CN112997992A - Crabbing steering hydraulic system of high-clearance sprayer - Google Patents
Crabbing steering hydraulic system of high-clearance sprayer Download PDFInfo
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- CN112997992A CN112997992A CN202110176158.4A CN202110176158A CN112997992A CN 112997992 A CN112997992 A CN 112997992A CN 202110176158 A CN202110176158 A CN 202110176158A CN 112997992 A CN112997992 A CN 112997992A
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- 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
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Abstract
The invention relates to a crab steering hydraulic system of a high-clearance sprayer, which comprises a steering hydraulic pump, a brake control valve block, a front wheel steering hydraulic cylinder, a rear wheel steering hydraulic control valve block, a load induction closed-core type full hydraulic steering gear, a flow priority control valve block, a differential pressure valve block, a steering compensation hydraulic cylinder and a crab steering valve block; the crab steering valve block comprises a first pressure compensation fixed-differential pressure reducing valve, a two-position three-way electro-hydraulic proportional valve, a two-position two-way electro-hydraulic proportional valve, a first fixed throttling port and a first spherical shuttle valve. The hydraulic system can realize that the sprayer steers in a crab steering mode, can effectively reduce the difficulty of changing the line of the sprayer, avoids heavy spray and missed spray to the greatest extent, and improves the working efficiency of the sprayer.
Description
Technical Field
The invention relates to a hydraulic system, in particular to a crab steering hydraulic system of a high-clearance sprayer.
Background
China is a big agricultural country, and plant protection machinery is rapidly developed in recent years as one of the most effective modes for preventing and treating plant diseases and insect pests. As for the high-ground-clearance spraying machine, the domestic spraying machine is still in the starting stage, the manufacturing process and the like are still in a large gap, and most machine types still have the problems of low automation degree and poor operation effect. Therefore, the research and development of large high-ground-clearance spraying machines suitable for the national conditions of China are still important at the present stage. The steering system is an important part of a high-ground-clearance spraying machine and directly influences the maneuvering performance and the handling performance of the spraying machine. Most of the prior domestic high-clearance sprayers are only provided with a front wheel or four-wheel steering system, although the functions of steering and line changing can be realized, the steering turning radius is large, the line changing in the field is difficult, the spraying condition of crops after line changing is difficult to master due to the large turning radius, and the condition of heavy spraying and missed spraying is easy to occur. Particularly, under the national condition that plant protection machinery suitable for small-terrain operation still needs to be adopted in most areas, the problem that the two-wheel/four-wheel steering system is difficult to turn and accurately control when the two-wheel/four-wheel steering system is used for small-terrain operation is more prominent, and the two-wheel/four-wheel steering system is not suitable for the operation characteristics of a high-end sprayer. And crab walk as a special and more effective form that turns to can realize the slant translation of highland crack sprayer, accurate control turns to the angle, and the at utmost reduces the difficulty of changing a journey, has avoided the condition of heavy spray hourglass to spout to appear. However, no relevant research and development design is carried out at present, the operation quality of the high-clearance spraying machine is influenced, and the popularization and development of the high-clearance spraying machine are severely restricted.
Disclosure of Invention
In view of the above technical problems, the invention aims to provide a crab steering hydraulic system of a high-clearance sprayer, which can realize steering of the sprayer in a crab steering manner, effectively reduce the difficulty of changing the line of the sprayer, avoid heavy spray and missed spray to the greatest extent and improve the working efficiency of the sprayer.
In order to achieve the purpose, the invention provides the following technical scheme:
a crab steering hydraulic system of a high-clearance sprayer comprises a steering hydraulic pump 20, a brake control valve block, a front wheel steering hydraulic cylinder, a rear wheel steering hydraulic control valve block, a load induction closed-core type full hydraulic steering device 9, a flow priority control valve block, a differential pressure valve block, a steering compensation hydraulic cylinder 6 and a crab steering valve block.
The differential pressure valve block includes a third spherical shuttle valve 29 and a fourth pressure compensating fixed differential relief valve 30.
The brake control valves include a brake system accumulator 31, a first pressure relay 32, a foot brake control valve 33, a second pressure relay 34, and a hydraulic brake 35.
The front-rear wheel steering hydraulic cylinders include a left front wheel steering hydraulic cylinder 7, a right front wheel steering hydraulic cylinder 8, a left rear wheel steering hydraulic cylinder 17, and a right rear wheel steering hydraulic cylinder 18.
The rear wheel steering hydraulic control valve block comprises a second pressure compensation fixed-difference pressure reducing valve 10, a third pressure compensation fixed-difference pressure reducing valve 11, a second spherical shuttle valve 12, a first three-position five-way load induction electric-liquid proportional reversing valve 13 and a second three-position five-way load induction electric-liquid proportional reversing valve 14.
The flow priority control valve block comprises a load sensing pressure compensation flow priority valve 22, a second fixed throttling port 23, a one-way valve 24, a third fixed throttling port 25, a fourth fixed throttling port 26, an overflow valve 27 and an external control sequence unloading valve 28.
The crab steering valve block comprises a first pressure compensation fixed differential pressure reducing valve 1, a two-position three-way electro-hydraulic proportional valve 2, a two-position two-way electro-hydraulic proportional valve 3, a first fixed throttling opening 4 and a first spherical shuttle valve 5.
An oil inlet of the load sensing pressure compensation flow priority valve 22 is connected with a hydraulic oil tank 19 through a steering system oil filter 21 and a steering hydraulic pump 20, a right oil outlet of the load sensing pressure compensation flow priority valve 22 is respectively connected with an oil inlet end of a second fixed throttle 23, an oil inlet of a first pressure compensation constant-difference pressure reducing valve 1, an oil inlet of a fourth pressure compensation constant-difference pressure reducing valve 30, an oil inlet of a second pressure compensation constant-difference pressure reducing valve 10 and an oil inlet of a third pressure compensation constant-difference pressure reducing valve 11, and a left oil outlet of the load sensing pressure compensation flow priority valve 22 can be connected with other hydraulic systems; the oil outlet end of the second fixed throttling port 23 is respectively connected with the oil inlet of the one-way valve 24 and the oil inlet end of the third fixed throttling port 25; an oil outlet of the one-way valve 24 is respectively connected with a first feedback port of the external control sequence unloading valve 28, an oil inlet and outlet of the brake system energy accumulator 31 and an oil inlet of the pedal brake control valve 33; the oil outlet end of the third fixed throttling orifice 25 is connected with the load pressure sensing oil port of the load sensing pressure compensation flow priority valve 22; an oil inlet of the external control sequence unloading valve 28 is connected with an oil outlet of the third spherical shuttle valve 29, an oil outlet of the external control sequence unloading valve 28 is connected with an oil inlet end of the fourth fixed throttling port 26, and a second feedback oil port of the external control sequence unloading valve 28 is connected with an oil return port of the overflow valve 27; the oil outlet end of the fourth fixed choke 26 is connected with the load pressure sensing port of the load sensing pressure compensation flow priority valve 22; an oil inlet of the overflow valve 27 is connected with a load pressure sensing oil port of the load sensing pressure compensation flow priority valve 22, and an oil return port of the overflow valve 27 is connected with the hydraulic oil tank 19.
An oil inlet of the pedal brake control valve 33 is respectively connected with an oil inlet and an oil outlet of the brake system energy accumulator 31, an oil outlet of the first pressure relay 32 and an oil outlet of the one-way valve 24; the oil return port of the foot brake control valve 33 is respectively connected with a second pressure relay 34 and a hydraulic brake 35; the oil return port of the foot brake control valve 33 is connected to the hydraulic oil tank 19.
An oil outlet of the second pressure compensation fixed-difference pressure reducing valve 10 is connected with an oil inlet of a first three-position five-way load induction electro-hydraulic proportional reversing valve 13; an oil outlet of the third pressure compensation fixed-difference pressure reducing valve 11 is connected with an oil inlet of the second three-position five-way load induction electro-hydraulic proportional reversing valve 14.
The left oil inlet of the second spherical shuttle valve 12 is respectively connected with a first three-position five-way load induction electro-hydraulic proportional directional valve 13 and a feedback oil port of a second pressure compensation fixed differential pressure reducing valve 10; the right oil inlet of the second spherical shuttle valve 12 is respectively connected with the feedback oil ports of a second three-position five-way load induction electro-hydraulic proportional reversing valve 14 and a third pressure compensation fixed-difference pressure reducing valve 11; the oil outlet of the second spherical shuttle valve 12 is connected with the right oil inlet of the first spherical shuttle valve 5.
A left oil inlet and an right oil inlet of the first three-position five-way load induction electro-hydraulic proportional reversing valve 13 are respectively connected with a rod cavity and a rodless cavity of the left rear wheel steering hydraulic cylinder 17; the left oil inlet and outlet and the right oil inlet and outlet of the second three-position five-way load induction electro-hydraulic proportional directional valve 14 are respectively connected with the rodless cavity and the rod cavity of the right rear wheel steering hydraulic cylinder 18.
The left oil inlet of the first spherical shuttle valve 5 is respectively connected with the feedback oil port of the first pressure compensation fixed differential pressure reducing valve 1, the feedback oil port of the two-position three-way electro-hydraulic proportional valve 2 and the oil outlet end of the first fixed throttling port 4; the oil outlet of the first spherical shuttle valve 5 is connected with the left oil inlet of the third spherical shuttle valve 29; an oil outlet of the first pressure compensation fixed-difference pressure reducing valve 1 is connected with an oil inlet of the two-position three-way electro-hydraulic proportional valve 2; a rodless cavity of the steering compensation hydraulic cylinder 6 is respectively connected with an oil outlet of the two-position three-way electro-hydraulic proportional valve 2 and an oil inlet of the two-position two-way electro-hydraulic proportional valve 3; the oil outlet of the two-position two-way electro-hydraulic proportional valve 3 is respectively connected with the oil inlet end of the first fixed throttle orifice 4 and the hydraulic oil tank 19; and a rod cavity of the steering compensation hydraulic cylinder 6 is respectively connected with a rod cavity of the left front wheel steering hydraulic cylinder 7 and a rod cavity of the right front wheel steering hydraulic cylinder 8.
The right oil inlet of the third spherical shuttle valve 29 is respectively connected with the feedback oil port of the fourth pressure compensation fixed differential pressure reducing valve 30 and the safety valve of the load sensing closed-core type full hydraulic steering gear 9; an oil outlet of the fourth pressure compensation fixed-difference pressure reducing valve 30 is connected with an oil inlet of the load sensing closed-core type full-hydraulic steering gear 9, and a left oil inlet and a right oil inlet of the load sensing closed-core type full-hydraulic steering gear 9 are respectively connected with a rodless cavity of the left front steering hydraulic cylinder 7 and a rodless cavity of the right front steering hydraulic cylinder 8.
And an oil return path of the load sensing closed-core type full hydraulic steering gear 9, an oil return port of the first three-position five-way load induction electro-hydraulic proportional reversing valve 13 and an oil return port of the second three-position five-way load induction electro-hydraulic proportional reversing valve 14 are respectively connected with a hydraulic oil tank 19.
The load sensing closed-core type full hydraulic steering gear 9 adopts a 102S-5T type structure.
The left front wheel steering cylinder 7 and the right front wheel steering cylinder 8 have the same component composition and connection circuit.
The left rear wheel steering cylinder 17 and the right rear wheel steering cylinder 18 have the same components and connection circuits.
A first bidirectional hydraulic control one-way valve 15 is arranged on an oil way between the first three-position five-way load induction electro-hydraulic proportional reversing valve 13 and the left rear wheel steering hydraulic cylinder 17; and a second bidirectional hydraulic control one-way valve 16 is arranged on an oil path between the second three-position five-way load induction electro-hydraulic proportional directional valve 14 and the right rear wheel steering hydraulic cylinder 18.
When the high-clearance spraying machine does not perform a crab steering mode, the first pressure compensation fixed-difference pressure reducing valve 1 is in the left position, the two-position two-way electro-hydraulic proportional valve 3 is in the right position, namely the first pressure compensation fixed-difference pressure reducing valve 1 and the two-position two-way electro-hydraulic proportional valve 3 are both in a cut-off state, the crab steering valve block is closed at the moment, the rodless cavity of the right front-wheel steering hydraulic cylinder 8 is connected with the load induction core-closed type full-hydraulic steering gear 9 at the moment, and the rod cavity of the left front-wheel steering hydraulic cylinder 7 is connected with the rod cavity of the right front-wheel steering hydraulic cylinder 8.
When the spraying machine is in a crab walking steering mode, the first pressure compensation fixed-difference pressure reducing valve 1 is opened, namely the electromagnetic valve is in the right position, the rod cavity series oil circuit of the two front-wheel steering hydraulic cylinders is connected with the compensation oil circuit, and the oil difference of the left front-wheel steering hydraulic cylinder and the right front-wheel steering hydraulic cylinder in the crab walking mode is compensated; the steering compensation hydraulic cylinder 6 enables the oil line pressure to be the same as the oil pressure of the front wheel steering hydraulic cylinder; when crab steering is performed, the displacement of the two front wheel steering hydraulic cylinders is measured through the displacement sensor, the controller judges the steering direction of the spraying machine after obtaining a displacement signal, the displacement required to be pushed by the other steering hydraulic cylinder when the steering angles of the two front wheels are the same is calculated by taking the hydraulic cylinder of the inner side wheel which is turned as a reference, if the displacement required to be pushed is larger, the first pressure compensation fixed differential pressure reducing valve 1 is opened, the two-position three-way electro-hydraulic proportional valve 2 is in the right position, and oil flows to the hydraulic cylinder on the outer side, namely oil supplement; if the displacement required to be pushed is smaller, the first pressure compensation fixed-differential pressure reducing valve 1 is closed, the two-position three-way electro-hydraulic proportional valve 2 is in the left position, the two-position two-way electro-hydraulic proportional valve 3 is opened, and oil returns to the hydraulic oil tank 19, namely oil is drained, so that the steering angles of the two wheels are the same; meanwhile, the first three-position five-way load induction electro-hydraulic proportional reversing valve 13 and the second three-position five-way load induction electro-hydraulic proportional reversing valve 14 control the two rear wheels to follow the front wheel turning angle, so that the four wheel turning angles are ensured to be the same, and the effect of complete crab running of the four wheels is achieved; when the crab running mode is closed, the crab running steering valve block automatically charges and discharges oil to the two-wheel steering system, and the two front wheels are aligned.
Compared with the prior art, the invention has the beneficial effects that:
1. the hydraulic system of the present invention employs a load sensing type steering system. Compared with a common full-hydraulic steering system, the working pressure of a hydraulic pump in the steering process of the system changes along with the change of load pressure, so that the energy loss is reduced, and the aim of saving energy is fulfilled.
2. The hydraulic system can realize the crab steering mode of the high-ground-clearance spraying machine, and improves the maneuverability and the maneuverability of the high-ground-clearance spraying machine.
3. The hydraulic system can switch the two-wheel, four-wheel and crab steering modes at will by controlling the opening and closing of the valve port, can realize the switching of the steering modes under different working conditions and transition transportation states, and better adapts to the control modes required under various operating environments.
Drawings
FIG. 1 is a schematic structural view of a crab steering valve block of the present invention;
fig. 2 is a schematic structural diagram of the crab steering hydraulic system of the present invention.
Wherein the reference numerals are:
1 first pressure compensation fixed-difference pressure-reducing valve
2 two-position three-way electro-hydraulic proportional valve
3 two-position two-way electro-hydraulic proportional valve
4 first fixed orifice
5 first spherical shuttle valve
6-steering compensation hydraulic cylinder
7 left front wheel steering hydraulic cylinder
8 right front wheel steering hydraulic cylinder
9 load induction closed-core type full hydraulic steering gear
10 second pressure compensation fixed-difference pressure-reducing valve
11 third pressure compensation fixed-difference pressure-reducing valve
12 second ball shuttle valve
13 the first three-position five-way load induction electro-hydraulic proportional reversing valve
14 second three-position five-way load induction electro-hydraulic proportional reversing valve
15 first bidirectional hydraulic control one-way valve
16 second bidirectional hydraulic control one-way valve
17 left rear wheel steering hydraulic cylinder
18 right rear wheel steering hydraulic cylinder
19 hydraulic oil tank
20-steering hydraulic pump
21 steering system oil filter
22 load sensing pressure compensating flow priority valve
22 load sensing pressure compensating flow priority valve
23 second fixed restriction
24 one-way valve
25 third fixed restriction
26 fourth fixed restriction
27 relief valve
28 external control sequence unloading valve
29 third spherical shuttle valve
30 fourth pressure compensation constant-difference pressure-reducing valve
31 brake system accumulator
32 first pressure relay
33 foot-operated brake controller
34 second pressure relay
35 hydraulic brake
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 2, the crab steering hydraulic system of the high-clearance sprayer comprises a steering hydraulic pump 20, a brake control valve block, a front wheel steering hydraulic cylinder, a rear wheel steering hydraulic control valve block, a load induction closed-core type full hydraulic steering gear 9, a flow priority control valve block, a differential pressure valve block, a steering compensation hydraulic cylinder 6 and a crab steering valve block.
The load sensing closed-core type full hydraulic steering gear 9 adopts a 102S-5T type structure.
The differential pressure valve block includes a third spherical shuttle valve 29 and a fourth pressure compensating fixed differential relief valve 30.
The brake control valves include a brake system accumulator 31, a first pressure relay 32, a foot brake control valve 33, a second pressure relay 34, and a hydraulic brake 35.
The front-rear wheel steering hydraulic cylinders include a left front wheel steering hydraulic cylinder 7, a right front wheel steering hydraulic cylinder 8, a left rear wheel steering hydraulic cylinder 17, and a right rear wheel steering hydraulic cylinder 18. The left front wheel steering hydraulic cylinder 7 and the right front wheel steering hydraulic cylinder 8 have the same component composition and connection loop; the left rear wheel steering cylinder 17 and the right rear wheel steering cylinder 18 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 10, a third pressure compensation fixed-difference pressure reducing valve 11, a second spherical shuttle valve 12, a first three-position five-way load induction electric-liquid proportional reversing valve 13 and a second three-position five-way load induction electric-liquid proportional reversing valve 14.
The flow priority control valve block comprises a load sensing pressure compensation flow priority valve 22, a second fixed throttling port 23, a one-way valve 24, a third fixed throttling port 25, a fourth fixed throttling port 26, an overflow valve 27 and an external control sequence unloading valve 28.
As shown in fig. 1, the crab steering valve block includes a first pressure compensation fixed-differential pressure reducing valve 1, a two-position three-way electro-hydraulic proportional valve 2, a two-position two-way electro-hydraulic proportional valve 3, a first fixed orifice 4 and a first spherical shuttle valve 5.
An oil inlet of the load sensing pressure compensation flow priority valve 22 is connected with a hydraulic oil tank 19 through a steering system oil filter 21 and a steering hydraulic pump 20, a right oil outlet of the load sensing pressure compensation flow priority valve 22 is respectively connected with an oil inlet end of a second fixed throttle 23, an oil inlet of a first pressure compensation constant-difference pressure reducing valve 1, an oil inlet of a fourth pressure compensation constant-difference pressure reducing valve 30, an oil inlet of a second pressure compensation constant-difference pressure reducing valve 10 and an oil inlet of a third pressure compensation constant-difference pressure reducing valve 11, and a left oil outlet of the load sensing pressure compensation flow priority valve 22 can be connected with other hydraulic systems; the oil outlet end of the second fixed throttling port 23 is respectively connected with the oil inlet of the one-way valve 24 and the oil inlet end of the third fixed throttling port 25; an oil outlet of the one-way valve 24 is respectively connected with a first feedback port of the external control sequence unloading valve 28, an oil inlet and outlet of the brake system energy accumulator 31 and an oil inlet of the pedal brake control valve 33; the oil outlet end of the third fixed throttling orifice 25 is connected with the load pressure sensing oil port of the load sensing pressure compensation flow priority valve 22; an oil inlet of the external control sequence unloading valve 28 is connected with an oil outlet of the third spherical shuttle valve 29, an oil outlet of the external control sequence unloading valve 28 is connected with an oil inlet end of the fourth fixed throttling port 26, and a second feedback oil port of the external control sequence unloading valve 28 is connected with an oil return port of the overflow valve 27; the oil outlet end of the fourth fixed choke 26 is connected with the load pressure sensing port of the load sensing pressure compensation flow priority valve 22; an oil inlet of the overflow valve 27 is connected with a load pressure sensing oil port of the load sensing pressure compensation flow priority valve 22, and an oil return port of the overflow valve 27 is connected with the hydraulic oil tank 19.
An oil inlet of the pedal brake control valve 33 is respectively connected with an oil inlet and an oil outlet of the brake system energy accumulator 31, an oil outlet of the first pressure relay 32 and an oil outlet of the one-way valve 24; the oil return port of the foot brake control valve 33 is respectively connected with a second pressure relay 34 and a hydraulic brake 35; the oil return port of the foot brake control valve 33 is connected to the hydraulic oil tank 19.
An oil outlet of the second pressure compensation fixed-difference pressure reducing valve 10 is connected with an oil inlet of a first three-position five-way load induction electro-hydraulic proportional reversing valve 13; an oil outlet of the third pressure compensation fixed-difference pressure reducing valve 11 is connected with an oil inlet of the second three-position five-way load induction electro-hydraulic proportional reversing valve 14.
The left oil inlet of the second spherical shuttle valve 12 is respectively connected with a first three-position five-way load induction electro-hydraulic proportional directional valve 13 and a feedback oil port of a second pressure compensation fixed differential pressure reducing valve 10; the right oil inlet of the second spherical shuttle valve 12 is respectively connected with the feedback oil ports of a second three-position five-way load induction electro-hydraulic proportional reversing valve 14 and a third pressure compensation fixed-difference pressure reducing valve 11; the oil outlet of the second spherical shuttle valve 12 is connected with the right oil inlet of the first spherical shuttle valve 5.
A left oil inlet and an right oil inlet of the first three-position five-way load induction electro-hydraulic proportional reversing valve 13 are respectively connected with a rod cavity and a rodless cavity of the left rear wheel steering hydraulic cylinder 17; the left oil inlet and outlet and the right oil inlet and outlet of the second three-position five-way load induction electro-hydraulic proportional directional valve 14 are respectively connected with the rodless cavity and the rod cavity of the right rear wheel steering hydraulic cylinder 18.
Preferably, a first bidirectional hydraulic control one-way valve 15 is arranged on an oil path between the first three-position five-way load induced electro-hydraulic proportional directional valve 13 and the left rear wheel steering hydraulic cylinder 17; and a second bidirectional hydraulic control one-way valve 16 is arranged on an oil path between the second three-position five-way load induction electro-hydraulic proportional directional valve 14 and the right rear wheel steering hydraulic cylinder 18.
The left oil inlet of the first spherical shuttle valve 5 is respectively connected with the feedback oil port of the first pressure compensation fixed differential pressure reducing valve 1, the feedback oil port of the two-position three-way electro-hydraulic proportional valve 2 and the oil outlet end of the first fixed throttling port 4; the oil outlet of the first spherical shuttle valve 5 is connected with the left oil inlet of the third spherical shuttle valve 29. An oil outlet of the first pressure compensation fixed-difference pressure reducing valve 1 is connected with an oil inlet of the two-position three-way electro-hydraulic proportional valve 2; and a rodless cavity of the steering compensation hydraulic cylinder 6 is respectively connected with an oil outlet of the two-position three-way electro-hydraulic proportional valve 2 and an oil inlet of the two-position two-way electro-hydraulic proportional valve 3. The oil outlet of the two-position two-way electro-hydraulic proportional valve 3 is respectively connected with the oil inlet end of the first fixed throttle orifice 4 and the hydraulic oil tank 19. And a rod cavity of the steering compensation hydraulic cylinder 6 is respectively connected with a rod cavity of the left front wheel steering hydraulic cylinder 7 and a rod cavity of the right front wheel steering hydraulic cylinder 8.
The right oil inlet of the third spherical shuttle valve 29 is respectively connected with the feedback oil port of the fourth pressure compensation fixed differential pressure reducing valve 30 and the safety valve of the load sensing closed-core type full hydraulic steering gear 9. An oil outlet of the fourth pressure compensation fixed-difference pressure reducing valve 30 is connected with an oil inlet of the load sensing closed-core type full-hydraulic steering gear 9, and a left oil inlet and a right oil inlet of the load sensing closed-core type full-hydraulic steering gear 9 are respectively connected with a rodless cavity of the left front steering hydraulic cylinder 7 and a rodless cavity of the right front steering hydraulic cylinder 8.
And an oil return path of the load sensing closed-core type full hydraulic steering gear 9, an oil return port of the first three-position five-way load induction electro-hydraulic proportional reversing valve 13 and an oil return port of the second three-position five-way load induction electro-hydraulic proportional reversing valve 14 are respectively connected with a hydraulic oil tank 19.
The working process of the invention is as follows:
(1) when the high-clearance spraying machine does not perform a crab steering mode, the first pressure compensation fixed-difference pressure reducing valve 1 is in the left position, the two-position two-way electro-hydraulic proportional valve 3 is in the right position, namely the first pressure compensation fixed-difference pressure reducing valve 1 and the two-position two-way electro-hydraulic proportional valve 3 are both in a cut-off state, the crab steering valve block is closed at the moment, the rodless cavity of the right front-wheel steering hydraulic cylinder 8 is connected with the load induction core-closed type full-hydraulic steering gear 9 at the moment, and the rod cavity of the left front-wheel steering hydraulic cylinder 7 is connected with the rod cavity of the right front-wheel steering hydraulic cylinder 8.
(2) When the sprayer is in the crab mode, the first pressure compensation fixed-differential pressure reducing valve 1 is opened, namely the electromagnetic valve is in the right position, the rod cavity series oil circuit of the two front-wheel steering hydraulic cylinders is connected with the compensation oil circuit, and the oil difference of the left front-wheel steering hydraulic cylinder and the right front-wheel steering hydraulic cylinder in the crab mode is compensated. The steering compensation cylinder 6 makes the oil line pressure equal to the front wheel steering cylinder oil pressure. When crab steering is performed, the displacement of the two front wheel steering hydraulic cylinders is measured through the displacement sensor, the controller judges the steering direction of the spraying machine after obtaining a displacement signal, the displacement required to be pushed by the other steering hydraulic cylinder when the steering angles of the two front wheels are the same is calculated by taking the hydraulic cylinder of the inner side wheel which is turned as a reference, if the displacement required to be pushed is larger, the first pressure compensation fixed differential pressure reducing valve 1 is opened, the two-position three-way electro-hydraulic proportional valve 2 is in the right position, and oil flows to the hydraulic cylinder on the outer side, namely oil supplement; if the required displacement that promotes is littleer, then first pressure compensation fixed differential pressure reducing valve 1 closes, and two tee bend electric liquid proportional valve 2 are in the left position, and two tee bend electric liquid proportional valve 3 open, and fluid returns hydraulic tank 19, the oil drain promptly for two-wheeled turns to the angle the same. Meanwhile, the first three-position five-way load induction electro-hydraulic proportional reversing valve 13 and the second three-position five-way load induction electro-hydraulic proportional reversing valve 14 control the two rear wheels to follow the front wheel turning angle, so that the four wheel turning angles are ensured to be the same, and the effect of complete crab running of the four wheels is achieved; when the crab running mode is closed, the crab running steering valve block automatically charges and discharges oil to the two-wheel steering system, and the two front wheels are aligned.
Claims (7)
1. A crab steering hydraulic system of a high-clearance sprayer is characterized by comprising a steering hydraulic pump (20), a brake control valve block, a front wheel steering hydraulic cylinder, a rear wheel steering hydraulic control valve block, a load induction core-closing type full hydraulic steering gear (9), a flow priority control valve block, a differential pressure valve block, a steering compensation hydraulic cylinder (6) and a crab steering valve block;
the differential pressure valve block comprises a third spherical shuttle valve (29) and a fourth pressure compensation fixed-differential pressure reducing valve (30);
the brake control valve comprises a brake system energy accumulator (31), a first pressure relay (32), a foot-operated brake control valve (33), a second pressure relay (34) and a hydraulic brake (35);
the front and rear wheel steering hydraulic cylinders comprise a left front wheel steering hydraulic cylinder (7), a right front wheel steering hydraulic cylinder (8), a left rear wheel steering hydraulic cylinder (17) and a right rear wheel steering hydraulic cylinder (18);
the rear wheel steering hydraulic control valve block comprises a second pressure compensation fixed-difference pressure reducing valve (10), a third pressure compensation fixed-difference pressure reducing valve (11), a second spherical shuttle valve (12), a first three-position five-way load induction electro-hydraulic proportional reversing valve (13) and a second three-position five-way load induction electro-hydraulic proportional reversing valve (14);
the flow priority control valve block comprises a load sensing pressure compensation flow priority valve (22), a second fixed throttling port (23), a one-way valve (24), a third fixed throttling port (25), a fourth fixed throttling port (26), an overflow valve (27) and an external control sequence unloading valve (28);
the crab steering valve block comprises a first pressure compensation fixed differential pressure reducing valve (1), a two-position three-way electro-hydraulic proportional valve (2), a two-position two-way electro-hydraulic proportional valve (3), a first fixed throttling port (4) and a first spherical shuttle valve (5);
an oil inlet of the load sensing pressure compensation flow priority valve (22) is connected with a hydraulic oil tank (19) through a steering system oil filter (21) and a steering hydraulic pump (20), a right oil outlet of the load sensing pressure compensation flow priority valve (22) is respectively connected with an oil inlet end of a second fixed throttle orifice (23), an oil inlet of a first pressure compensation constant-differential pressure reducing valve (1), an oil inlet of a fourth pressure compensation constant-differential pressure reducing valve (30), an oil inlet of a second pressure compensation constant-differential pressure reducing valve (10) and an oil inlet of a third pressure compensation constant-differential pressure reducing valve (11), and a left oil outlet of the load sensing pressure compensation flow priority valve (22) can be connected with other hydraulic systems; the oil outlet end of the second fixed throttling port (23) is respectively connected with the oil inlet of the one-way valve (24) and the oil inlet end of the third fixed throttling port (25); an oil outlet of the one-way valve (24) is respectively connected with a first feedback port of the external control sequence unloading valve (28), an oil inlet and outlet port of a brake system energy accumulator (31) and an oil inlet of a pedal brake control valve (33); the oil outlet end of the third fixed throttling port (25) is connected with a load pressure sensing oil port of a load sensing pressure compensation flow priority valve (22); an oil inlet of the external control sequence unloading valve (28) is connected with an oil outlet of a third spherical shuttle valve (29), an oil outlet of the external control sequence unloading valve (28) is connected with an oil inlet end of a fourth fixed throttling port (26), and a second feedback oil port of the external control sequence unloading valve (28) is connected with an oil return port of an overflow valve (27); the oil outlet end of the fourth fixed throttling port (26) is connected with a load pressure sensing oil port of a load sensing pressure compensation flow priority valve (22); an oil inlet of the overflow valve (27) is connected with a load pressure sensing oil port of the load sensing pressure compensation flow priority valve (22), and an oil return port of the overflow valve (27) is connected with the hydraulic oil tank (19);
an oil inlet of the pedal type brake control valve (33) is respectively connected with an oil inlet and an oil outlet of the brake system energy accumulator (31), an oil outlet of the first pressure relay (32) and an oil outlet of the one-way valve (24); an oil return port of the pedal type brake control valve (33) is respectively connected with a second pressure relay (34) and a hydraulic brake (35); an oil return port of the pedal brake control valve (33) is connected with a hydraulic oil tank (19);
the oil outlet of the second pressure compensation fixed-difference pressure reducing valve (10) is connected with the oil inlet of a first three-position five-way load induction electric-liquid proportional reversing valve (13); an oil outlet of the third pressure compensation fixed-difference pressure reducing valve (11) is connected with an oil inlet of a second three-position five-way load induction electric liquid proportional reversing valve (14);
a left oil inlet of the second spherical shuttle valve (12) is respectively connected with a feedback oil port of a first three-position five-way load induction electro-hydraulic proportional reversing valve (13) and a feedback oil port of a second pressure compensation fixed differential pressure reducing valve (10); the right oil inlet of the second spherical shuttle valve (12) is respectively connected with the feedback oil ports of a second three-position five-way load induction electro-hydraulic proportional reversing valve (14) and a third pressure compensation fixed differential pressure reducing valve (11); an oil outlet of the second spherical shuttle valve (12) is connected with a right oil inlet of the first spherical shuttle valve (5);
a left oil inlet and an right oil inlet of the first three-position five-way load induction electro-hydraulic proportional reversing valve (13) are respectively connected with a rod cavity and a rodless cavity of the left rear wheel steering hydraulic cylinder (17); the left oil inlet and outlet and the right oil inlet and outlet of the second three-position five-way load induction electro-hydraulic proportional reversing valve (14) are respectively connected with a rodless cavity and a rod cavity of the right rear wheel steering hydraulic cylinder (18);
the left oil inlet of the first spherical shuttle valve (5) is respectively connected with the feedback oil port of the first pressure compensation fixed-differential pressure reducing valve (1), the feedback oil port of the two-position three-way electro-hydraulic proportional valve (2) and the oil outlet end of the first fixed throttling port (4); an oil outlet of the first spherical shuttle valve (5) is connected with a left oil inlet of the third spherical shuttle valve (29); an oil outlet of the first pressure compensation fixed-difference pressure reducing valve (1) is connected with an oil inlet of the two-position three-way electro-hydraulic proportional valve (2); a rodless cavity of the steering compensation hydraulic cylinder (6) is respectively connected with an oil outlet of the two-position three-way electro-hydraulic proportional valve (2) and an oil inlet of the two-position two-way electro-hydraulic proportional valve (3); the oil outlet of the two-position two-way electro-hydraulic proportional valve (3) is respectively connected with the oil inlet end of the first fixed throttling port (4) and the hydraulic oil tank (19); the rod cavity of the steering compensation hydraulic cylinder (6) is respectively connected with the rod cavity of the left front wheel steering hydraulic cylinder (7) and the rod cavity of the right front wheel steering hydraulic cylinder (8);
a right oil inlet of the third spherical shuttle valve (29) is respectively connected with a feedback oil port of the fourth pressure compensation fixed-difference pressure reducing valve (30) and a safety valve of the load induction closed-core type full hydraulic steering gear (9); an oil outlet of a fourth pressure compensation fixed-difference pressure reducing valve (30) is connected with an oil inlet of a load induction closed-core type full-hydraulic steering gear (9), and a left oil inlet and a right oil inlet of the load induction closed-core type full-hydraulic steering gear (9) are respectively connected with a rodless cavity of a left front steering hydraulic cylinder (7) and a rodless cavity of a right front steering hydraulic cylinder (8);
and an oil return path of the load sensing closed-core type full hydraulic steering gear (9), an oil return port of the first three-position five-way load induction electro-hydraulic proportional reversing valve (13) and an oil return port of the second three-position five-way load induction electro-hydraulic proportional reversing valve (14) are respectively connected with a hydraulic oil tank (19).
2. The crab steering hydraulic system of the high-clearance sprayer according to claim 1, wherein the load-sensing closed-core full hydraulic steering gear (9) adopts a 102S-5T structure.
3. Crab steering hydraulic system of a high-clearance sprayer according to claim 1, characterized in that the left front-wheel steering hydraulic cylinder (7) and the right front-wheel steering hydraulic cylinder (8) have the same component composition and connection circuit.
4. The crab steering hydraulic system of a high-clearance sprayer according to claim 1, characterized in that the left rear steering cylinder (17) and the right rear steering cylinder (18) have the same components and connection circuits.
5. The crab steering hydraulic system of the high-clearance sprayer according to claim 1, wherein a first bidirectional hydraulic control one-way valve (15) is arranged on an oil path between the first three-position five-way load induction electric-hydraulic proportional directional valve (13) and the left rear wheel steering hydraulic cylinder (17); and a second bidirectional hydraulic control one-way valve (16) is arranged on an oil path between the second three-position five-way load induction electro-hydraulic proportional reversing valve (14) and the right rear wheel steering hydraulic cylinder (18).
6. The crab steering hydraulic system of the highland crack sprayer as claimed in claim 1, characterized in that when the highland crack sprayer is not in crab steering mode, the first pressure compensation constant-difference pressure-reducing valve (1) is in left position, the two-position two-way electro-hydraulic proportional valve (3) is in right position, namely the first pressure compensation constant-difference pressure-reducing valve (1) and the two-position two-way electro-hydraulic proportional valve (3) are both in cut-off state, the crab steering valve block is closed, the rodless cavity of the right front wheel steering hydraulic cylinder (8) is connected with the load sensing core-closing type full hydraulic steering gear (9), and the rod cavity of the left front wheel steering hydraulic cylinder (7) is connected with the rod cavity of the right front wheel steering hydraulic cylinder (8).
7. The crab steering hydraulic system of the high-clearance spraying machine according to claim 1, characterized in that when the spraying machine is in crab steering mode, the first pressure compensation constant-difference pressure-reducing valve (1) is opened, namely the electromagnetic valve is in right position, the oil circuit with the rod cavities of the two front wheel steering hydraulic cylinders is connected with the compensation oil circuit, and the oil difference of the left and right front wheel steering hydraulic cylinders occurring in crab steering mode is compensated; the steering compensation hydraulic cylinder (6) enables the oil circuit pressure to be the same as the oil pressure of the front wheel steering hydraulic cylinder; when crab steering is carried out, the displacement of the two front wheel steering hydraulic cylinders is measured through the displacement sensor, the controller judges the turning direction of the spraying machine after obtaining a displacement signal, the hydraulic cylinder of the inner side wheel which turns is taken as a reference, the displacement which is required to be pushed by the other steering hydraulic cylinder when the steering angles of the two front wheels are the same is calculated, if the displacement which is required to be pushed is larger, the first pressure compensation fixed difference pressure reducing valve (1) is opened, the two-position three-way electro-hydraulic proportional valve (2) is positioned at the right position, and oil flows to the hydraulic cylinder at the outer side, namely oil supplement; if the displacement required to be pushed is smaller, the first pressure compensation fixed-differential pressure reducing valve (1) is closed, the two-position three-way electro-hydraulic proportional valve (2) is in the left position, the two-position two-way electro-hydraulic proportional valve (3) is opened, and oil returns to the hydraulic oil tank (19), namely oil is discharged, so that the steering angles of the two wheels are the same; meanwhile, the first three-position five-way load induced electro-hydraulic proportional reversing valve (13) and the second three-position five-way load induced electro-hydraulic proportional reversing valve (14) control the two rear wheels to follow the front wheel turning angle, so that the same four wheel turning angle is ensured, and the effect of complete crab running of the four wheels is achieved; when the crab running mode is closed, the crab running steering valve block automatically charges and discharges oil to the two-wheel steering system, and the two front wheels are aligned.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110176158.4A CN112997992B (en) | 2021-02-07 | 2021-02-07 | Crabbing steering hydraulic system of high-clearance sprayer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110176158.4A CN112997992B (en) | 2021-02-07 | 2021-02-07 | Crabbing steering hydraulic system of high-clearance sprayer |
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| CN112997992A true CN112997992A (en) | 2021-06-22 |
| CN112997992B CN112997992B (en) | 2021-12-24 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104542546A (en) * | 2015-01-19 | 2015-04-29 | 石河子大学 | Adjustable height type full hydraulic driving chassis of high-ground-clearance mist spraying machine and hydraulic system thereof |
| CN106481605A (en) * | 2016-12-13 | 2017-03-08 | 三汽车制造有限公司 | A kind of road roller hydraulic system and road roller |
| CN110641546A (en) * | 2019-10-18 | 2020-01-03 | 扬州金威环保科技有限公司 | Vehicle four-wheel steering system and control method thereof |
| CN112005685A (en) * | 2020-07-27 | 2020-12-01 | 农业农村部南京农业机械化研究所 | Hydraulic system of high-ground-clearance spraying machine |
-
2021
- 2021-02-07 CN CN202110176158.4A patent/CN112997992B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104542546A (en) * | 2015-01-19 | 2015-04-29 | 石河子大学 | Adjustable height type full hydraulic driving chassis of high-ground-clearance mist spraying machine and hydraulic system thereof |
| CN106481605A (en) * | 2016-12-13 | 2017-03-08 | 三汽车制造有限公司 | A kind of road roller hydraulic system and road roller |
| CN110641546A (en) * | 2019-10-18 | 2020-01-03 | 扬州金威环保科技有限公司 | Vehicle four-wheel steering system and control method thereof |
| CN112005685A (en) * | 2020-07-27 | 2020-12-01 | 农业农村部南京农业机械化研究所 | Hydraulic system of high-ground-clearance spraying machine |
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