Multi-way valve, engineering machine and walking control method

[0026]In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. The components of the embodiments of the present invention generally described and illustrated in the drawings herein may be arranged and designed in various different configurations.

[0027]Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0028]It should be noted that similar reference numerals and letters indicate similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0029]In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "inner" and "outer" is based on the orientation or positional relationship shown in the drawings, or is usually placed when the product of the invention is used. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

[0030]In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connected", and "connected" should be understood in a broad sense. For example, they may be fixed connections. It may also be detachably connected or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood in specific situations.

[0031]This embodiment provides a construction machine that can walk and move. Specifically, the construction machine can walk straight forward or backward, or turn left and right, or left and right. Construction machinery includes excavators, rotary drilling rigs, etc., which are not specifically limited here. The following is a detailed description with construction machinery as an excavator.

[0032]The excavator includes a multi-way valve 010 used to control its walking; please refer to thisfigure 1 In the embodiment, the multi-way valve 010 is provided with P port 171, T port 172, and LS port 173. Both P port 171 and LS port 173 are used to connect to the main pump, and T port 172 is used to connect to the hydraulic oil tank. Specifically, the P port 171 of the multi-way valve 010 is connected to the main pump, and the main pump provides pressure oil to the multi-way valve 010; the T port 172 is the oil return port, which is connected to the hydraulic oil tank; the LS port 173 is the load pressure port, which is connected to the main pump The upper LS port 173 is used to feed back the load pressure to the main pump.

[0033]Please refer tofigure 1 , The multi-way valve 010 also includes a left travel coupling 130, a right travel coupling 140, a left travel motor 161 and a right travel motor 162. The left travel coupling 130 has a left high-pressure oil port, and the left high-pressure oil port is connected to the left travel motor 161 for right travel The coupling 140 has a right high pressure oil port, which is connected to the right travel motor 162. Specifically, the left travel link 130 includes a left main valve core 131, the left main valve core 131 includes two left high pressure oil ports, and the two left high pressure oil ports are both connected to the high pressure oil ports of the left travel motor 161 to travel the motor to the left. 161 supplies oil to drive the left travel motor 161 to rotate; the right travel link 140 includes a right main valve core 141, and the right main valve core 141 includes two right high pressure oil ports, both of which are connected to the high pressure of the right travel motor 162 The oil port supplies oil to the right travel motor 162 to drive the right travel motor 162 to rotate. With this arrangement, the left main valve core 131 and the right main valve core 141 can be used to supply oil to the left travel motor 161 and the right travel motor 162, respectively, so that the left travel motor 161 and the right travel motor 162 can rotate to drive the excavator to travel.

[0034]It should be noted that the high-pressure oil port of the main spool and the high-pressure oil port of the traveling motor can be connected by a pipeline, which is connected between the high-pressure oil port of the main spool and the high-pressure oil port of the traveling motor and connects the two The structure of is similar to the related technology, so I won't repeat it here.

[0035]The excavator also includes a traveling pilot valve. The traveling pilot valve is provided with a left forward oil port 121, a left backward oil port 122, a right forward oil port 123 and a right backward oil port 124. The left forward oil port 121 travels to the left through the left front pilot oil path The left backward oil port 122 communicates with the left travel coupling 130 through the left rear pilot oil passage, the right forward oil port 123 communicates with the right travel coupling 140 through the right front pilot oil passage, and the right backward oil port 124 passes through the right rear pilot oil passage. Connected with the right walking link 140. It should be noted that the travel pilot valve is a part of the main hydraulic system.

[0036]Specifically, the left main spool 131 includes two left pilot oil ports, the left forward oil port 121 communicates with the left main spool 131 through the left front pilot oil passage and one of the left pilot oil ports, and the left backward oil port 122 passes through the left rear pilot The oil path and another left pilot port are connected with the left main spool 131; the right main spool 141 includes two right pilot ports, and the right forward port 123 passes through the right front pilot oil path and one of the right pilot ports is connected to the right main spool. The valve core 141 is in communication, and the right backward oil port 124 is in communication with the right main valve core 141 through the right rear pilot oil passage and another right pilot oil port.

[0037]In this way, the pilot oil can be supplied to the corresponding left pilot oil port on the left main spool 131 through the left forward oil port 121 or the left backward oil port 122 through the corresponding left front pilot oil passage or left rear pilot oil passage. Then the position of the left main spool 131 is controlled to determine the direction of rotation of the left travel motor 161; in the same way, the pilot oil can be passed through the right forward oil port 123 or the right backward oil port 124 through the respective right front pilot oil passage or right rear The pilot oil passage is provided to the corresponding right pilot oil port on the right main spool 141 to control the position of the right main spool 141 to determine the direction of rotation of the right travel motor 162, thereby controlling the forward or backward of the excavator. Specifically, when the left forward oil port 121 supplies pilot oil to the left main spool 131 through the left front pilot oil passage and one of the left pilot ports, the left main spool 131 is located at the first position, and the right forward oil port 123 will Pilot oil is supplied to the right main spool 141 through the right front pilot oil passage and one of the right pilot oil ports, so that when the right main spool 141 is in the second position, both the left travel motor 161 and the right travel motor 162 rotate forward to drive excavation The machine advances; when the left backward oil port 122 supplies the pilot oil to the left main spool 131 through the left rear pilot oil passage and another left pilot oil port, so that the left main spool 131 is in the third position and the right backward oil port 124 The pilot oil is supplied to the right main spool 141 through the right rear pilot oil passage and another right pilot oil port, so that when the right main spool 141 is in the fourth position, the left travel motor 161 and the right travel motor 162 are both reversed to Drive the excavator back.

[0038]It should be noted that the above-mentioned left main spool 131 and right main spool 141 can use various types of reversing valves, such as three-position valves, which are not specifically limited here; the above-mentioned first position and second position can be Refers to the left position of the three-position valve, the third position and the fourth position can refer to the right position of the three-position valve, or the first position and the second position can refer to the right position of the three-position valve, the third position and the fourth position The position can refer to the left position of the three-position valve, which is not specifically limited here.

[0039]Optionally, the left travel coupling 130 further includes a left compensation valve core 132, which is connected to the left main valve core 131 for maintaining the pressure balance of the left main valve core 131; the right travel coupling 140 also includes a right compensation valve Core 142, the right compensation valve core 142 is connected with the right main valve core 141 for maintaining the pressure balance of the right main valve core 141. It should be noted that the connection mode and working principle of the left compensating spool 132 and the left main spool 131, as well as the connection direction and working principle of the right compensating spool 142 and the right main spool 141 are similar to those of related technologies, and are not here. Repeat it again.

[0040]The multi-way valve 010 also includes a walking assist link 100 and a detection mechanism 150; the left front pilot oil path, the left rear pilot oil path, the right front pilot oil path and the right rear pilot oil path are all connected to the walking assist link 100 through the detection mechanism 150. The detection mechanism 150 is used to obtain the left pilot pressure in both the left front pilot oil circuit and the left rear pilot oil circuit, and to obtain the right pilot pressure in both the right front pilot oil circuit and the right rear pilot oil circuit, and is used to perform the pilot pressure and the right pilot pressure. When the pilot pressure is the same, the walking auxiliary link 100 is controlled to connect the left walking link 130 and the right walking link 140.

[0041]Further, the left pilot pressure is the greater of the pressure of the left front pilot oil passage and the pressure of the left rear pilot oil passage, and the right pilot pressure is both the pressure of the right front pilot oil passage and the pressure of the right rear pilot oil passage One of CUHK.

[0042]The principle of using the multi-way valve 010 to control the forward movement of the excavator includes: when moving forward, the left forward oil port 121 supplies the pilot oil to the left main spool 131 through the left front pilot oil passage, so that the left main spool 131 drives the left travel motor 161 Forward rotation, the right forward oil port 123 supplies the pilot oil to the right main spool 141 through the right front pilot oil passage, so that the right main spool 141 drives the right travel motor 162 to rotate forward. At this time, the left backward oil port 122 does not need to be The pilot oil is supplied to the left main spool 131 through the left rear pilot oil passage or only the pilot oil less than the amount of pilot oil provided by the left forward port 121 is provided to the left main spool 131, as long as the left backward port 122 provides the pilot The oil does not interfere with the forward rotation of the left travel motor 161. Similarly, the right backward oil port 124 may not supply the pilot oil to the right main spool 141 through the right rear pilot oil passage or only provide less than the right forward oil port 123. The pilot oil of the amount of pilot oil is supplied to the right main spool 141, as long as the pilot oil provided by the right backward oil port 124 does not interfere with the forward rotation of the right travel motor 162.

[0043]As the excavator moves forward, the left forward port 121 supplies the pilot oil to the left main spool 131 through the left front pilot oil path, so the pressure of the left front pilot oil path is greater than the pressure of the left rear pilot oil path, and the pressure of the left front pilot oil path It is the left pilot pressure; in the same way, the right forward port 123 supplies the pilot oil to the right main spool 141 through the right front pilot oil path, so the pressure of the right front pilot oil path is greater than that of the right rear pilot oil path, and the right front pilot oil path The pressure is the right pilot pressure.

[0044]The principle of using the multi-way valve 010 to control the back of the excavator includes: when backing, the left back oil port 122 supplies the pilot oil to the left main spool 131 through the left rear pilot oil path, so that the left main spool 131 drives the left travel motor 161 reverses, the right backward oil port 124 supplies the pilot oil to the right main spool 141 through the right rear pilot oil passage, so that the right main spool 141 drives the right travel motor 162 to reverse. At this time, the left forward oil port 121 can Do not provide pilot oil to the left main spool 131 through the left front pilot oil passage or only provide pilot oil less than the amount of pilot oil provided by the left backward oil port 122 to the left main spool 131, as long as the left forward oil port 121 provides The pilot oil does not interfere with the reverse rotation of the left travel motor 161. Similarly, the right forward port 123 may not supply the pilot oil to the right main spool 141 through the right front pilot oil passage or only provide less than the right backward port 124. The pilot oil of the pilot oil quantity is supplied to the right main spool 141, as long as the pilot oil provided by the right forward oil port 123 does not interfere with the reverse rotation of the right travel motor 162.

[0045]As the excavator retreats, the left retreat port 122 supplies the pilot oil to the left main spool 131 through the left rear pilot oil passage, so the pressure of the left rear pilot oil passage is greater than the pressure of the left front pilot oil passage, and the left rear pilot oil passage The pressure of is the left pilot pressure; in the same way, the right backward port 124 supplies the pilot oil to the right main spool 141 through the right rear pilot oil passage, so the right rear pilot oil passage pressure is greater than the right front pilot oil passage pressure. The pressure of the rear pilot circuit is the right pilot pressure.

[0046]When the excavator is controlled to move forward or backward through the multi-way valve 010, the left pilot pressure is equal to the right pilot pressure, and the detection mechanism 150 obtains the left and right pilot pressures, and judges the left and right pilot pressures. At the same time, control the walking assist coupling 100 to connect the left walking coupling 130 and the right walking coupling 140, so that the oil output from the left walking coupling 130 and the oil output from the right walking coupling 140 can be exchanged through the walking assist coupling 100, so that the left walking The difference between the oil output of the joint 130 and the right travel joint 140 is reduced or eliminated, so that the excavator can reliably travel in a straight line, and the problem of deviation when the excavator is walking in a straight line is improved.

[0047]Optionally, the walking assist coupling 100 includes a reversing valve 110. The left front pilot oil path, the left rear pilot oil path, the right front pilot oil path, and the right rear pilot oil path are all connected to the reversing valve 110 through the detection mechanism 150. The reversing valve 110 is used to switch to the neutral position when the detection mechanism 150 detects that the left pilot pressure and the right pilot pressure are the same, so that the left travel link 130 and the right travel link 140 communicate through the reversing valve 110 switched to the center position. With this setting, when the excavator travels forward or backward in a straight line, the reversing valve 110 is switched to the neutral position, and the oil output from the left travel coupling 130 and the oil output from the right travel coupling 140 are exchanged through the reversing valve 110 , Thereby reducing or eliminating the difference in the amount of oil output by the left travel coupling 130 and the right travel coupling 140, so that the excavator can travel in a straight line reliably, and the problem of deviation when the excavator travels in a straight line is improved.

[0048]Optionally, the oil outlet of the left main spool 131 is connected to the reversing valve 110, and the oil outlet of the right main spool 141 is connected to the reversing valve 110, when the excavator walks straight forward or backward, and the detection When the mechanism 150 detects that the left pilot pressure and the right pilot pressure are equal, the reversing valve 110 is controlled to switch to the neutral position, so that the oil outlet of the left main spool 131 and the oil outlet of the right main spool 141 pass through the middle position. The valve 110 is connected, which reduces or eliminates the difference in the amount of oil output from the left travel coupling 130 and the right travel coupling 140, so that the excavator can travel in a straight line reliably, and the problem of deviation when the excavator travels in a straight line is improved.

[0049]Optionally, the oil outlet of the left compensating spool 132 is connected to the reversing valve 110, and the oil outlet of the right compensating spool 142 is connected to the reversing valve 110, when the excavator walks straight forward or backward, and the detection When the mechanism 150 detects that the left pilot pressure and the right pilot pressure are equal, the reversing valve 110 is controlled to switch to the neutral position, so that the oil outlet of the left compensation spool 132 and the oil outlet of the right compensation spool 142 pass through the middle position. The valve 110 is connected, which reduces or eliminates the difference in the amount of oil output from the left travel coupling 130 and the right travel coupling 140, so that the excavator can travel in a straight line reliably, and the problem of deviation when the excavator travels in a straight line is improved.

[0050]It should be noted that in other embodiments, only the oil outlet of the left main valve core 131 may be connected to the reversing valve 110, and only the oil outlet of the right main valve core 141 may be connected to the reversing valve 110.

[0051]Optionally, the detection mechanism 150 includes a first shuttle valve 151 and a second shuttle valve 152. The left front pilot oil passage and the left rear pilot oil passage are both connected to the walking assist coupling 100 through the first shuttle valve 151. The right front pilot oil passage and the right The rear pilot oil passages are all connected to the walking assist coupling 100 through the second shuttle valve 152. With this arrangement, when the excavator moves forward, the left forward oil port 121 supplies the pilot oil to the left main spool 131 through the left front pilot oil passage, and the first shuttle valve 151 obtains the pressure of the left front pilot oil passage as the left pilot pressure. The forward port 123 supplies the pilot oil to the right main spool 141 through the right front pilot oil passage, and the second shuttle valve 152 obtains the pressure of the right front pilot oil passage as the right pilot pressure; similarly, when the excavator moves backward, the left rear oil inlet The pilot oil is supplied to the left main spool 131 through the left rear pilot oil passage. The first shuttle valve 151 obtains the pressure of the left rear pilot oil passage as the left pilot pressure. At the same time, the right rear oil inlet passes the pilot oil through the right rear pilot oil passage Provided to the right main spool 141, the second shuttle valve 152 obtains the pressure of the right rear pilot oil passage as the right pilot pressure.

[0052]It should be noted that when the excavator is walking straight forward or backward, when the left pilot pressure obtained by the first shuttle valve 151 and the right pilot pressure obtained by the second shuttle valve 152 are the same, the control valve 110 is switched to the neutral position. , So as to reduce or eliminate the difference in the amount of oil output from the left and right travel links 130 and 140, so that the excavator can reliably travel in a straight line, and the problem of deviation when the excavator is walking in a straight line is improved.

[0053]Further, the multi-way valve 010 also includes a left side oil passage and a right side oil passage. The first shuttle valve 151 is arranged in the left side oil passage, and the left front pilot oil passage and the left rear pilot oil passage are both connected to the left side oil passage; The second shuttle valve 152 is arranged in the right side oil passage, and both the right front pilot oil passage and the right rear pilot oil passage are in communication with the right side oil passage; this arrangement not only enables the first shuttle valve 151 to reliably obtain the left pilot pressure, but also The second shuttle valve 152 is used to reliably obtain the right pilot pressure, and the first shuttle valve 151 is set in the left side oil passage, so that the left forward oil port 121 and the left backward oil port 122 will not interfere with each of the pilot oil through their corresponding pilot The oil passage is provided to the left travel link 130, and the second shuttle valve 152 is arranged in the right side oil passage, without interfering with the right forward oil port 123 and the right backward oil port 124. Each of the pilot oil is supplied to the corresponding pilot oil passages. Walk on the right to link 140.

[0054]Furthermore, the reversing valve 110 has two pilot ports, and the first shuttle valve 151 and the second shuttle valve 152 are respectively connected to the two pilot ports. This arrangement facilitates the reliable switching of the reversing valve 110 according to the left pilot pressure obtained by the first shuttle valve 151 and the right pilot pressure obtained by the second shuttle valve 152, thereby ensuring that the multi-way valve 010 controls the excavator to reliably move straight.

[0055]In other embodiments, the excavator further includes an electronic control system that cooperates with the multi-way valve 010, such as an electronic control unit (ECU) or a programmable logic controller (PLC), etc. The detection mechanism 150 includes a first sensor, a second The sensor, the third sensor and the fourth sensor. The first sensor, the second sensor, the third sensor and the fourth sensor are all electrically connected to the electric control system. The first sensor is arranged in the left front pilot oil circuit for connecting the left front pilot oil circuit The pressure signal is sent to the electronic control system; the second sensor is installed in the right front pilot oil circuit, and is used to send the pressure signal of the right front pilot oil circuit to the electronic control system; the third sensor is installed in the left rear pilot oil circuit, used to The pressure signal of the rear pilot oil circuit is sent to the electronic control system; the fourth sensor is equipped with the right rear pilot oil circuit, which is used to send the pressure signal of the right rear pilot oil circuit to the electronic control system; the electronic control system is based on the received left front pilot Compare the pressure signal of the oil circuit, the pressure signal of the right front pilot oil circuit, the pressure signal of the left rear pilot oil circuit and the pressure signal of the right rear pilot oil circuit, for example: when the pressure signal of the left front pilot oil circuit is high, record If the value is 1, the pressure signal of the left rear pilot oil circuit is low level, recorded as 0, and the pressure signal of the right front pilot oil circuit is high level, recorded as 1, and the pressure signal of the right rear pilot oil circuit is low level. When it is recorded as 0, the electronic control system determines that the excavator is walking straight forward, and the electronic control system controls the reversing valve 110 to switch to the neutral position, so that the oil output by the left travel coupling 130 and the oil output by the right travel coupling 140 are assisted by walking Link 100 exchange, or, when the pressure signal of the left front pilot oil circuit is low, it is recorded as 0, the pressure signal of the left rear pilot oil circuit is high, and it is recorded as 1, and the pressure signal of the right front pilot oil circuit is low Level, recorded as 0, the pressure signal of the right rear pilot oil circuit is high level, when recorded as 1, the electronic control system determines that the excavator is walking straight backward, and the electronic control system controls the reversing valve 110 to switch to the neutral position, so that The oil output from the left travel coupling 130 and the oil output from the right travel coupling 140 are exchanged through the travel assist coupling 100; there is no specific limitation here.

[0056]Of course, in other embodiments, the electronic control system can also directly obtain the pilot pressure value of the left front pilot oil circuit, the pilot pressure value of the right front pilot oil circuit, the pilot pressure value of the left rear pilot oil circuit, and the pilot pressure value of the right rear pilot oil circuit. Pressure value, and compare each obtained pilot pressure value with the preset value to determine whether the excavator is walking straight forward or backward, for example: the pilot pressure value of the left front pilot oil circuit is greater than that of the left rear pilot oil circuit The pilot pressure value of the left front pilot circuit is the left pilot pressure, the pilot pressure value of the right front pilot circuit is greater than the pilot pressure value of the right rear pilot circuit, the pilot pressure value of the right front pilot circuit is the right pilot pressure, and the left The pilot pressure and the right pilot pressure both meet the first preset value. The electronic control system determines that the excavator walks straight forward, and controls the walking auxiliary link 100 to connect the left walking link 130 and the right walking link 140; or, the pilot of the left front pilot oil circuit The pressure value is less than the pilot pressure value of the left rear pilot oil circuit, the pilot pressure value of the left rear pilot oil circuit is the left pilot pressure, the pilot pressure value of the right front pilot oil circuit is less than the pilot pressure value of the right rear pilot oil circuit, and the right rear pilot oil circuit The pilot pressure value of the road is the right pilot pressure, and both the left pilot pressure and the right pilot pressure meet the second preset value. The electronic control system determines that the excavator walks straight backward, and controls the walking auxiliary link 100 to connect the left walking link 130 and the right Walking Union 140. It should be noted that the first preset value and the second preset value may be equal or unequal.

[0057]It should be noted that the above-mentioned first sensor, second sensor, third sensor, and fourth sensor are all oil pressure sensors.

[0058]When the excavator of this embodiment is walking straight forward or backward, the left pilot pressure is the same as the right pilot pressure, that is, the first shuttle valve 151 and the second shuttle valve 152 take the left pilot pressure and The right pilot pressure of the right travel is the same, and the control reversing valve 110 is switched to the neutral position. The left travel linkage 130 and the right travel linkage 140 are connected through the reversing valve 110 located in the center position. The oil output from the left travel linkage 130 and the right travel linkage The oil output by 140 is exchanged through the reversing valve 110 in the middle position, thereby reducing or eliminating the difference in the amount of oil output by the left travel coupling 130 and the right travel coupling 140, thereby enabling the construction machinery to travel in a straight line reliably. If the excavator is turning, whether it is turning left, forward, left, or right, the left pilot pressure is different from the right pilot pressure, the reversing valve 110 is no longer in the neutral position, and the reversing valve 110 is off State, and will not interfere with the normal steering of the excavator.

[0059]This embodiment also provides a walking control method for the above-mentioned excavator with multi-way valve 010.

[0060]Please refer tofigure 2The walking control method of this embodiment includes controlling the detection mechanism 150 to obtain the pressure of the left front pilot oil passage and the pressure of the left rear pilot oil passage, and use the larger of the two as the left pilot pressure, and obtain the pressure of the right front pilot oil passage. Pressure and the pressure of the right-rear pilot oil circuit, and the larger of the two is used as the right pilot pressure; when the left and right pilot pressures are the same, the walking assist link 100 is controlled to connect the left walking link 130 and the right walking link联140.

[0061]Further, the detection mechanism 150 includes a first shuttle valve 151 and a second shuttle valve 152. The left front pilot oil passage and the left rear pilot oil passage are both connected to the walking assist coupling 100 through the first shuttle valve 151. The right front pilot oil passage and the right rear pilot oil passage The pilot oil passages are all connected to the walking assist coupling 100 through the second shuttle valve 152. With this arrangement, when the excavator is advancing, the left forward oil port 121 supplies the pilot oil to the left main spool 131 through the left front pilot oil passage, and the first shuttle valve 151 obtains the pressure of the left front pilot oil passage as the left pilot pressure. The forward port 123 supplies the pilot oil to the right main spool 141 through the right front pilot oil path, and the second shuttle valve 152 obtains the pressure of the right front pilot oil path as the right pilot pressure; similarly, when the excavator moves backward, the left rear oil inlet The pilot oil is supplied to the left main spool 131 through the left rear pilot oil passage. The first shuttle valve 151 obtains the pressure of the left rear pilot oil passage as the left pilot pressure. At the same time, the right rear oil inlet passes the pilot oil through the right rear pilot oil passage Provided to the right main spool 141, the second shuttle valve 152 obtains the pressure of the right rear pilot oil passage as the right pilot pressure.

[0062]It should be noted that when the excavator travels straight forward or backward, when the left pilot pressure obtained by the first shuttle valve 151 and the right pilot pressure obtained by the second shuttle valve 152 are the same, the control valve 110 is switched to the neutral position. , So as to reduce or eliminate the difference in the amount of oil output from the left and right travel links 130 and 140, so that the excavator can reliably travel in a straight line, and the problem of deviation when the excavator is walking in a straight line is improved.

[0063]In other embodiments, the excavator includes an electronic control system that cooperates with the multi-way valve 010. The electronic control system can also directly obtain the pilot pressure value of the left front pilot oil circuit, the pilot pressure value of the right front pilot oil circuit, and the left rear pilot oil circuit. The pilot pressure value and the pilot pressure value of the right-rear pilot oil circuit are compared with the preset value to determine whether the excavator is walking straight forward or backward, for example: the left front pilot oil circuit The pilot pressure value is greater than the pilot pressure value of the left and rear pilot oil circuit, the pilot pressure value of the left front pilot oil circuit is the left pilot pressure, the pilot pressure value of the right front pilot oil circuit is greater than the pilot pressure value of the right rear pilot oil circuit, and the right front pilot oil circuit The pilot pressure value of the road is the right pilot pressure, and both the left pilot pressure and the right pilot pressure meet the first preset value. The electronic control system determines that the excavator walks straight forward, and controls the walking auxiliary link 100 to connect the left walking link 130 and the right Walking linkage 140; or, the pilot pressure value of the left front pilot oil circuit is less than the pilot pressure value of the left rear pilot oil circuit, the pilot pressure value of the left rear pilot oil circuit is the left pilot pressure, and the pilot pressure value of the right front pilot oil circuit is less than the right rear The pilot pressure value of the pilot oil circuit, the pilot pressure value of the right-rear pilot oil circuit is the right pilot pressure, and the left and right pilot pressures both meet the second preset value, the electronic control system determines that the excavator is walking straight backward, and The walking assisting link 100 is controlled to communicate with the left walking link 130 and the right walking link 140. It should be noted that the first preset value and the second preset value may be equal or unequal.

[0064]Of course, in other embodiments, the detection mechanism 150 includes a first sensor, a second sensor, a third sensor, and a fourth sensor. The first sensor, the second sensor, the third sensor, and the fourth sensor are all electrically connected to the electronic control system. , The first sensor is arranged in the left front pilot oil circuit, used to send the pressure signal of the left front pilot oil circuit to the electronic control system; the second sensor is arranged in the right front pilot oil circuit, used to send the pressure signal of the right front pilot oil circuit to the electric Control system; the third sensor is set in the left rear pilot oil circuit, used to send the pressure signal of the left rear pilot oil circuit to the electronic control system; the fourth sensor is set with the right rear pilot oil circuit, used to transfer the right rear pilot oil circuit The pressure signal is sent to the electronic control system; the electronic control system is based on the received pressure signal of the left front pilot oil circuit, the pressure signal of the right front pilot oil circuit, the pressure signal of the left rear pilot oil circuit and the pressure signal of the right rear pilot oil circuit. Compare, for example: when the pressure signal of the left front pilot oil circuit is high level, it is recorded as 1, the pressure signal of the left rear pilot oil circuit is low level, recorded as 0, and the pressure signal of the right front pilot oil circuit is high level , Marked as 1, the pressure signal of the pilot oil circuit on the right rear is low level, when marked as 0, the electronic control system determines that the excavator is walking straight forward, and the electronic control system controls the reversing valve 110 to switch to the neutral position, making it travel left The oil output from the connection 130 and the oil output from the right travel connection 140 are exchanged through the travel assist connection 100, or, when the pressure signal of the left front pilot oil circuit is low, it is recorded as 0, and the pressure signal of the left rear pilot oil circuit is High level, recorded as 1, and the pressure signal of the right front pilot oil circuit is low level, recorded as 0, and the pressure signal of the right rear pilot oil circuit is high level, recorded as 1, when the electronic control system determines the direction of the excavator After traveling in a straight line, the electronic control system controls the reversing valve 110 to switch to the neutral position, so that the oil output from the left traveling coupling 130 and the oil output from the right traveling coupling 140 are exchanged through the traveling auxiliary coupling 100.

[0065]That is to say, in other embodiments where the detection mechanism 150 does not include a shuttle valve, the electronic control system of the excavator can read and compare the hydraulic signals of each pilot oil circuit to determine whether the excavator is walking in a straight line, or , Respectively directly read the pressure of each pilot oil circuit and compare with the preset value to determine whether the excavator is walking in a straight line, and when it is determined that the excavator is walking in a straight line, control the reversing valve 110 to switch to the neutral position, so that the left walking link 130 The output oil and the oil output from the right travel coupling 140 are exchanged through the reversing valve 110 located in the middle position, thereby reducing or eliminating the difference in the amount of oil output by the left travel coupling 130 and the right travel coupling 140.

[0066]It should be noted that when the excavator is turning, the left pilot pressure and the right pilot pressure are not equal, the reversing valve 110 is not in the neutral position, the left travel coupling 130 and the right travel coupling 140 are not connected through the reversing valve 110, and the excavator can Make a turn normally. The turning distance of the excavator through the multi-way valve 010 is similar to the related technology, and will not be repeated here.

[0067]In summary, the multi-way valve 010 and travel control method of the present invention can improve the difference in the amount of oil output by the left travel linkage 130 and the right travel linkage 140, that is, make the amount of oil output by the left travel linkage 130 and the right travel linkage 140 smaller The difference is reduced or eliminated, so that the construction machinery can reliably move in a straight line.

[0068]The above are only preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention should be included in the protection scope of the present invention.