A walking steering control system
Through the combination of the electronic control handle and the A/D controller, the problems of handle positioning and signal analog quantity are solved, the walking speed is accurately adjusted and the speed is achieved, the operation is simplified, and the mechanical connection between the handle and the walking pump is reduced. Improve steering accuracy and operational convenience.
Patent Information
- Application Number
- CN201711386848.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2017-12-20
- Publication Date
- 2024-12-24
- Estimated Expiration
- 2037-12-20
AI Technical Summary
The existing handle control method is not easy to position during the push and pull process, which increases driving difficulty. Moreover, the handle output signal is analog, so the proportional solenoid valve of the walking pump cannot be directly driven, resulting in inaccurate adjustment of the walking speed.
The electric control handle is connected to the A/D controller, and the proportional solenoid valve of the walking pump is controlled through the electrical signal to realize push-pull positioning and PWM signal output, ensuring accurate adjustment of the walking speed and fixed speed driving. The electronic control handle is eight-axis operated, with a speed setting button and a double-sided steering button. The accuracy is improved through friction positioning, and the two-way proportional solenoid valve is controlled by the A/D controller to achieve synchronous or reverse walking of the left and right wheels.
It realizes accurate adjustment of walking speed and fixed speed driving, reduces the mechanical connection between the handle and the walking pump, makes operation more labor-saving and simple, has a small steering radius and reduces operation difficulty.
Smart Images
Figure CN108142024B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the field of agricultural machinery harvesting equipment, and in particular relates to a travel steering control system. Background Art
[0002] The walking steering electronic control system is a control system that proportionally controls the walking speed. The output PWM signal is controlled by the handle potentiometer signal input, and the current of the proportional solenoid valve is controlled according to the pulse width, thereby changing the displacement of the walking pump to determine the walking speed. At present, the research content mainly focuses on the two research directions of handle control and walking pump control. In the research direction of handle control, the handle will automatically reset when pushed or pulled, so it cannot be positioned in real time during the pushing process, which is not conducive to the smooth adjustment of the walking speed and constant speed driving, and increases the difficulty of driving. In the research direction of walking pump control, the walking speed is more commonly achieved by mechanically controlling the displacement of the walking pump. At present, a proportional variable pump is used to change the displacement of the pump by adjusting the duty cycle of PWM to change the current output to the solenoid valve. The larger the handle input angle, the greater the walking acceleration; when the left and right walking pumps receive the same current signal, straight-line walking is achieved. The disadvantage is that the handle output signal is an analog quantity, which cannot directly drive the proportional solenoid valve of the walking pump. It needs to be converted into a PWM signal that the proportional solenoid valve can receive through an A / D controller. Summary of the invention
[0003] The present invention aims to solve the problems that the existing handle is difficult to position during pushing and pulling, which increases the difficulty of driving, and the handle output signal is an analog quantity and cannot directly drive the proportional solenoid valve of the travel pump. The present invention provides a travel steering control system that can accurately adjust the travel speed and achieve constant speed driving.
[0004] The present invention adopts the following technical solutions to achieve the above purpose:
[0005] A walking steering control system, characterized in that it includes an electric control handle, an A / D controller, a right walking pump proportional solenoid valve, and a left walking pump proportional solenoid valve, the electric control handle is electrically connected to the A / D controller, and the A / D controller is electrically connected to the right walking pump proportional solenoid valve and the left walking pump proportional solenoid valve respectively; the electric control handle is an eight-axis control, which controls the machine to move forward, backward, turn left, turn right, left front steering, right front steering, left rear steering, and right rear steering; the electric control handle is provided with a speed setting button and a bilateral steering button; the A / D controller controls the machine to move through electrical signals, and controls the walking speed through the push-pull stroke size of the electric control handle, and the electric control handle is locked at any position within the push-pull stroke through a positioning method; the right walking pump proportional solenoid valve and the left walking pump proportional solenoid valve are both bidirectional proportional solenoid valves, i.e., a forward proportional solenoid valve and a backward proportional solenoid valve.
[0006] Furthermore, the positioning method of the electric control handle is friction positioning, which further improves the positioning accuracy.
[0007] Furthermore, the electric control handle is a single handle, which enables single-handed steering.
[0008] Furthermore, the A / D controller controls the electrical signals of the right travel pump proportional solenoid valve and the left travel pump proportional solenoid valve to achieve the same travel direction of the left and right wheels when the machine turns. At this time, the left and right wheels have the same travel direction but different speeds.
[0009] Furthermore, the A / D controller controls the electrical signals of the right travel pump proportional solenoid valve and the left travel pump proportional solenoid valve to realize the opposite travel directions of the left and right wheels when the machine turns. At this time, the left and right wheels travel in opposite directions and at the same speed.
[0010] The walking steering control system of the present invention is as follows: the electric control handle controls the left and right walking pump proportional solenoid valves through the PWM signal output by the A / D controller, thereby controlling the walking of the machine; the maximum walking speed of the machine is set through the speed setting button on the electric control handle, and the walking speed of the machine is controlled according to the push-pull stroke size of the electric control handle. When the electric control handle is pushed to the front end, the machine walks at the set maximum speed, when the electric control handle is pulled to the middle position, the machine walking speed is zero, and when the electric control handle is straightened to the rear end, the machine retreats at the maximum speed; the electric control handle is locked at any position within the push-pull stroke by positioning, that is, constant speed driving is achieved; the right walking pump proportional solenoid valve and the left walking pump proportional solenoid valve are bidirectional proportional solenoid valves, and the left and right walking pumps are used to control the bidirectional driving of the machine; the electric control handle is swung to the left or right while the bilateral steering button is pressed to achieve single-handed left and right bilateral steering, and the electric control handle is swung to the left or right alone to achieve single-handed left and right unilateral steering.
[0011] The principle and process of the electric control handle of the present invention to control the left / right unilateral steering of the machine: the machine travels to the left front, and the electric control handle is swung to the left and pushed forward: at this time, the forward proportional solenoid valve current of the right travel pump proportional solenoid valve is in a corresponding relationship with the forward swing angle of the electric control handle, that is, the rotation speed of the right wheel of the machine is in direct proportion to the swing angle of the electric control handle, and the forward proportional solenoid valve current of the left travel pump proportional solenoid valve is in inverse proportion to the angle of the handle left swing. When the electric control handle swings to the left end, the forward proportional solenoid valve current of the left travel pump proportional solenoid valve is 0, that is, the speed of the left wheel of the machine is 0, and the turning in situ is realized at this time; the different walking speeds of the left and right wheels of the machine are controlled according to the swing angle of the electric control handle, so that the walking directions of the left and right wheels are the same when turning. The principle of the machine traveling to the right front, left rear, and right rear is the same as that of traveling to the left front.
[0012] The electric control handle of the present invention controls the left / right bilateral steering principle and process of the machine: the machine travels to the left front, the electric control handle is swung to the left and pushed forward, and the bilateral steering button on the electric control handle is pressed at the same time. The forward proportional solenoid valve current of the right travel pump proportional solenoid valve is in a corresponding relationship with the forward swing angle of the handle, that is, the rotation speed of the right wheel of the machine is in a proportional relationship with the swing angle of the electric control handle, and the backward proportional solenoid valve current of the left travel pump proportional solenoid valve is in a proportional relationship with the left swing angle of the electric control handle. At this time, the right wheel is forward, the left wheel is reversed, and the rotation speeds of the left and right wheels are the same, realizing bilateral steering. The principle of the machine traveling to the right front, left rear, and right rear is the same as that of the left front.
[0013] The beneficial effects of the present invention are:
[0014] 1. The electric control handle with push-pull positioning function is used to smoothly control the forward and backward movement of the travel pump through electrical signals, which has precise and stable effects.
[0015] 2. The electric signal of the multi-axis electric control handle is used to control the travel and steering function, which reduces the mechanical connection and operation mechanism between the handle and the travel pump, making the operation more labor-saving and simple.
[0016] 3. The button is used to control the double-sided steering function, which has the effect of reducing the turning radius. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the walking steering control system of the present invention.
[0018] Figure 2 The figure is a schematic diagram of the operation of the electric control handle in the walking steering control system of the present invention.
[0019] Figure 3 It is a schematic diagram of the bilateral steering movement of the left and right travel pumps in the travel steering control system of the present invention.
[0020] In the figure, 1. electric control handle; 101. bilateral steering button; 102. speed setting button; 2. A / D controller; 3. right travel pump proportional solenoid valve; 4. left travel pump proportional solenoid valve. DETAILED DESCRIPTION
[0021] The following is combined with Figure 1-3 The present invention is described in detail.
[0022] like Figure 1As shown, a walking steering control system comprises an electric control handle 1, an A / D controller 2, a right walking pump proportional solenoid valve 3, and a left walking pump proportional solenoid valve 4. The electric control handle 1 is electrically connected to the A / D controller 2, and the A / D controller 2 is electrically connected to the right walking pump proportional solenoid valve 3 and the left walking pump proportional solenoid valve 4 respectively; the electric control handle 1 is an eight-axis control, which controls the machine to move forward, backward, turn left, turn right, left front steering, right front steering, left rear steering, and right rear steering; a bilateral steering button 101 and a speed setting button 102 are arranged on the electric control handle 1; the A / D controller 2 controls the machine to move through electrical signals, controls the walking speed through the push-pull stroke size of the electric control handle 1, and realizes the locking of the electric control handle 1 at any position within the push-pull stroke through a positioning method, and the positioning method can adopt friction positioning; the right walking pump proportional solenoid valve 3 and the left walking pump proportional solenoid valve 4 are both forward and backward bidirectional proportional solenoid valves.
[0023] The walking steering control system of the present invention is as follows: the electric control handle 1 controls the right walking pump proportional solenoid valve 3 and the left walking pump proportional solenoid valve 4 through the PWM signal output by the A / D controller 2, thereby controlling the walking of the machine; the maximum walking speed of the machine is set by the speed setting button 102 on the electric control handle 1, and the walking speed of the machine is controlled according to the push-pull stroke size of the electric control handle 1. When the electric control handle 1 is pushed to the front end, the machine walks at the set maximum speed, when the electric control handle 1 is pulled to the middle position, the machine walking speed is zero, and when the electric control handle 1 is straightened to the rear end, the machine retreats at the maximum speed; the electric control handle 1 is locked at any position within the push-pull stroke by positioning, that is, constant speed driving is achieved; the right walking pump proportional solenoid valve 3 and the left walking pump proportional solenoid valve 4 are bidirectional proportional solenoid valves, which realize the bidirectional driving of the machine controlled by the left and right walking pumps; while pressing the bilateral steering button 101, the electric control handle 1 is swung to the left or right to realize single-handed left and right bilateral steering, and the electric control handle 1 is swung to the left or right alone to realize single-handed left and right unilateral steering.
[0024] The principle and process of the electric control handle 1 of the present invention controlling the left / right unilateral steering of the machine: when the machine travels to the left front, the electric control handle 1 swings to the left and pushes forward: at this time, the forward proportional solenoid valve current of the right travel pump proportional solenoid valve 3 is in a corresponding relationship with the forward swing angle of the electric control handle 1, that is, the rotation speed of the right wheel of the machine is in direct proportion to the swing angle of the electric control handle 1, and the forward proportional solenoid valve current of the left travel pump proportional solenoid valve 4 is in inverse proportion to the left swing angle of the electric control handle 1. When the electric control handle 1 swings to the left end, the forward proportional solenoid valve current of the left travel pump proportional solenoid valve 4 is 0, that is, the speed of the left wheel of the machine is 0, and the turning in situ is realized at this time; the different walking speeds of the left and right wheels of the machine are controlled according to the swing angle of the electric control handle 1, so that the walking directions of the left and right wheels are the same when turning. The principle of the machine traveling to the right front, left rear, and right rear is the same as that of traveling to the left front.
[0025] like Figure 3As shown, the electric control handle 1 of the present invention controls the left / right double-sided turning process of the machine: the machine travels to the left front, the electric control handle 1 swings to the left and pushes forward, and the double-sided steering button 101 on the electric control handle 1 is pressed at the same time, and the forward proportional solenoid valve current of the right travel pump proportional solenoid valve 3 is in a corresponding relationship with the forward swing angle of the electric control handle 1, that is, the rotation speed of the right wheel of the machine is in a proportional relationship with the swing angle of the electric control handle 1, and the backward proportional solenoid valve current of the left travel pump proportional solenoid valve 4 is in a proportional relationship with the left swing angle of the electric control handle 1. At this time, the right wheel is running forward, the left wheel is reversed, and the rotation speeds of the left and right wheels are the same, realizing double-sided steering. The principle of the machine traveling to the right front, left rear, and right rear is the same as that of the left front.
Claims
1. A walking steering control system, characterized in that: It includes an electric control handle, an A / D controller, a right travel pump proportional solenoid valve, and a left travel pump proportional solenoid valve. The electric control handle is electrically connected to the A / D controller, and the A / D controller is electrically connected to the right travel pump proportional solenoid valve and the left travel pump proportional solenoid valve respectively; the electric control handle is eight-axis controlled, including a speed setting button and a bilateral steering button; the A / D controller controls the machine travel through electrical signals, and controls the travel speed through the push-pull stroke size of the electric control handle; the electric control handle is locked at any position within the push-pull stroke through a positioning method; the right travel pump proportional solenoid valve and the left travel pump proportional solenoid valve are both bidirectional proportional solenoid valves.
2. A walking steering control system according to claim 1, characterized in that: The positioning method of the electric control handle is friction positioning.
3. A walking steering control system according to claim 1, characterized in that: The electric control handle is a single handle.