Multi-way valve, engineering machinery and travel control method

Abstract

The present invention relates to the field of engineering machinery, and specifically to a multi-way valve, engineering machinery and a walking control method; the multi-way valve is used for engineering machinery, and the walking pilot valve of the engineering machinery is provided with a left forward oil port, a left backward oil port, a right forward oil port and a right backward oil port, and the multi-way valve comprises: a walking auxiliary link, a left walking link, a right walking link and a detection mechanism; the left forward oil port and the left backward oil port are respectively connected to the left walking link through their corresponding pilot oil circuits, and the right forward oil port and the right backward oil port are respectively connected to the right walking link through their corresponding pilot oil circuits; the left front pilot oil circuit, the left rear pilot oil circuit, the right front pilot oil circuit and the right rear pilot oil circuit are all connected to the walking auxiliary link through a detection mechanism, and the detection mechanism is used to obtain the left pilot pressure and the right pilot pressure, and when the left pilot pressure and the right pilot pressure are the same, the walking auxiliary link is controlled to connect the left walking link and the right walking link. The multi-way valve and the walking control method of the present invention can make the engineering machinery reliably walk in a straight line.

Description

Technical Field

[0001] The present invention relates to the field of engineering machinery, and in particular to a multi-way valve, engineering machinery and a travel control method. Background Art

[0002] Construction machinery, such as excavators, rotary drilling rigs, etc., all have the ability to walk and move, and the construction machinery usually uses a multi-way valve to control its walking; the multi-way valve includes a left travel coupler and a right travel coupler, and the left travel coupler and the right travel coupler respectively provide the flow required by the left travel motor and the right travel motor, and then use the left travel motor and the right travel motor to control the walking of the construction machinery.

[0003] However, the manufacturing precision of the left and right travel links of the multi-way valve provided in the related technology will lead to a difference in the amount of oil output by the left and right travel links. When the engineering machinery needs to move in a straight line, the increased difference in the amount of oil output by the left and right travel links will lead to inconsistent walking speeds on the left and right sides of the engineering machinery, causing the problem of walking deviation, and thus the engineering machinery cannot be controlled to move straight reliably. Summary of the invention

[0004] The object of the present invention is to provide a multi-way valve, engineering machinery and a travel control method, which can improve the difference in the amount of oil output by the left travel link and the right travel link, that is, reduce or eliminate the difference in the amount of oil output by the left travel link and the right travel link, thereby enabling the engineering machinery to reliably travel in a straight line.

[0005] The embodiment of the present invention is achieved as follows:

[0006] In a first aspect, an embodiment of the present invention provides a multi-way valve for engineering machinery, the engineering machinery comprising a travel pilot valve, the travel pilot valve being provided with a left forward oil port, a left rearward oil port, a right forward oil port and a right rearward oil port, the multi-way valve comprising a travel auxiliary link, a left travel link, a right travel link and a detection mechanism; the left travel link is connected to the left forward oil port through a left front pilot oil circuit, the left travel link is connected to the left rearward oil port through a left rear pilot oil circuit, and the right travel link is connected to the right forward oil port through a right front pilot oil circuit, The right walking link is connected with the right rear oil port through the right rear pilot oil circuit; the left front pilot oil circuit, the left rear pilot oil circuit, the right front pilot oil circuit and the right rear pilot oil circuit are all connected with the walking auxiliary link through the detection mechanism, the detection mechanism 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 control the walking auxiliary link to connect the left walking link and the right walking link when the left pilot pressure and the right pilot pressure are the same.

[0007] In an optional embodiment, the walking auxiliary link includes a reversing valve, which is used to switch to a middle position when the detection mechanism detects that the left pilot pressure and the right pilot pressure are the same, so that the left walking link and the right walking link are connected through the reversing valve switched to the middle position.

[0008] In an optional embodiment, the detection mechanism includes a first shuttle valve and a second shuttle valve, the left front pilot oil circuit and the left rear pilot oil circuit are both connected to the walking assist via the first shuttle valve, and the right front pilot oil circuit and the right rear pilot oil circuit are both connected to the walking assist via the second shuttle valve.

[0009] In an optional embodiment, the multi-way valve also includes a left side oil circuit and a right side oil circuit, the first shuttle valve is arranged in the left side oil circuit, and the left front pilot oil circuit and the left rear pilot oil circuit are both connected to the left side oil circuit; the second shuttle valve is arranged in the right side oil circuit, and the right front pilot oil circuit and the right rear pilot oil circuit are both connected to the right side oil circuit.

[0010] In an optional embodiment, the multi-way valve includes a left travel motor, the left travel link has a left high-pressure oil port, and the left high-pressure oil port is connected to the left travel motor.

[0011] In an optional embodiment, the left running link includes a left main valve core, the left main valve core is provided with a left high-pressure oil port and two left pilot oil ports, the left front pilot oil circuit and one of the left pilot oil ports are jointly used to connect the left forward oil port with the left main valve core, and the left rear pilot oil circuit and the other left pilot oil port are jointly used to connect the left rearward oil port with the left main valve core.

[0012] In an optional embodiment, the multi-way valve also includes a right travel motor, the right travel link has a right high-pressure oil port, and the right high-pressure oil port is connected to the right travel motor.

[0013] In an optional embodiment, the right running link includes a right main valve core, the right main valve core is provided with a right high-pressure oil port and two right pilot oil ports, the right front pilot oil circuit and one of the right pilot oil ports are jointly used to connect the right forward oil port with the right main valve core, and the right rear pilot oil circuit and the other right pilot oil port are jointly used to connect the right rearward oil port with the right main valve core.

[0014] In an optional embodiment, the multi-way valve is provided with a P port, a T port and a LS port, the P port and the LS port are both used for connecting to the main pump, and the T port is used for connecting to the hydraulic oil tank.

[0015] In a second aspect, an embodiment of the present invention provides an engineering machinery, comprising a multi-way valve as described in any one of the aforementioned embodiments.

[0016] In a third aspect, an embodiment of the present invention provides a walking control method for engineering machinery, the engineering machinery comprising a walking pilot valve and a multi-way valve, the multi-way valve comprising a walking auxiliary link, a left walking link, a right walking link and a detection mechanism, the walking pilot valve is provided with a left front oil port, a left rear oil port, a right front oil port and a right rear oil port, the left front oil port is connected to the left walking link through a left front pilot oil circuit, the left rear oil port is connected to the left walking link through a left rear pilot oil circuit, the right front oil port is connected to the right walking link through a right front pilot oil circuit, and the right rear oil port is connected to the right walking link through a right rear pilot oil circuit; the left front pilot oil circuit, the left rear pilot oil circuit, the right front pilot oil circuit and the right rear pilot oil circuit are all connected to the walking auxiliary link through the detection mechanism, and the walking control method comprises:

[0017] The control detection mechanism obtains the pressure of the left front pilot oil circuit and the pressure of the left rear pilot oil circuit, and uses the larger one of the two as the left pilot pressure, and obtains the pressure of the right front pilot oil circuit and the pressure of the right rear pilot oil circuit, and uses the larger one of the two as the right pilot pressure;

[0018] When the left pilot pressure and the right pilot pressure are the same, the travel auxiliary link is controlled to connect the left travel link and the right travel link.

[0019] The beneficial effects of the multi-way valve of the embodiment of the present invention include: the multi-way valve of the embodiment of the present invention can be used in engineering machinery to control the movement of the engineering machinery, the engineering machinery includes a walking pilot valve, and the walking pilot valve is provided with a left forward oil port, a left rearward oil port, a right forward oil port and a right rearward oil port. The left walking link of the multi-way valve is connected with the left forward oil port through the left front pilot oil circuit, the left walking link is connected with the left rear oil port through the left rear pilot oil circuit, the right walking link is connected with the right forward oil port through the right front pilot oil circuit, and the right walking link is connected with the right rear oil port through the right rear pilot oil circuit; the left front pilot oil circuit, the left rear pilot oil circuit, the right front pilot oil circuit and the right rear pilot oil circuit are all connected with the walking auxiliary link through a detection mechanism, and the detection mechanism 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 to control the walking auxiliary link to connect the left walking link and the right walking link when the left pilot pressure and the right pilot pressure are the same; in this way, when the left pilot pressure is When the left front pilot oil circuit is at the same pressure as the right front pilot oil circuit, the multi-way valve can control the engineering machinery to move forward in a straight line; when the left pilot pressure is at the same pressure as the left rear pilot oil circuit, and the right pilot pressure is at the same pressure as the right rear pilot oil circuit, the multi-way valve can control the engineering machinery to move backward in a straight line; no matter whether the multi-way valve controls the engineering machinery to move forward or backward in a straight line, the left pilot pressure is equal to the right pilot pressure, and the detection mechanism can control the walking auxiliary joint to connect the left walking joint and the right walking joint, so that the oil output by the left walking joint and the oil output by the right walking joint can be exchanged through the walking auxiliary joint, thereby reducing or eliminating the difference in the amount of oil output by the left walking joint and the right walking joint, thereby allowing the engineering machinery to reliably move in a straight line.

[0020] The beneficial effects of the engineering machinery of the embodiment of the present invention include: the engineering machinery of the embodiment of the present invention includes the above-mentioned multi-way valve, which can reliably move in a straight line.

[0021] The beneficial effects of the walking control method of the embodiment of the present invention include: the walking control method provided by the embodiment of the present invention includes controlling the detection mechanism to obtain the pressure of the left front pilot oil circuit and the pressure of the left rear pilot oil circuit, and taking the larger one of the two as the left pilot pressure, and obtaining the pressure of the right front pilot oil circuit and the pressure of the right rear pilot oil circuit, and taking the larger one of the two as the right pilot pressure; when the left pilot pressure and the right pilot pressure are the same, controlling the walking auxiliary link to connect the left walking link and the right walking link; wherein, when the left pilot pressure is the pressure of the left front pilot oil circuit and the right pilot pressure is the pressure of the right front pilot oil circuit, the multi-way valve can control the engineering machinery to walk in a straight line forward, and when the left pilot pressure is the pressure of the left rear pilot oil circuit and the right pilot pressure is the pressure of the right rear pilot oil circuit, the multi-way valve can control the engineering machinery to walk in a straight line backward. In this way, no matter whether the engineering machinery is controlled to move forward or backward in a straight line, the walking auxiliary joint can be controlled to connect the left walking joint and the right walking joint when the left pilot pressure and the right pilot pressure are the same, so that the oil output by the left walking joint and the oil output by the right walking joint can be exchanged through the walking auxiliary joint, thereby reducing or eliminating the difference in the amount of oil output by the left walking joint and the right walking joint, thereby allowing the engineering machinery to reliably move in a straight line. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a schematic diagram of the structure of a multi-way valve in an embodiment of the present invention;

[0024] Figure 2 Flow chart of the walking control method in an embodiment of the present invention.

[0025] Icons: 010-multi-way valve; 100-travel auxiliary link; 110-reversing valve; 121-left forward oil port; 122-left reverse oil port; 123-right forward oil port; 124-right reverse oil port; 130-left travel link; 131-left main valve core; 132-left compensation valve core; 140-right travel link; 141-right main valve core; 142-right compensation valve core; 150-detection mechanism; 151-first shuttle valve; 152-second shuttle valve; 161-left travel motor; 162-right travel motor; 171-P port; 172-T port; 173-LS port. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can 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 invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In the description of the present invention, it should be noted that the terms "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] This embodiment provides an engineering machine that can walk and move. Specifically, the engineering machine can walk straight forward or backward, or turn left front or right front, or turn left rear or right rear. The engineering machine includes an excavator, a rotary drilling rig, etc., which are not specifically limited here. The following is a detailed description of the engineering machine as an excavator.

[0032] The excavator includes a multi-way valve 010 for controlling its travel; please refer to Figure 1In the embodiment, the multi-way valve 010 is provided with a P port 171, a T port 172 and a LS port 173. The P port 171 and the LS port 173 are both used to connect to the main pump, and the 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 an oil return port, connected to the hydraulic oil tank; the LS port 173 is a load pressure oil port, connected to the LS port 173 on the main pump, and is used to feed back the load pressure to the main pump.

[0033] Please refer to Figure 1 The multi-way valve 010 further includes a left travel link 130, a right travel link 140, a left travel motor 161 and a right travel motor 162. The left travel link 130 has a left high-pressure oil port, which is connected to the left travel motor 161. The right travel link 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, which includes two left high-pressure oil ports, which are both connected to the high-pressure oil port of the left travel motor 161 to supply oil to the left travel motor 161 and drive the left travel motor 161 to rotate; the right travel link 140 includes a right main valve core 141, which includes two right high-pressure oil ports, which are both connected to the high-pressure oil port of the right travel motor 162 to supply oil to the right travel motor 162 and drive the right travel motor 162 to rotate. With such 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 rotate to drive the excavator to travel.

[0034] It should be noted that the high-pressure oil port of the main valve core and the high-pressure oil port of the travel motor can be connected through a pipeline. The pipeline is connected between the high-pressure oil port of the main valve core and the high-pressure oil port of the travel motor and the structure that connects the two is similar to the related technology and will not be repeated here.

[0035] The excavator further includes a travel pilot valve, which is provided with a left front oil port 121, a left rear oil port 122, a right front oil port 123 and a right rear oil port 124. The left front oil port 121 is connected to the left travel link 130 through the left front pilot oil circuit, the left rear oil port 122 is connected to the left travel link 130 through the left rear pilot oil circuit, the right front oil port 123 is connected to the right travel link 140 through the right front pilot oil circuit, and the right rear oil port 124 is connected to the right travel link 140 through the right rear pilot oil circuit. It should be noted that the travel pilot valve is part of the main hydraulic system.

[0036] Specifically, the left main valve core 131 includes two left pilot oil ports, the left front oil port 121 is connected to the left main valve core 131 through the left front pilot oil circuit and one of the left pilot oil ports, and the left rear oil port 122 is connected to the left main valve core 131 through the left rear pilot oil circuit and the other left pilot oil port; the right main valve core 141 includes two right pilot oil ports, the right front oil port 123 is connected to the right main valve core 141 through the right front pilot oil circuit and one of the right pilot oil ports, and the right rear oil port 124 is connected to the right main valve core 141 through the right rear pilot oil circuit and the other right pilot oil port.

[0037] In this way, the pilot oil can be provided to the corresponding left pilot oil port on the left main valve core 131 through the left front oil port 121 or the left rear oil port 122 through the respective corresponding left front pilot oil circuit or left rear pilot oil circuit, thereby controlling the position of the left main valve core 131 to determine the rotation direction of the left travel motor 161; similarly, the pilot oil can be provided to the corresponding right pilot oil port on the right main valve core 141 through the right front oil port 123 or the right rear oil port 124 through the respective corresponding right front pilot oil circuit or right rear pilot oil circuit, thereby controlling the position of the right main valve core 141 to determine the rotation direction of the right travel motor 162, thereby controlling the excavator to move forward or backward. Specifically, when the left front oil port 121 provides pilot oil to the left main valve core 131 through the left front pilot oil circuit and one of the left pilot oil ports, so that the left main valve core 131 is located in the first position, and the right front oil port 123 provides pilot oil to the right main valve core 141 through the right front pilot oil circuit and one of the right pilot oil ports, so that the right main valve core 141 is located in the second position, the left travel motor 161 and the right travel motor 162 both rotate forward to drive the excavator forward; when the left rear oil port 122 provides pilot oil to the left main valve core 131 through the left rear pilot oil circuit and another left pilot oil port, so that the left main valve core 131 is located in the third position, and the right rear oil port 124 provides pilot oil to the right main valve core 141 through the right rear pilot oil circuit and another right pilot oil port, so that the right main valve core 141 is located in the fourth position, the left travel motor 161 and the right travel motor 162 both reverse to drive the excavator backward.

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

[0039] Optionally, the left running link 130 further includes a left compensation valve core 132, which is connected to the left main valve core 131 and is used to maintain the pressure balance of the left main valve core 131; the right running link 140 further includes a right compensation valve core 142, which is connected to the right main valve core 141 and is used to maintain the pressure balance of the right main valve core 141. It should be noted that the connection mode and working principle of the left compensation valve core 132 and the left main valve core 131, and the connection direction and working principle of the right compensation valve core 142 and the right main valve core 141 are similar to those in the related art, and will not be repeated here.

[0040] The multi-way valve 010 also includes a walking auxiliary link 100 and a detection mechanism 150; the left front pilot oil circuit, the left rear pilot oil circuit, the right front pilot oil circuit and the right rear pilot oil circuit are all connected to the walking auxiliary link 100 through the detection mechanism 150, and 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 control the walking auxiliary link 100 to connect the left walking link 130 and the right walking link 140 when the pilot pressure and the right pilot pressure are the same.

[0041] Further, the left pilot pressure is the larger one 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 the larger one of the pressure of the right front pilot oil passage and the pressure of the right rear pilot oil passage.

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

[0043] When the excavator moves forward, the pilot oil is supplied to the left main valve core 131 through the left front pilot oil circuit from the left front oil port 121. Therefore, the pressure of the left front pilot oil circuit is greater than the pressure of the left rear pilot oil circuit, and the pressure of the left front pilot oil circuit is the left pilot pressure. Similarly, the pilot oil is supplied to the right main valve core 141 through the right front pilot oil circuit from the right front oil port 123. Therefore, the pressure of the right front pilot oil circuit is greater than the pressure of the right rear pilot oil circuit, and the pressure of the right front pilot oil circuit is the right pilot pressure.

[0044] The principle of using the multi-way valve 010 to control the excavator to move backward includes: when moving backward, the left backward oil port 122 provides the pilot oil to the left main valve core 131 through the left rear pilot oil circuit, so that the left main valve core 131 drives the left travel motor 161 to reverse, and the right backward oil port 124 provides the pilot oil to the right main valve core 141 through the right rear pilot oil circuit, so that the right main valve core 141 drives the right travel motor 162 to reverse. At this time, the left forward oil port 121 may not provide the pilot oil to the left main valve core 131 through the left front pilot oil circuit, or only Provide pilot oil less than the pilot oil provided by the left rear oil port 122 to the left main valve core 131, as long as the pilot oil provided by the left front oil port 121 does not interfere with the reversal of the left travel motor 161. Similarly, the right front oil port 123 may not provide the pilot oil to the right main valve core 141 through the right front pilot oil circuit or only provide pilot oil less than the pilot oil provided by the right rear oil port 124 to the right main valve core 141, as long as the pilot oil provided by the right front oil port 123 does not interfere with the reversal of the right travel motor 162.

[0045] When the excavator moves backward, the pilot oil is supplied to the left main valve core 131 through the left rear pilot oil circuit from the left rear oil port 122. Therefore, the pressure of the left rear pilot oil circuit is greater than the pressure of the left front pilot oil circuit, and the pressure of the left rear pilot oil circuit is the left pilot pressure. Similarly, the pilot oil is supplied to the right main valve core 141 through the right rear pilot oil circuit from the right rear oil port 124. Therefore, the pressure of the right rear pilot oil circuit is greater than the pressure of the right front pilot oil circuit, and the pressure of the right rear pilot oil circuit is the right pilot pressure.

[0046] No matter whether the excavator is controlled to move forward or backward in a straight line by the multi-way valve 010, the left pilot pressure is equal to the right pilot pressure. The detection mechanism 150 obtains the left pilot pressure and the right pilot pressure, and when it is determined that the left pilot pressure and the right pilot pressure are the same, the walking auxiliary link 100 is controlled to connect the left walking link 130 and the right walking link 140, so that the oil output by the left walking link 130 and the oil output by the right walking link 140 can be exchanged through the walking auxiliary link 100, thereby reducing or eliminating the difference in the amount of oil output by the left walking link 130 and the right walking link 140, thereby enabling the excavator to reliably move in a straight line and improving the problem of the excavator running off track when walking in a straight line.

[0047] Optionally, the walking auxiliary link 100 includes a reversing valve 110, and the left front pilot oil circuit, the left rear pilot oil circuit, the right front pilot oil circuit, and the right rear pilot oil circuit are all connected to the reversing valve 110 through the detection mechanism 150. The reversing valve 110 is used to switch to the middle position when the detection mechanism 150 detects that the left pilot pressure and the right pilot pressure are the same, so that the left walking link 130 and the right walking link 140 are connected through the reversing valve 110 switched to the middle position. In this way, when the excavator walks forward or backward in a straight line, the reversing valve 110 can be switched to the middle position, and the oil output by the left walking link 130 and the oil output by the right walking link 140 are exchanged through the reversing valve 110, thereby reducing or eliminating the difference in the amount of oil output by the left walking link 130 and the right walking link 140, so that the excavator can reliably walk in a straight line, and improve the problem of deviation when the excavator walks in a straight line.

[0048] Optionally, the oil outlet of the left main valve core 131 is connected to the reversing valve 110, and the oil outlet of the right main valve core 141 is connected to the reversing valve 110. When the excavator moves forward or backward in a straight line, and the detection 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 middle position, so that the oil outlet of the left main valve core 131 and the oil outlet of the right main valve core 141 are connected through the reversing valve 110 located in the middle position, so that the difference in the amount of oil output by the left walking link 130 and the right walking link 140 is reduced or eliminated, so that the excavator can reliably move in a straight line, improving the problem of the excavator running off the track when walking in a straight line.

[0049] Optionally, the oil outlet of the left compensation valve core 132 is connected to the reversing valve 110, and the oil outlet of the right compensation valve core 142 is connected to the reversing valve 110. When the excavator moves forward or backward in a straight line, and the detection 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 middle position, so that the oil outlet of the left compensation valve core 132 and the oil outlet of the right compensation valve core 142 are connected through the reversing valve 110 located in the middle position, so that the difference in the amount of oil output by the left walking link 130 and the right walking link 140 is reduced or eliminated, so that the excavator can reliably move in a straight line, improving the problem of the excavator running off the track when walking in a straight line.

[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 circuit and the left rear pilot oil circuit are both connected to the walking assist link 100 through the first shuttle valve 151 , and the right front pilot oil circuit and the right rear pilot oil circuit are both connected to the walking assist link 100 through the second shuttle valve 152 . With such arrangement, when the excavator moves forward, the left front oil port 121 supplies the pilot oil to the left main valve core 131 through the left front pilot oil circuit, and the first shuttle valve 151 obtains the pressure of the left front pilot oil circuit as the left pilot pressure. At the same time, the right front oil port 123 supplies the pilot oil to the right main valve core 141 through the right front pilot oil circuit, and the second shuttle valve 152 obtains the pressure of the right front pilot oil circuit as the right pilot pressure. Similarly, when the excavator moves backward, the left rear oil inlet supplies the pilot oil to the left main valve core 131 through the left rear pilot oil circuit, and the first shuttle valve 151 obtains the pressure of the left rear pilot oil circuit as the left pilot pressure. At the same time, the right rear oil inlet supplies the pilot oil to the right main valve core 141 through the right rear pilot oil circuit, and the second shuttle valve 152 obtains the pressure of the right rear pilot oil circuit as the right pilot pressure.

[0052] It should be noted that when the excavator moves forward or backward in a straight line, 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 reversing valve 110 is controlled to switch to the middle position to reduce or eliminate the difference in the amount of oil output by the left traveling link 130 and the right traveling link 140, thereby enabling the excavator to move in a straight line reliably and improving the problem of the excavator running off the track when moving in a straight line.

[0053] Furthermore, the multi-way valve 010 also includes a left side oil circuit and a right side oil circuit, the first shuttle valve 151 is arranged in the left side oil circuit, and the left front pilot oil circuit and the left rear pilot oil circuit are both connected to the left side oil circuit; the second shuttle valve 152 is arranged in the right side oil circuit, and the right front pilot oil circuit and the right rear pilot oil circuit are both connected to the right side oil circuit; with such an arrangement, not only can the left pilot pressure be reliably obtained by using the first shuttle valve 151, and the right pilot pressure can be reliably obtained by using the second shuttle valve 152, but also the first shuttle valve 151 is arranged in the left side oil circuit without interfering with the left front oil port 121 and the left rear oil port 122 each providing the pilot oil to the left walking link 130 through their respective corresponding pilot oil circuits, and the second shuttle valve 152 is arranged in the right side oil circuit without interfering with the right front oil port 123 and the right rear oil port 124 each providing the pilot oil to the right walking link 140 through their respective corresponding pilot oil circuits.

[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 reliable control of the 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 move in a straight line reliably.

[0055] In other embodiments, the excavator also 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 sensor, a third sensor and a fourth sensor, and 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, and is 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, and is used to send the pressure signal of the right front pilot oil circuit to the electronic control system; the third sensor is arranged in the left rear pilot oil circuit, and is used to send the pressure signal of the left rear pilot oil circuit to the electronic control system; the fourth sensor is provided with a right rear pilot oil circuit, and is used to send the pressure signal of the right rear pilot oil circuit to the electronic control system; the electronic control system performs detection according to the received pressure signals of the left front pilot oil circuit, the right front pilot oil circuit, the left rear pilot oil circuit and the right rear pilot oil circuit. For example, when the pressure signal of the left front pilot oil circuit is high, recorded as 1, and the pressure signal of the left rear pilot oil circuit is low, recorded as 0, and the pressure signal of the right front pilot oil circuit is high, recorded as 1, and the pressure signal of the right rear pilot oil circuit is low, recorded as 0, the electronic control system determines that the excavator is moving forward in a straight line, and the electronic control system controls the reversing valve 110 to switch to the middle position, so that the oil output by the left travel link 130 and the oil output by the right travel link 140 are exchanged through the travel auxiliary link 100, or, When the pressure signal of the left front pilot oil circuit is at a low level, recorded as 0, the pressure signal of the left rear pilot oil circuit is at a high level, recorded as 1, and the pressure signal of the right front pilot oil circuit is at a low level, recorded as 0, and the pressure signal of the right rear pilot oil circuit is at a high level, recorded as 1, the electronic control system determines that the excavator is moving in a straight line backward, and the electronic control system controls the reversing valve 110 to switch to the middle position, so that the oil output by the left walking link 130 and the oil output by the right walking link 140 are exchanged through the walking auxiliary link 100; no specific limitation is made 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, and compare the obtained pilot pressure values ​​with the preset values ​​to determine whether the excavator is moving forward or backward in a straight line, for example: the pilot pressure value of the left front pilot oil circuit is greater than the pilot pressure value of the left 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, the pilot pressure value of the right front pilot oil circuit is the right pilot pressure, and the left pilot pressure and the right pilot pressure are the same. If the pilot pressures all meet the first preset value, the electronic control system determines that the excavator is moving forward in a straight line, and controls the walking auxiliary link 100 to connect the left walking link 130 and the right walking link 140; or, if 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, 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, the pilot pressure value of the right rear pilot oil circuit is the right pilot pressure, and the left pilot pressure and the right pilot pressure both meet the second preset value, the electronic control system determines that the excavator is moving backward in a straight line, and controls the walking auxiliary link 100 to connect 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.

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

[0058] When the excavator of this embodiment is moving forward or backward in a straight line, the left pilot pressure is the same as the right pilot pressure, that is, the left pilot pressure for left travel and the right pilot pressure for right travel taken by the first shuttle valve 151 and the second shuttle valve 152 are respectively the same, and the control reversing valve 110 is switched to the middle position, and the left travel link 130 and the right travel link 140 are connected through the reversing valve 110 located in the middle position, and the oil output by the left travel link 130 and the oil output by the right travel link 140 are 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 link 130 and the right travel link 140, thereby allowing the engineering machinery to reliably move in a straight line. When the excavator is turning, whether it is turning left front, right front, left rear or right rear, the left pilot pressure is different from the right pilot pressure, and the reversing valve 110 is no longer in the middle position, and the reversing valve 110 is in a disconnected state, thereby not interfering with the normal turning of the excavator.

[0059] This embodiment also provides a travel control method for the excavator having the multi-way valve 010 .

[0060] Please refer to Figure 2The walking control method of this embodiment includes controlling the detection mechanism 150 to obtain the pressure of the left front pilot oil circuit and the pressure of the left rear pilot oil circuit, and taking the larger one of the two as the left pilot pressure, and obtaining the pressure of the right front pilot oil circuit and the pressure of the right rear pilot oil circuit, and taking the larger one of the two as the right pilot pressure; when the left pilot pressure and the right pilot pressure are the same, controlling the walking auxiliary link 100 to connect the left walking link 130 and the right walking link 140.

[0061] Furthermore, the detection mechanism 150 includes a first shuttle valve 151 and a second shuttle valve 152 , the left front pilot oil circuit and the left rear pilot oil circuit are both connected to the walking assist link 100 through the first shuttle valve 151 , and the right front pilot oil circuit and the right rear pilot oil circuit are both connected to the walking assist link 100 through the second shuttle valve 152 . With such arrangement, when the excavator moves forward, the left front oil port 121 supplies the pilot oil to the left main valve core 131 through the left front pilot oil circuit, and the first shuttle valve 151 obtains the pressure of the left front pilot oil circuit as the left pilot pressure. At the same time, the right front oil port 123 supplies the pilot oil to the right main valve core 141 through the right front pilot oil circuit, and the second shuttle valve 152 obtains the pressure of the right front pilot oil circuit as the right pilot pressure. Similarly, when the excavator moves backward, the left rear oil inlet supplies the pilot oil to the left main valve core 131 through the left rear pilot oil circuit, and the first shuttle valve 151 obtains the pressure of the left rear pilot oil circuit as the left pilot pressure. At the same time, the right rear oil inlet supplies the pilot oil to the right main valve core 141 through the right rear pilot oil circuit, and the second shuttle valve 152 obtains the pressure of the right rear pilot oil circuit as the right pilot pressure.

[0062] It should be noted that when the excavator moves forward or backward in a straight line, 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 reversing valve 110 is controlled to switch to the middle position to reduce or eliminate the difference in the amount of oil output by the left traveling link 130 and the right traveling link 140, thereby enabling the excavator to move in a straight line reliably and improving the problem of the excavator running off the track when moving in a straight line.

[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, the pilot pressure value of the left rear pilot oil circuit, and the pilot pressure value of the right rear pilot oil circuit, and compare the obtained pilot pressure values ​​with the preset values ​​to determine whether the excavator is moving forward or backward in a straight line. For example: the pilot pressure value of the left front pilot oil circuit is greater than the pilot pressure value of the left 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 pilot pressure value of the right front pilot oil circuit is the right pilot pressure. If both the left pilot pressure and the right pilot pressure satisfy the first preset value, the electronic control system determines that the excavator is moving forward in a straight line, and controls the walking auxiliary link 100 to connect the left walking link 130 and the right walking link 140; or, if 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, 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, the pilot pressure value of the right rear pilot oil circuit is the right pilot pressure, and both the left pilot pressure and the right pilot pressure satisfy the second preset value, the electronic control system determines that the excavator is moving backward in a straight line, and controls the walking auxiliary link 100 to connect 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, and 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, and is 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, and is used to send the pressure signal of the right front pilot oil circuit to the electronic control system; the third sensor is arranged in the left rear pilot oil circuit, and is used to send the pressure signal of the left rear pilot oil circuit to the electronic control system; the fourth sensor is provided with a right rear pilot oil circuit, and is used to send the pressure signal of the right rear pilot oil circuit to the electronic control system; the electronic control system compares the received pressure signals of the left front pilot oil circuit, the right front pilot oil circuit, the left rear pilot oil circuit and the right rear pilot oil circuit, for example: when the pressure signal of the left front pilot oil circuit is When the pressure signal of the left rear pilot oil circuit is high, recorded as 1, the pressure signal of the left rear pilot oil circuit is low, recorded as 0, and the pressure signal of the right front pilot oil circuit is high, recorded as 1, and the pressure signal of the right rear pilot oil circuit is low, recorded as 0, the electronic control system determines that the excavator is moving forward in a straight line, and the electronic control system controls the reversing valve 110 to switch to the middle position, so that the oil output by the left walking link 130 and the oil output by the right walking link 140 are exchanged through the walking auxiliary link 100, or, when the pressure signal of the left front pilot oil circuit is low, recorded as 0, the pressure signal of the left rear pilot oil circuit is high, recorded as 1, and the pressure signal of the right front pilot oil circuit is low, recorded as 0, and the pressure signal of the right rear pilot oil circuit is high, recorded as 1, the electronic control system determines that the excavator is moving backward in a straight line, and the electronic control system controls the reversing valve 110 to switch to the middle position, so that the oil output by the left walking link 130 and the oil output by the right walking link 140 are exchanged through the walking auxiliary link 100.

[0065] That is to say, in other embodiments where the detection mechanism 150 does not include a shuttle valve, the excavator's electronic control system can read and compare the oil pressure electrical signals of each pilot oil circuit to determine whether the excavator is moving in a straight line, or directly read the pressure of each pilot oil circuit and compare it with a preset value to determine whether the excavator is moving in a straight line. When it is determined that the excavator is moving in a straight line, the reversing valve 110 is controlled to switch to the middle position, so that the oil output by the left walking link 130 and the oil output by the right walking link 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 walking link 130 and the right walking link 140.

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

[0067] In summary, the multi-way valve 010 and the travel control method of the present invention can improve the difference in the amount of oil output by the left travel link 130 and the right travel link 140, that is, the difference in the amount of oil output by the left travel link 130 and the right travel link 140 is reduced or eliminated, thereby enabling the engineering machinery to reliably travel in a straight line.

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

Claims

1. A multi-way valve for engineering machinery, the engineering machinery comprising a travel pilot valve, the travel pilot valve being provided with a left forward oil port, a left backward oil port, a right forward oil port and a right backward oil port, characterized in that: The multi-way valve comprises: a walking auxiliary link, a left walking link, a right walking link and a detection mechanism; The left running link is connected to the left forward oil port through the left front pilot oil circuit, the left running link is connected to the left rearward oil port through the left rear pilot oil circuit, the right running link is connected to the right forward oil port through the right front pilot oil circuit, and the right running link is connected to the right rearward oil port through the right rear pilot oil circuit; The left front pilot oil circuit, the left rear pilot oil circuit, the right front pilot oil circuit and the right rear pilot oil circuit are all connected to the walking auxiliary link through the detection mechanism. The detection mechanism is used to obtain the pressure of the left front pilot oil circuit and the pressure of the left rear pilot oil circuit, and use the larger one of the two as the left pilot pressure, and obtain the pressure of the right front pilot oil circuit and the pressure of the right rear pilot oil circuit, and use the larger one of the two as the right pilot pressure, and is used to control the walking auxiliary link to connect the left walking link and the right walking link when the left pilot pressure and the right pilot pressure are the same.

2. The multi-way valve according to claim 1, characterized in that: The walking auxiliary link includes a reversing valve, which is used to switch to a middle position when the detection mechanism detects that the left pilot pressure and the right pilot pressure are the same, so that the left walking link and the right walking link are connected through the reversing valve switched to the middle position.

3. The multi-way valve according to claim 1, characterized in that: The detection mechanism includes a first shuttle valve and a second shuttle valve, the left front pilot oil circuit and the left rear pilot oil circuit are both connected to the walking auxiliary circuit through the first shuttle valve, and the right front pilot oil circuit and the right rear pilot oil circuit are both connected to the walking auxiliary circuit through the second shuttle valve.

4. The multi-way valve according to claim 3, characterized in that: The multi-way valve also includes a left side oil circuit and a right side oil circuit. The first shuttle valve is arranged on the left side oil circuit, and the left front pilot oil circuit and the left rear pilot oil circuit are both connected to the left side oil circuit; the second shuttle valve is arranged on the right side oil circuit, and the right front pilot oil circuit and the right rear pilot oil circuit are both connected to the right side oil circuit.

5. The multi-way valve according to claim 1, characterized in that: The multi-way valve comprises a left travel motor, and the left travel link has a left high-pressure oil port, and the left high-pressure oil port is connected to the left travel motor.

6. The multi-way valve according to claim 5, characterized in that: The left running link includes a left main valve core, and the left main valve core is provided with the left high-pressure oil port and two left pilot oil ports. The left front pilot oil circuit and one of the left pilot oil ports are used together to connect the left forward oil port with the left main valve core, and the left rear pilot oil circuit and the other left pilot oil port are used together to connect the left rearward oil port with the left main valve core.

7. The multi-way valve according to claim 1, characterized in that: The multi-way valve also includes a right travel motor. The right travel link has a right high-pressure oil port, and the right high-pressure oil port is connected to the right travel motor.

8. The multi-way valve according to claim 7, characterized in that: The right running link includes a right main valve core, and the right main valve core is provided with the right high-pressure oil port and two right pilot oil ports. The right front pilot oil circuit and one of the right pilot oil ports are used together to connect the right forward oil port with the right main valve core, and the right rear pilot oil circuit and the other right pilot oil port are used together to connect the right rearward oil port with the right main valve core.

9. An engineering machine, characterized in that: It comprises a multi-way valve as described in any one of claims 1 to 8.

10. A walking control method, used for engineering machinery, the engineering machinery includes a walking pilot valve and a multi-way valve, the walking pilot valve is provided with a left front oil port, a left rear oil port, a right front oil port and a right rear oil port, the multi-way valve includes a walking auxiliary link, a left walking link, a right walking link and a detection mechanism, the left front oil port is connected to the left walking link through a left front pilot oil circuit, the left rear oil port is connected to the left walking link through a left rear pilot oil circuit, the right front oil port is connected to the right walking link through a right front pilot oil circuit, and the right rear oil port is connected to the right walking link through a right rear pilot oil circuit; the left front pilot oil circuit, the left rear pilot oil circuit, the right front pilot oil circuit and the right rear pilot oil circuit are all connected to the walking auxiliary link through the detection mechanism, characterized in that The walking control method comprises: Control the detection mechanism to obtain the pressure of the left front pilot oil circuit and the pressure of the left rear pilot oil circuit, and use the larger one of the two as the left pilot pressure, and obtain the pressure of the right front pilot oil circuit and the pressure of the right rear pilot oil circuit, and use the larger one of the two as the right pilot pressure; When the left pilot pressure and the right pilot pressure are the same, the travel assist link is controlled to connect the left travel link and the right travel link.

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