of steering.
In order to achieve the purpose, the invention provides the following technical scheme:
a full hydraulic steering system of a high ground clearance sprayer with an automatic steering function comprises a steering hydraulic pump 1, a brake control valve, a front wheel steering hydraulic cylinder, a rear wheel steering hydraulic cylinder, a navigation valve block, a load induction core-closing type full hydraulic steering device 17, a rear wheel steering hydraulic control valve block, a flow priority control valve block and a differential pressure valve block.
The differential pressure valve block includes a first ball shuttle valve 15 and a first pressure compensating fixed differential relief valve 16.
The brake control valves include a brake system accumulator 10, a first pressure relay 11, a foot brake control valve 12, a second pressure relay 13, and a hydraulic brake 14.
The navigation valve block comprises a three-position five-way electro-hydraulic proportional directional valve 29 and a third spherical shuttle valve 30.
The front-rear wheel steering cylinders include a left front-wheel steering cylinder 18, a right front-wheel steering cylinder 19, a left rear-wheel steering cylinder 27, and a right rear-wheel steering cylinder 28.
The rear wheel steering hydraulic control valve block comprises a second pressure compensation fixed-difference pressure reducing valve 20, a third pressure compensation fixed-difference pressure reducing valve 21, a second spherical shuttle valve 22, a first three-position five-way load induction electric-liquid proportional reversing valve 23 and a second three-position five-way load induction electric-liquid proportional reversing valve 24.
The flow priority control valve block comprises a load sensing pressure compensation flow priority valve 3, a first fixed throttling port 4, a one-way valve 5, a second fixed throttling port 6, a third fixed throttling port 7, an overflow valve 8 and an external control sequence unloading valve 9.
An oil inlet of the load sensing pressure compensation flow priority valve 3 is connected with a hydraulic oil tank 31 through a steering system oil filter 2 and a steering hydraulic pump 1, a right oil outlet of the load sensing pressure compensation flow priority valve 3 is respectively connected with an oil inlet end of a first fixed throttle 4, an oil inlet of a first pressure compensation constant-difference pressure reducing valve 16, an oil inlet of a second pressure compensation constant-difference pressure reducing valve 20 and an oil inlet of a third pressure compensation constant-difference pressure reducing valve 21, and a left oil outlet of the load sensing pressure compensation flow priority valve 3 can be connected with other hydraulic systems; the oil outlet end of the first fixed throttling port 4 is respectively connected with the oil inlet of the one-way valve 5 and the oil inlet end of the second fixed throttling port 6; an oil outlet of the one-way valve 5 is respectively connected with a first feedback oil port of the external control sequence unloading valve 9, an oil inlet and outlet of a brake system energy accumulator 10 and an oil inlet of a pedal brake control valve 12; the oil outlet end of the second fixed throttling orifice 6 is connected with the load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3; an oil inlet of the external control sequence unloading valve 9 is connected with an oil outlet of the first spherical shuttle valve 15, an oil outlet of the external control sequence unloading valve 9 is connected with an oil inlet end of the third fixed throttling port 7, and a second feedback oil port of the external control sequence unloading valve 9 is connected with an oil return port of the overflow valve 8; the oil outlet end of the third fixed throttling orifice 7 is connected with the load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3; an oil inlet of the overflow valve 8 is connected with a load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3, and an oil return port of the overflow valve 8 is connected with the hydraulic oil tank 31.
An oil inlet of the pedal brake control valve 12 is respectively connected with an oil inlet and an oil outlet of the brake system energy accumulator 10, an oil outlet of the first pressure relay 11 and an oil outlet of the one-way valve 5; the oil return port of the foot brake control valve 12 is connected to the second pressure relay 13, the hydraulic brake 14, and the hydraulic oil tank 31, respectively.
An oil outlet of the second pressure compensation fixed-differential pressure reducing valve 20 is connected with an oil inlet of a first three-position five-way load induction electro-hydraulic proportional reversing valve 23; an oil outlet of the third pressure compensation fixed-difference pressure reducing valve 21 is connected with an oil inlet of the second three-position five-way load induction electro-hydraulic proportional reversing valve 24.
A left oil inlet of the second spherical shuttle valve 22 is respectively connected with a feedback oil port of a first three-position five-way load induction electro-hydraulic proportional reversing valve 23 and a feedback oil port of a second pressure compensation fixed differential pressure reducing valve 20; a right oil inlet of the second spherical shuttle valve 22 is respectively connected with a feedback oil port of a second three-position five-way load sensing electro-hydraulic proportional reversing valve 24 and a feedback oil port of a third pressure compensation fixed differential pressure reducing valve 21; the oil outlet of the second spherical shuttle valve 22 is connected with the oil inlet of the first spherical shuttle valve 15.
A left oil inlet and an right oil inlet of the first three-position five-way load induction electro-hydraulic proportional reversing valve 23 are respectively connected with a rod cavity and a rodless cavity of the left rear wheel steering hydraulic cylinder 27; the left oil inlet and outlet and the right oil inlet and outlet of the second three-position five-way load sensing electro-hydraulic proportional directional valve 24 are respectively connected with the rodless cavity and the rod cavity of the right rear wheel steering hydraulic cylinder 28.
The left oil inlet and outlet and the right oil inlet and outlet of the three-position five-way electro-hydraulic proportional directional valve 29 are respectively connected with the rodless cavity of the left front wheel steering hydraulic cylinder 18 and the rodless cavity of the right front wheel steering hydraulic cylinder 19; the rod chambers of the left front wheel steering cylinder 18 and the right front wheel steering cylinder 19 are interconnected.
The left oil inlet of the third spherical shuttle valve 30 is connected with the feedback oil port of the three-position five-way electro-hydraulic proportional reversing valve 29; the right oil inlet of the third spherical shuttle valve 30 is connected with a safety valve of the load induction closed-core type full hydraulic steering gear 17; an oil outlet of the third spherical shuttle valve 30 is respectively connected with an oil inlet of the first spherical shuttle valve 15 and a feedback oil port of the first pressure compensation fixed differential pressure reducing valve 16; an oil outlet of the first pressure compensation fixed-difference pressure reducing valve 16 is connected with an oil inlet of a load induction closed-core type full-hydraulic steering gear 17, and a left oil inlet and a right oil inlet of the load induction closed-core type full-hydraulic steering gear 17 are respectively connected with a rodless cavity of a left front steering hydraulic cylinder 18 and a rodless cavity of a right front steering hydraulic cylinder 19.
An oil return path of the load sensing core-closed type full hydraulic steering gear 17, an oil return port of the three-position five-way electro-hydraulic proportional reversing valve 29, an oil return port of the first three-position five-way load sensing electro-hydraulic proportional reversing valve 23 and an oil return port of the second three-position five-way load sensing electro-hydraulic proportional reversing valve 24 are respectively connected with a hydraulic oil tank 31.
The load sensing closed-core type full hydraulic steering gear 17 adopts a 102S-5T type structure.
The left front wheel steering cylinder 18 and the right front wheel steering cylinder 19 have the same component composition and connecting circuit.
The left rear wheel steering cylinder 27 and the right rear wheel steering cylinder 28 have the same components and connection circuits.
A first bidirectional hydraulic control one-way valve 25 is arranged on an oil way between the first three-position five-way load induction electro-hydraulic proportional reversing valve 23 and the left rear wheel steering hydraulic cylinder 27; and a second bidirectional hydraulic control one-way valve 26 is arranged on an oil path between the second three-position five-way load induction electro-hydraulic proportional reversing valve 24 and the right rear wheel steering hydraulic cylinder 28.
The method comprises the steps that after a hydraulic system is started, the liquid storage pressure of a brake system energy accumulator 10 is detected, when the liquid storage pressure of the brake system energy accumulator 10 is lower than a set value of an external control sequence unloading valve 9, the external control sequence unloading valve 9 is closed, the sensing pressure of a load pressure sensing oil port of a load sensing pressure compensation flow priority valve 3 is the pressure of the energy accumulator 10, oil of an oil supply port of the load sensing pressure compensation flow priority valve 3 enters the brake system energy accumulator 10 through a first fixed throttling port 4 and a one-way valve 5, and the flow of the brake system energy accumulator 10 is filled with liquid according to the orifice area of the first fixed throttling port 4 and the set compensation pressure of the load sensing pressure compensation flow priority valve 3; when the liquid storage pressure of the brake system energy accumulator 10 is higher than the set value of the external control sequence unloading valve 9, the external control sequence unloading valve 9 is opened, the load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3 is communicated with the sensing oil circuit of the load sensing closed-core type full hydraulic steering gear 17, at the moment, the load pressure sensing oil port pressure of the load sensing pressure compensation flow priority valve 3 is the load pressure or the return oil pressure of each steering hydraulic cylinder of the steering system, the oil pressure of the right oil outlet of the load sensing pressure compensation flow priority valve 3 is lower than the energy storage pressure of the brake system energy accumulator 10, the check valve 5 is closed, and when the vehicle steers, the right oil outlet of the load sensing pressure compensation flow priority valve 3 provides oil to the left front wheel steering hydraulic cylinder 18, the right front wheel steering hydraulic cylinder 19, the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28.
When the high-ground-clearance spraying machine only needs two wheels to steer, the first three-position five-way load induction electro-hydraulic proportional reversing valve 23 and the second three-position five-way load induction electro-hydraulic proportional reversing valve 24 are positioned at the middle positions, the first two-way hydraulic control one-way valve 25 and the second two-way hydraulic control one-way valve 26 are locked at the same time, and oil output by the load induction core-closing type full-hydraulic steering gear 17 can be only supplied to the left front wheel steering hydraulic cylinder 18 and the right front wheel steering hydraulic cylinder 19; when the high-clearance spraying machine is in a four-wheel steering mode, the first three-position five-way load induction electro-hydraulic proportional reversing valve 23 and the second three-position five-way load induction electro-hydraulic proportional reversing valve 24 are opened, and the load induction closed-core type full-hydraulic steering gear 17 supplies oil to the left front wheel steering hydraulic cylinder 18, the right front wheel steering hydraulic cylinder 19, the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28.
The first three-position five-way load sensing electro-hydraulic proportional reversing valve 23 and the second three-position five-way load sensing electro-hydraulic proportional reversing valve 24 are opened, the load pressures of the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28 sequentially pass through the second spherical shuttle valve 22 and the first spherical shuttle valve 15, then pass through the external control sequence unloading valve 9 and the third fixed throttling port 7, the load pressures are sensed to a load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3, and the oil output by the load sensing pressure compensation flow priority valve 3 is guaranteed to be preferentially supplied to the load sensing closed-core type full hydraulic steering gear 17, the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28; in order to measure the displacement of each steering hydraulic cylinder, displacement sensors are arranged on the left front wheel steering hydraulic cylinder 18, the right front wheel steering hydraulic cylinder 19, the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28, signals are transmitted to the controller through the sensors, and the controller controls the first three-position five-way load induction electric liquid proportional reversing valve 23 and the second three-position five-way load induction electric liquid proportional reversing valve 24 to be switched on and switched off, so that the left rear wheel steering hydraulic cylinder 27 moves along with the left front wheel steering hydraulic cylinder 18, the right rear wheel steering hydraulic cylinder 28 moves along with the right front wheel steering hydraulic cylinder 19, the purpose of four-wheel steering is achieved, and the sprayer is in a four-wheel steering mode at the moment.
An oil inlet and an oil outlet of a three-position five-way electro-hydraulic proportional directional valve 29 of a navigation valve block are connected with a load sensing core-closing type full-hydraulic steering gear 17 in parallel, hydraulic oil enters an oil inlet of the three-position five-way electro-hydraulic proportional directional valve 29 from a first pressure compensation fixed-difference pressure reducing valve 16, after the position posture and the speed information of the whole sprayer are obtained through a GPS positioning system, the position difference between the current working path and the planned path is obtained, a control signal of the three-position five-way electro-hydraulic proportional directional valve 29 is obtained through calculation of a controller, the flow of the hydraulic oil is controlled, the left front wheel steering hydraulic cylinder 18 and the right front wheel steering hydraulic cylinder 19 are pushed to achieve the steering action of the front wheels, and the purpose of automatic steering of the sprayer is achieved, so that the navigation function of the high-ground-clearance sprayer is achieved.
When the loads of the two front wheel steering hydraulic cylinders are changed, the load pressure is transmitted to the load pressure sensing oil port of the first pressure compensation pressure reducing valve 16 through the third spherical shuttle valve 30, the opening degree of the throttling port of the first pressure compensation fixed difference pressure reducing valve 16 is automatically adjusted, and the three-position five-way electro-hydraulic proportional reversing valve 29 is subjected to pressure compensation; when the load pressure of the two rear wheel steering hydraulic cylinders changes, the load pressure is transmitted to the load pressure sensing oil ports of the second pressure compensation reducing valve 20 and the third pressure compensation reducing valve 21 through the second spherical shuttle valve 22, the opening degrees of the throttling ports of the second pressure compensation fixed difference reducing valve 20 and the third pressure compensation reducing valve 21 are automatically adjusted, the pressure compensation is performed on the first three-position five-way load induction electro-hydraulic proportional reversing valve 23 and the second three-position five-way load induction electro-hydraulic proportional reversing valve 24, the flow of the steering hydraulic cylinders is only related to the control voltage of the reversing valves, and therefore the purpose that the steering hydraulic cylinders are not influenced by loads is achieved.
Compared with the prior art, the invention has the beneficial effects that:
1. the hydraulic system of the invention adopts the load sensing pressure compensation flow priority valve 3, which can preferentially ensure the hydraulic oil supply of the steering system, and can supply oil to other systems such as wheel distance regulation and the like after the steering system normally works, thereby ensuring the priority of the steering system in the hydraulic control system of the whole vehicle.
2. The hydraulic system of the invention adopts the load pressure sensing type closed-center oil circuit, which can ensure that the maximum load pressure of the left front wheel steering hydraulic cylinder 18, the right front wheel steering hydraulic cylinder 19, the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28 is sensed to the steering hydraulic pump 1 in the steering process, so that the working pressure of the steering hydraulic pump 1 is changed along with the change of the load pressure, and the steering hydraulic pump 1 only provides the hydraulic power required by the load to the hydraulic system, thereby reducing the heating and energy loss of the system and achieving the purpose of saving energy of the hydraulic system of the whole vehicle.
3. Pressure compensation constant-difference pressure reducing valves (a first pressure compensation constant-difference pressure reducing valve 16, a second pressure compensation constant-difference pressure reducing valve 20 and a third pressure compensation constant-difference pressure reducing valve 21) are arranged on each oil supply path of the hydraulic system, so that series pressure compensation of flow of control oil ports is realized, the flow of each control oil port is ensured not to be influenced by load pressure of the left front wheel steering hydraulic cylinder 18, the right front wheel steering hydraulic cylinder 19, the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28, and the stability of the whole vehicle system is improved.
4. The invention relates to a load pressure sensing type full hydraulic steering system, which can realize a steering mode of mutual matching of two-wheel steering and four-wheel steering, solves the problem of difficult steering and line changing in the operation process of a high-clearance sprayer, and is suitable for more complex field operation environments.
5. The full hydraulic steering system can acquire the position, posture and speed information of the vehicle according to the GPS, automatically control the steering of the front wheels, achieve the aim of automatic steering of the vehicle, and realize the automation and intellectualization of the steering system for the field operation of the high-clearance sprayer.
Drawings
Fig. 1 is a schematic structural diagram of a full hydraulic steering system of a high-ground-clearance sprayer with an automatic steering function.
Wherein the reference numerals are:
1-steering hydraulic pump
2 oil filter for steering system
3 load sensing pressure compensation flow priority valve
4 first fixed orifice
5 one-way valve
6 second fixed orifice
7 third fixed restriction
8 overflow valve
9 external control sequence unloading valve
10 brake system accumulator
11 first pressure relay
12 foot-operated brake controller
13 second pressure relay
14 hydraulic brake
15 first ball shuttle valve
16 first pressure compensation fixed-difference pressure-reducing valve
17 load induction core-closing type full hydraulic steering gear
18 left front wheel steering hydraulic cylinder
19 right front wheel steering hydraulic cylinder
20 second pressure compensation constant-difference pressure-reducing valve
21 third pressure compensation fixed-difference pressure reducing valve
22 second ball shuttle valve
23 first three-position five-way load induction electro-hydraulic proportional reversing valve
24 second three-position five-way load induction electro-hydraulic proportional reversing valve
25 first bidirectional hydraulic control one-way valve
26 second bidirectional hydraulic control one-way valve
27 left rear wheel steering hydraulic cylinder
28 right rear wheel steering hydraulic cylinder
29 three-position five-way electro-hydraulic proportional reversing valve
30 third spherical shuttle valve
31 hydraulic oil tank
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, a full hydraulic steering system of a high ground clearance sprayer with an automatic steering function comprises a steering hydraulic pump 1, a brake control valve, a front wheel and rear wheel steering hydraulic cylinder, a navigation valve block, a load induction closed core type full hydraulic steering device 17, a rear wheel steering hydraulic control valve block, a flow priority control valve block and a differential pressure valve block.
The load sensing closed-core type full hydraulic steering gear 17 adopts a 102S-5T type structure.
The differential pressure valve block includes a first ball shuttle valve 15 and a first pressure compensating fixed differential relief valve 16.
The brake control valves include a brake system accumulator 10, a first pressure relay 11, a foot brake control valve 12, a second pressure relay 13, and a hydraulic brake 14.
The navigation valve block comprises a three-position five-way electro-hydraulic proportional directional valve 29 and a third spherical shuttle valve 30.
The front-rear wheel steering hydraulic cylinders include a left front wheel steering hydraulic cylinder 18, a right front wheel steering hydraulic cylinder 19, a left rear wheel steering hydraulic cylinder 27, and a right rear wheel steering hydraulic cylinder 28. The left front wheel steering hydraulic cylinder 18 and the right front wheel steering hydraulic cylinder 19 have the same component composition and connection loop; the left rear wheel steering cylinder 27 and the right rear wheel steering cylinder 28 have the same components and connection circuits.
The rear wheel steering hydraulic control valve block comprises a second pressure compensation fixed-difference pressure reducing valve 20, a third pressure compensation fixed-difference pressure reducing valve 21, a second spherical shuttle valve 22, a first three-position five-way load induction electric-liquid proportional reversing valve 23 and a second three-position five-way load induction electric-liquid proportional reversing valve 24.
The flow priority control valve block comprises a load sensing pressure compensation flow priority valve 3, a first fixed throttling port 4, a one-way valve 5, a second fixed throttling port 6, a third fixed throttling port 7, an overflow valve 8 and an external control sequence unloading valve 9.
An oil inlet of the load sensing pressure compensation flow priority valve 3 is connected with a hydraulic oil tank 31 through a steering system oil filter 2 and a steering hydraulic pump 1, a right oil outlet of the load sensing pressure compensation flow priority valve 3 is respectively connected with an oil inlet end of a first fixed throttle 4, an oil inlet of a first pressure compensation constant-difference pressure reducing valve 16, an oil inlet of a second pressure compensation constant-difference pressure reducing valve 20 and an oil inlet of a third pressure compensation constant-difference pressure reducing valve 21, and a left oil outlet of the load sensing pressure compensation flow priority valve 3 can be connected with other hydraulic systems; the oil outlet end of the first fixed throttling port 4 is respectively connected with the oil inlet of the one-way valve 5 and the oil inlet end of the second fixed throttling port 6; an oil outlet of the one-way valve 5 is respectively connected with a first feedback oil port of the external control sequence unloading valve 9, an oil inlet and outlet of a brake system energy accumulator 10 and an oil inlet of a pedal brake control valve 12; the oil outlet end of the second fixed throttling orifice 6 is connected with the load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3; an oil inlet of the external control sequence unloading valve 9 is connected with an oil outlet of the first spherical shuttle valve 15, an oil outlet of the external control sequence unloading valve 9 is connected with an oil inlet end of the third fixed throttling port 7, and a second feedback oil port of the external control sequence unloading valve 9 is connected with an oil return port of the overflow valve 8; the oil outlet end of the third fixed throttling port 7 is connected with a load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3; an oil inlet of the overflow valve 8 is connected with a load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3, and an oil return port of the overflow valve 8 is connected with the hydraulic oil tank 31.
An oil inlet of the pedal brake control valve 12 is respectively connected with an oil inlet and an oil outlet of the brake system energy accumulator 10, an oil outlet of the first pressure relay 11 and an oil outlet of the one-way valve 5; the oil return port of the foot brake control valve 12 is connected to the second pressure relay 13, the hydraulic brake 14, and the hydraulic oil tank 31, respectively.
An oil outlet of the second pressure compensation fixed-differential pressure reducing valve 20 is connected with an oil inlet of a first three-position five-way load induction electro-hydraulic proportional reversing valve 23; an oil outlet of the third pressure compensation fixed-difference pressure reducing valve 21 is connected with an oil inlet of the second three-position five-way load induction electro-hydraulic proportional reversing valve 24.
A left oil inlet of the second spherical shuttle valve 22 is respectively connected with a feedback oil port of a first three-position five-way load induction electro-hydraulic proportional reversing valve 23 and a feedback oil port of a second pressure compensation fixed differential pressure reducing valve 20; a right oil inlet of the second spherical shuttle valve 22 is respectively connected with a feedback oil port of a second three-position five-way load sensing electro-hydraulic proportional reversing valve 24 and a feedback oil port of a third pressure compensation fixed differential pressure reducing valve 21; the oil outlet of the second spherical shuttle valve 22 is connected with the oil inlet of the first spherical shuttle valve 15.
A left oil inlet and an right oil inlet of the first three-position five-way load induction electro-hydraulic proportional reversing valve 23 are respectively connected with a rod cavity and a rodless cavity of the left rear wheel steering hydraulic cylinder 27; the left oil inlet and outlet and the right oil inlet and outlet of the second three-position five-way load sensing electro-hydraulic proportional directional valve 24 are respectively connected with the rodless cavity and the rod cavity of the right rear wheel steering hydraulic cylinder 28.
Preferably, a first bidirectional hydraulic control one-way valve 25 is arranged on an oil path between the first three-position five-way load induced electro-hydraulic proportional directional valve 23 and the left rear wheel steering hydraulic cylinder 27; and a second bidirectional hydraulic control one-way valve 26 is arranged on an oil path between the second three-position five-way load induction electro-hydraulic proportional reversing valve 24 and the right rear wheel steering hydraulic cylinder 28.
The left oil inlet and outlet and the right oil inlet and outlet of the three-position five-way electro-hydraulic proportional directional valve 29 are respectively connected with the rodless cavity of the left front wheel steering hydraulic cylinder 18 and the rodless cavity of the right front wheel steering hydraulic cylinder 19; the rod chambers of the left front wheel steering cylinder 18 and the right front wheel steering cylinder 19 are interconnected.
The left oil inlet of the third spherical shuttle valve 30 is connected with the feedback oil port of the three-position five-way electro-hydraulic proportional reversing valve 29; the right oil inlet of the third spherical shuttle valve 30 is connected with a safety valve of the load induction closed-core type full hydraulic steering gear 17; the oil outlet of the third spherical shuttle valve 30 is respectively connected with the oil inlet of the first spherical shuttle valve 15 and the feedback oil port of the first pressure compensation fixed differential pressure reducing valve 16. An oil outlet of the first pressure compensation fixed-difference pressure reducing valve 16 is connected with an oil inlet of a load induction closed-core type full-hydraulic steering gear 17, and a left oil inlet and a right oil inlet of the load induction closed-core type full-hydraulic steering gear 17 are respectively connected with a rodless cavity of a left front steering hydraulic cylinder 18 and a rodless cavity of a right front steering hydraulic cylinder 19.
An oil return path of the load sensing core-closed type full hydraulic steering gear 17, an oil return port of the three-position five-way electro-hydraulic proportional reversing valve 29, an oil return port of the first three-position five-way load sensing electro-hydraulic proportional reversing valve 23 and an oil return port of the second three-position five-way load sensing electro-hydraulic proportional reversing valve 24 are respectively connected with a hydraulic oil tank 31.
The working process of the invention is as follows:
(1) a steering system priority control system. The method comprises the steps that after a hydraulic system is started, the liquid storage pressure of a brake system energy accumulator 10 is detected, when the liquid storage pressure of the brake system energy accumulator 10 is lower than a set value of an external control sequence unloading valve 9, the external control sequence unloading valve 9 is closed, the sensing pressure of a load pressure sensing oil port of a load sensing pressure compensation flow priority valve 3 is the pressure of the energy accumulator 10, oil of an oil supply port of the load sensing pressure compensation flow priority valve 3 enters the brake system energy accumulator 10 through a first fixed throttling port 4 and a one-way valve 5, and the flow of the brake system energy accumulator 10 is filled with liquid according to the orifice area of the first fixed throttling port 4 and the set compensation pressure of the load sensing pressure compensation flow priority valve 3; when the liquid storage pressure of the brake system energy accumulator 10 is higher than the set value of the external control sequence unloading valve 9, the external control sequence unloading valve 9 is opened, the load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3 is communicated with the sensing oil path of the load sensing closed-core type full hydraulic steering gear 17, the pressure of the load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3 is the load pressure or the return oil pressure of each steering hydraulic cylinder of the steering system, the oil pressure of the right oil port of the load sensing pressure compensation flow priority valve 3 is lower than the energy storage pressure of the brake system energy accumulator 10, the one-way valve 5 is closed, when the vehicle steers, the right oil outlet of the load sensing pressure compensation flow priority valve 3 faces to each steering hydraulic cylinder, namely, the left front wheel steering cylinder 18, the right front wheel steering cylinder 19, the left rear wheel steering cylinder 27, and the right rear wheel steering cylinder 28.
(2) When the high-ground-clearance spraying machine only needs two wheels to steer, the first three-position five-way load induction electro-hydraulic proportional directional valve 23 and the second three-position five-way load induction electro-hydraulic proportional directional valve 24 are positioned at the middle positions, the first two-way hydraulic control one-way valve 25 and the second two-way hydraulic control one-way valve 26 are locked at the same time, and oil output by the load induction core-closing type full-hydraulic steering device 17 can only be supplied to two front wheel steering hydraulic cylinders, namely the left front wheel steering hydraulic cylinder 18 and the right front wheel steering hydraulic cylinder 19; when the high-clearance sprayer is in a four-wheel steering mode, the first three-position five-way load induction electro-hydraulic proportional directional valve 23 and the second three-position five-way load induction electro-hydraulic proportional directional valve 24 are opened, and the load induction closed-core full-hydraulic steering gear 17 supplies oil to four-wheel steering hydraulic cylinders, namely the left front-wheel steering hydraulic cylinder 18, the right front-wheel steering hydraulic cylinder 19, the left rear-wheel steering hydraulic cylinder 27 and the right rear-wheel steering hydraulic cylinder 28.
(3) The first three-position five-way load sensing electro-hydraulic proportional reversing valve 23 and the second three-position five-way load sensing electro-hydraulic proportional reversing valve 24 are opened, the load pressures of the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28 sequentially pass through the second spherical shuttle valve 22 and the first spherical shuttle valve 15, then pass through the external control sequence unloading valve 9 and the third fixed throttling port 7, the load pressures are sensed to a load pressure sensing oil port of the load sensing pressure compensation flow priority valve 3, and the oil output by the load sensing pressure compensation flow priority valve 3 is guaranteed to be preferentially supplied to the load sensing closed-core type full hydraulic steering gear 17, the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28; in order to measure the displacement of each steering hydraulic cylinder, displacement sensors are arranged on the left front wheel steering hydraulic cylinder 18, the right front wheel steering hydraulic cylinder 19, the left rear wheel steering hydraulic cylinder 27 and the right rear wheel steering hydraulic cylinder 28, signals are transmitted to the controller through the sensors, and the controller controls the first three-position five-way load induction electric liquid proportional reversing valve 23 and the second three-position five-way load induction electric liquid proportional reversing valve 24 to be switched on and switched off, so that the left rear wheel steering hydraulic cylinder 27 moves along with the left front wheel steering hydraulic cylinder 18, the right rear wheel steering hydraulic cylinder 28 moves along with the right front wheel steering hydraulic cylinder 19, the purpose of four-wheel steering is achieved, and the sprayer is in a four-wheel steering mode at the moment.
(4) An oil inlet and an oil outlet of a three-position five-way electro-hydraulic proportional directional valve 29 of a navigation valve block are connected with a load sensing core-closing type full-hydraulic steering gear 17 in parallel, hydraulic oil enters an oil inlet of the three-position five-way electro-hydraulic proportional directional valve 29 from a first pressure compensation fixed-difference pressure reducing valve 16, after the position posture and the speed information of the whole sprayer are obtained through a GPS positioning system, the position difference between the current working path and the planned path is obtained, a control signal of the three-position five-way electro-hydraulic proportional directional valve 29 is obtained through calculation of a controller, the flow of the hydraulic oil is controlled, the left front wheel steering hydraulic cylinder 18 and the right front wheel steering hydraulic cylinder 19 are pushed to achieve the steering action of the front wheels, and the purpose of automatic steering of the sprayer is achieved, so that the navigation function of the high-ground-clearance sprayer is achieved.
(5) When the loads of the two front wheel steering hydraulic cylinders are changed, the load pressure is transmitted to the load pressure sensing oil port of the first pressure compensation pressure reducing valve 16 through the third spherical shuttle valve 30, the opening degree of the throttling port of the first pressure compensation fixed difference pressure reducing valve 16 is automatically adjusted, and the three-position five-way electro-hydraulic proportional reversing valve 29 is subjected to pressure compensation; when the load pressure of the two rear wheel steering hydraulic cylinders changes, the load pressure is transmitted to the load pressure sensing oil ports of the second pressure compensation reducing valve 20 and the third pressure compensation reducing valve 21 through the second spherical shuttle valve 22, the opening degrees of the throttling ports of the second pressure compensation fixed difference reducing valve 20 and the third pressure compensation reducing valve 21 are automatically adjusted, the pressure compensation is performed on the first three-position five-way load induction electro-hydraulic proportional reversing valve 23 and the second three-position five-way load induction electro-hydraulic proportional reversing valve 24, the flow of the steering hydraulic cylinders is only related to the control voltage of the reversing valves, and therefore the purpose that the steering hydraulic cylinders are not influenced by loads is achieved.
Claims (8)
1. A full hydraulic steering system of a high ground clearance sprayer with an automatic steering function is characterized by comprising a steering hydraulic pump (1), a brake control valve, a front wheel steering hydraulic cylinder, a rear wheel steering hydraulic cylinder, a navigation valve block, a load induction core-closing type full hydraulic steering device (17), a rear wheel steering hydraulic control valve block, a flow priority control valve block and a differential pressure valve block;
the differential pressure valve block comprises a first spherical shuttle valve (15) and a first pressure compensation fixed-differential pressure reducing valve (16);
the brake control valve comprises a brake system energy accumulator (10), a first pressure relay (11), a foot-operated brake control valve (12), a second pressure relay (13) and a hydraulic brake (14);
the navigation valve block comprises a three-position five-way electro-hydraulic proportional directional valve (29) and a third spherical shuttle valve (30);
the front and rear wheel steering hydraulic cylinders comprise a left front wheel steering hydraulic cylinder (18), a right front wheel steering hydraulic cylinder (19), a left rear wheel steering hydraulic cylinder (27) and a right rear wheel steering hydraulic cylinder (28);
the rear wheel steering hydraulic control valve block comprises a second pressure compensation fixed-difference pressure reducing valve (20), a third pressure compensation fixed-difference pressure reducing valve (21), a second spherical shuttle valve (22), a first three-position five-way load induction electro-hydraulic proportional reversing valve (23) and a second three-position five-way load induction electro-hydraulic proportional reversing valve (24);
the flow priority control valve block comprises a load sensing pressure compensation flow priority valve (3), a first fixed throttling port (4), a one-way valve (5), a second fixed throttling port (6), a third fixed throttling port (7), an overflow valve (8) and an external control sequence unloading valve (9);
an oil inlet of the load sensing pressure compensation flow priority valve (3) is connected with a hydraulic oil tank (31) through a steering system oil filter (2) and a steering hydraulic pump (1), a right oil outlet of the load sensing pressure compensation flow priority valve (3) is respectively connected with an oil inlet end of a first fixed throttle orifice (4), an oil inlet of a first pressure compensation constant-differential pressure reducing valve (16), an oil inlet of a second pressure compensation constant-differential pressure reducing valve (20) and an oil inlet of a third pressure compensation constant-differential pressure reducing valve (21), and a left oil outlet of the load sensing pressure compensation flow priority valve (3) can be connected with other hydraulic systems; the oil outlet end of the first fixed throttling port (4) is respectively connected with the oil inlet of the one-way valve (5) and the oil inlet end of the second fixed throttling port (6); an oil outlet of the one-way valve (5) is respectively connected with a first feedback oil port of the external control sequence unloading valve (9), an oil inlet and outlet port of the brake system energy accumulator (10) and an oil inlet of the pedal brake control valve (12); the oil outlet end of the second fixed throttling port (6) is connected with a load pressure sensing oil port of the load sensing pressure compensation flow priority valve (3); an oil inlet of the external control sequential unloading valve (9) is connected with an oil outlet of the first spherical shuttle valve (15), an oil outlet of the external control sequential unloading valve (9) is connected with an oil inlet end of the third fixed throttling port (7), and a second feedback oil port of the external control sequential unloading valve (9) is connected with an oil return port of the overflow valve (8); the oil outlet end of the third fixed throttling port (7) is connected with a load pressure sensing oil port of the load sensing pressure compensation flow priority valve (3); an oil inlet of the overflow valve (8) is connected with a load pressure sensing oil port of the load sensing pressure compensation flow priority valve (3), and an oil return port of the overflow valve (8) is connected with a hydraulic oil tank (31);
an oil inlet of the pedal brake control valve (12) is connected with an oil inlet and an oil outlet of the brake system energy accumulator (10), an oil outlet of the first pressure relay (11) and an oil outlet of the one-way valve (5) respectively; an oil return port of the foot-operated brake control valve (12) is respectively connected with a second pressure relay (13), a hydraulic brake (14) and a hydraulic oil tank (31);
the oil outlet of the second pressure compensation fixed-difference pressure reducing valve (20) is connected with the oil inlet of a first three-position five-way load induction electric-liquid proportional reversing valve (23); an oil outlet of the third pressure compensation fixed-difference pressure reducing valve (21) is connected with an oil inlet of a second three-position five-way load induction electric liquid proportional reversing valve (24);
a left oil inlet of the second spherical shuttle valve (22) is respectively connected with a feedback oil port of a first three-position five-way load induction electro-hydraulic proportional reversing valve (23) and a feedback oil port of a second pressure compensation fixed differential pressure reducing valve (20); a right oil inlet of the second spherical shuttle valve (22) is respectively connected with a feedback oil port of a second three-position five-way load induction electro-hydraulic proportional reversing valve (24) and a feedback oil port of a third pressure compensation fixed differential pressure reducing valve (21); an oil outlet of the second spherical shuttle valve (22) is connected with an oil inlet of the first spherical shuttle valve (15);
the left oil outlet and the right oil outlet of the first three-position five-way load sensing electro-hydraulic proportional reversing valve (23) are respectively connected with a rod cavity and a rodless cavity of a left rear wheel steering hydraulic cylinder (27); the left oil outlet and the right oil outlet of the second three-position five-way load sensing electro-hydraulic proportional reversing valve (24) are respectively connected with a rodless cavity and a rod cavity of a right rear wheel steering hydraulic cylinder (28);
a left oil outlet and a right oil outlet of the three-position five-way electro-hydraulic proportional reversing valve (29) are respectively connected with a rodless cavity of the left front wheel steering hydraulic cylinder (18) and a rodless cavity of the right front wheel steering hydraulic cylinder (19); the rod cavity of the left front wheel steering hydraulic cylinder (18) is connected with the rod cavity of the right front wheel steering hydraulic cylinder (19);
a left oil inlet of the third spherical shuttle valve (30) is connected with a feedback oil port of the three-position five-way electro-hydraulic proportional reversing valve (29); the right oil inlet of the third spherical shuttle valve (30) is connected with a safety valve of a load induction closed-core type full hydraulic steering gear (17); an oil outlet of the third spherical shuttle valve (30) is respectively connected with an oil inlet of the first spherical shuttle valve (15) and a feedback oil port of the first pressure compensation fixed differential pressure reducing valve (16); an oil outlet of the first pressure compensation fixed-difference pressure reducing valve (16) is connected with an oil inlet of a load induction closed-core type full-hydraulic steering gear (17), and a left oil outlet and a right oil outlet of the load induction closed-core type full-hydraulic steering gear (17) are respectively connected with a rodless cavity of a left front wheel steering hydraulic cylinder (18) and a rodless cavity of a right front wheel steering hydraulic cylinder (19);
an oil return path of the load sensing closed-core type full hydraulic steering gear (17), an oil return port of the three-position five-way electro-hydraulic proportional reversing valve (29), an oil return port of the first three-position five-way load sensing electro-hydraulic proportional reversing valve (23) and an oil return port of the second three-position five-way load sensing electro-hydraulic proportional reversing valve (24) are respectively connected with a hydraulic oil tank (31);
an oil inlet and an oil outlet of a three-position five-way electro-hydraulic proportional directional valve (29) of a navigation valve block are connected with a load sensing closed-core type full-hydraulic steering gear (17) in parallel, hydraulic oil enters an oil inlet of the three-position five-way electro-hydraulic proportional directional valve (29) from a first pressure compensation fixed-differential pressure reducing valve (16), after the position, the posture and the speed information of the whole spraying machine are obtained through a GPS positioning system, the position difference between the current working path and the planned path is obtained, a control signal of the three-position five-way electro-hydraulic proportional directional valve (29) is obtained through calculation of a controller, the flow of the hydraulic oil is controlled, a left front wheel steering hydraulic cylinder (18) and a right front wheel steering hydraulic cylinder (19) are pushed to achieve the steering action of the front wheel, the purpose of automatic steering of the spraying machine is achieved, and the navigation function of the high-ground-clearance spraying machine is achieved;
when the loads of the two front wheel steering hydraulic cylinders are changed, the load pressure is transmitted to a load pressure sensing oil port of the first pressure compensation constant-difference pressure reducing valve (16) through the third spherical shuttle valve (30), the opening degree of a throttling port of the first pressure compensation constant-difference pressure reducing valve (16) is automatically adjusted, and pressure compensation is performed on the three-position five-way electro-hydraulic proportional reversing valve (29); when the load pressure of the two rear wheel steering hydraulic cylinders changes, the load pressure is transmitted to the load pressure sensing oil ports of the second pressure compensation constant-difference pressure reducing valve (20) and the third pressure compensation constant-difference pressure reducing valve (21) through the second spherical shuttle valve (22), the opening degrees of the throttle ports of the second pressure compensation constant-difference pressure reducing valve (20) and the third pressure compensation constant-difference pressure reducing valve (21) are automatically adjusted, pressure compensation is performed on the first three-position five-way load induction electric-liquid proportional reversing valve (23) and the second three-position five-way load induction electric-liquid proportional reversing valve (24), the flow of the steering hydraulic cylinders is only related to the control voltage of the reversing valves, and therefore the purpose that the steering hydraulic cylinders are not influenced by loads is achieved.
2. The full hydraulic steering system of the high-ground-clearance spraying machine with the automatic steering function as claimed in claim 1, wherein the load sensing core-closing full hydraulic steering gear (17) adopts a 102S-5T structure.
3. The full hydraulic steering system of the high ground clearance sprayer with automatic steering function as claimed in claim 1, characterized in that the left front wheel steering hydraulic cylinder (18) and the right front wheel steering hydraulic cylinder (19) have the same component composition and connection circuit.
4. The full hydraulic steering system of the high-ground-clearance spraying machine with the automatic steering function as claimed in claim 1, wherein the left rear wheel steering hydraulic cylinder (27) and the right rear wheel steering hydraulic cylinder (28) have the same components and connecting circuits.
5. The full hydraulic steering system of the high-ground-clearance spraying machine with the automatic steering function as claimed in claim 1, wherein a first bidirectional hydraulic control one-way valve (25) is arranged on an oil path between the first three-position five-way load induction electro-hydraulic proportional directional valve (23) and the left rear wheel steering hydraulic cylinder (27); and a second bidirectional hydraulic control one-way valve (26) is arranged on an oil way between the second three-position five-way load induction electro-hydraulic proportional reversing valve (24) and the right rear wheel steering hydraulic cylinder (28).
6. The full hydraulic steering system of the high ground clearance sprayer with automatic steering function as claimed in claim 1, it is characterized in that the hydraulic system detects the liquid storage pressure of the brake system energy accumulator (10) after starting, when the liquid storage pressure of the brake system energy accumulator (10) is lower than the set value of the external control sequence unloading valve (9), the external control sequence unloading valve (9) is closed, the sensing pressure of a load pressure sensing oil port of the load sensing pressure compensation flow priority valve (3) is the pressure of the energy accumulator (10), oil of an oil supply port of the load sensing pressure compensation flow priority valve (3) enters the energy accumulator (10) of the braking system through the first fixed throttling port (4) and the one-way valve (5), determining the charging flow of the brake system accumulator (10) according to the orifice area of the first fixed throttle (4) and the set compensation pressure of the load sensing pressure compensation flow priority valve (3); when the liquid storage pressure of the brake system energy accumulator (10) is higher than the set value of the external control sequence unloading valve (9), the external control sequence unloading valve (9) is opened, a load pressure sensing oil port of the load sensing pressure compensation flow priority valve (3) is communicated with a sensing oil path of a load sensing closed-core type full hydraulic steering gear (17), at the moment, the pressure of the load pressure sensing oil port of the load sensing pressure compensation flow priority valve (3) is the load pressure or the return oil pressure of each steering hydraulic cylinder of the steering system, the oil pressure of a right oil outlet of the load sensing pressure compensation flow priority valve (3) is lower than the energy storage pressure of a brake system energy accumulator (10), the one-way valve (5) is closed, when the vehicle steers, the right oil outlet of the load sensing pressure compensation flow priority valve (3) provides oil to the left front wheel steering hydraulic cylinder (18), the right front wheel steering hydraulic cylinder (19), the left rear wheel steering hydraulic cylinder (27) and the right rear wheel steering hydraulic cylinder (28).
7. The full hydraulic steering system of the high-ground-clearance spraying machine with the automatic steering function as claimed in claim 1, wherein when the high-ground-clearance spraying machine only needs two-wheel steering, the first three-position five-way load induction electric-hydraulic proportional reversing valve (23) and the second three-position five-way load induction electric-hydraulic proportional reversing valve (24) are in neutral positions, the first two-way hydraulic control one-way valve (25) and the second two-way hydraulic control one-way valve (26) are locked at the same time, and oil output by the load induction core-closing full hydraulic steering device (17) can only be supplied to the left front-wheel steering hydraulic cylinder (18) and the right front-wheel steering hydraulic cylinder (19); when the high-clearance spraying machine is in a four-wheel steering mode, a first three-position five-way load induction electro-hydraulic proportional reversing valve (23) and a second three-position five-way load induction electro-hydraulic proportional reversing valve (24) are opened, and a load induction closed-core type full-hydraulic steering gear (17) supplies oil to a left front wheel steering hydraulic cylinder (18), a right front wheel steering hydraulic cylinder (19), a left rear wheel steering hydraulic cylinder (27) and a right rear wheel steering hydraulic cylinder (28).
8. The full hydraulic steering system of the high ground clearance sprayer with automatic steering function as claimed in claim 1, it is characterized in that a first three-position five-way load induced electro-hydraulic proportional reversing valve (23) and a second three-position five-way load induced electro-hydraulic proportional reversing valve (24) are opened, the load pressure of a left rear wheel steering hydraulic cylinder (27) and a right rear wheel steering hydraulic cylinder (28) sequentially passes through a second spherical shuttle valve (22) and a first spherical shuttle valve (15), the load pressure is sensed to a load pressure sensing oil port of a load sensing pressure compensation flow priority valve (3) through an external control sequence unloading valve (9) and a third fixed throttling port (7), so that the oil output by the load sensing pressure compensation flow priority valve (3) is preferentially supplied to a load sensing closed-core full hydraulic steering gear (17), a left rear wheel steering hydraulic cylinder (27) and a right rear wheel steering hydraulic cylinder (28); in order to measure the displacement of each steering hydraulic cylinder, displacement sensors are arranged on a left front wheel steering hydraulic cylinder (18), a right front wheel steering hydraulic cylinder (19), a left rear wheel steering hydraulic cylinder (27) and a right rear wheel steering hydraulic cylinder (28), signals are transmitted to a controller through the sensors, the controller controls the first three-position five-way load induced electro-hydraulic proportional reversing valve (23) and the second three-position five-way load induced electro-hydraulic proportional reversing valve (24) to be switched on and switched off, so that the left rear wheel steering hydraulic cylinder (27) moves along with the left front wheel steering hydraulic cylinder (18), the right rear wheel steering hydraulic cylinder (28) moves along with the right front wheel steering hydraulic cylinder (19), the purpose of four-wheel steering is achieved, and the sprayer is in a four-wheel steering mode at the moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110167679.3A CN112983903B (en) | 2021-02-07 | 2021-02-07 | Full hydraulic steering system of high-ground-clearance spraying machine with automatic steering function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110167679.3A CN112983903B (en) | 2021-02-07 | 2021-02-07 | Full hydraulic steering system of high-ground-clearance spraying machine with automatic steering function |
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| CN112983903A CN112983903A (en) | 2021-06-18 |
| CN112983903B true CN112983903B (en) | 2022-05-17 |
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| CN202110167679.3A Active CN112983903B (en) | 2021-02-07 | 2021-02-07 | Full hydraulic steering system of high-ground-clearance spraying machine with automatic steering function |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104295551A (en) * | 2014-08-18 | 2015-01-21 | 中国农业大学 | Self-steering proportional control valve block and navigation hydraulic system based on self-steering proportional control valve block |
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2021
- 2021-02-07 CN CN202110167679.3A patent/CN112983903B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104295551A (en) * | 2014-08-18 | 2015-01-21 | 中国农业大学 | Self-steering proportional control valve block and navigation hydraulic system based on self-steering proportional control valve block |
Non-Patent Citations (1)
| Title |
|---|
| 高地隙自走式喷雾机全工况滑转率控制方法研究;陈随英;《中国博士学位论文全文数据库（农业科技辑）》;20170815;第D046-51页 * |
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