A control system and method for a dual-purpose road-rail tamping machine

Abstract

This invention belongs to the field of excavator system design technology, specifically relating to a control system and method for a dual-purpose road-rail tamping machine. The control system includes a machine controller, a hydraulic oil tank, a pilot oil pump, a high-pressure oil pump, and a travel control subsystem. The travel control subsystem further includes a first forward cut-off valve, a first reverse cut-off valve, a forward connecting valve, and a reverse connecting valve. These valves are electrically connected to the machine controller. This invention, through the first forward cut-off valve, the first reverse cut-off valve, the forward connecting valve, and the reverse connecting valve, enables the machine to travel in a straight line by simply stepping on the second travel pedal, improving the stability of the dual-purpose road-rail tamping machine during travel and reducing the risk of wear on the rails and guide wheels caused by non-straight-line travel.

Description

Technical Field

[0001] This invention belongs to the field of excavator system design technology, specifically relating to a control system and method for a dual-purpose road-rail tamping machine. Background Technology

[0002] The tamping of railway sleepers is a complex process in railway construction, requiring significant manual labor and is physically demanding. Specialized tamping machinery is bulky, costly, and inflexible. Dual-purpose excavators, applicable to both highway and railway systems, can travel on railway tracks. In addition to performing the tasks of ordinary excavators, they can be equipped with specific attachments to perform excavation, sleeper replacement, rail replacement, ballast pushing, and tamping along the railway line.

[0003] Compared to traditional tamping machinery, tamping machines based on dual-purpose road-rail excavator platforms are relatively smaller, offer significant cost advantages, and are more flexible, convenient, and efficient. Dual-purpose road-rail tamping machines can be equipped with either tracked or guided wheel travel depending on the operational needs, and have gradually become a highly representative product.

[0004] When using existing dual-purpose tamping machines for both road and rail, the operator uses left and right foot pedals to control the machine to move in a straight line, which is difficult to operate and poses a risk of wear and tear on the rails and guide wheels when the machine is not actually moving in a straight line.

[0005] Therefore, it is essential to provide a control system and method for a dual-purpose road-rail tamping machine that facilitates straight-line movement. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a control system and method for a dual-purpose road-rail tamping machine. By controlling the machine's straight-line movement with a right-hand foot pedal, the stability of the dual-purpose road-rail tamping machine during movement is improved, and the risk of wear on the rails and guide wheels caused by non-straight-line movement is reduced.

[0007] To address the shortcomings of existing technologies, the technical solution provided by this invention is as follows:

[0008] In a first aspect, a control system for a dual-purpose road-rail tamping machine is provided, comprising a machine controller, a hydraulic oil tank, a pilot oil pump, a high-pressure oil pump, and a travel control subsystem; the travel control subsystem includes a first travel pedal, a first forward / reverse switching valve, a second travel pedal, and a second forward / reverse switching valve; characterized in that the travel control subsystem further includes a first forward cut-off valve, a first reverse cut-off valve, a forward connecting valve, and a reverse connecting valve;

[0009] The first forward cut-off valve is located on the oil line where the first walking pedal is connected to the forward control end of the first forward / reverse switching valve;

[0010] The first reversing shut-off valve is located on the oil line where the first walking pedal is connected to the reversing control end of the first forward / reverse switching valve;

[0011] The oil inlet of the forward connecting valve is connected to the oil outlet of the second walking pedal, and the oil outlet is connected to the forward control end of the first forward / reverse switching valve.

[0012] The oil inlet of the reversing connecting valve is connected to the oil outlet of the second walking foot pedal, and the oil outlet is connected to the reversing control end of the first forward and reverse switching valve.

[0013] The first forward shut-off valve, the first reverse shut-off valve, the forward connecting valve, and the reverse connecting valve are electrically connected to the whole machine controller.

[0014] Preferably, the walking control subsystem further includes a walking proportional valve; the oil inlet F1 of the walking proportional valve is connected to the oil supply port of the pilot oil pump, and the oil outlet F2 is connected in parallel to the first walking pedal and the second walking pedal; the walking proportional valve is electrically connected to the whole machine controller.

[0015] Preferably, the first forward shut-off valve is a left forward shut-off valve; the first walking pedal is a left walking pedal; the first forward / reverse switching valve is a left forward / reverse switching valve; and the first reverse shut-off valve is a left reverse shut-off valve.

[0016] The second walking pedal is a right walking pedal; the second forward / backward switching valve is a right forward / backward switching valve;

[0017] The oil inlet G3 of the left walking foot pedal and the oil inlet G1 of the right walking foot pedal are both connected to the oil outlet F2 of the walking proportional valve, and the oil return port G4 of the left walking foot pedal and the oil return port G2 of the right walking foot pedal are connected to the hydraulic oil tank.

[0018] The oil inlet H5 of the left forward cut-off valve is connected to the oil outlet G7 of the left walking foot pedal, and the oil outlet H6 is connected to the control oil outlet K1 of the left forward and backward switching valve.

[0019] The oil inlet H7 of the left rearward shut-off valve is connected to the oil outlet G8 of the left walking foot pedal, and the oil outlet H8 is connected to the control oil outlet K2 of the left forward and backward switching valve.

[0020] The oil inlet H1 of the forward connecting valve is connected to the oil outlet G5 of the right walking foot pedal and the control oil outlet J1 of the right forward and backward switching valve. The oil outlet H2 is connected to the oil outlet K1 of the left forward and backward switching valve and the oil outlet H6 of the left forward shut-off valve.

[0021] The oil circuit connecting the inlet H3 of the reversing connecting valve to the outlet G6 of the right walking foot pedal and the control port J2 of the right forward and reverse switching valve is connected, and the oil outlet H4 is connected to the oil circuit connecting the control port K2 of the left forward and reverse switching valve and the outlet H8 of the left reversing shut-off valve.

[0022] The walking control subsystem also includes a left guide wheel walking motor, a left track walking motor, a right guide wheel walking motor, a right track walking motor, a left mode switching valve, a right mode switching valve, and a road mode solenoid valve;

[0023] The inlet A1 of the highway mode solenoid valve is connected to the supply port of the pilot oil pump, the outlet A3 is connected in parallel to the control port D1 of the left mode switching valve and the control port B1 of the right mode switching valve, and the return port A2 is connected to the hydraulic oil tank; the highway mode solenoid valve is electrically connected to the whole machine controller.

[0024] The oil inlet K5 of the left forward / reverse switching valve is connected to the oil supply port of the high-pressure oil pump, the working oil port K3 is connected to the working oil port D7 of the left mode switching valve, the working oil port K4 is connected to the working oil port D8 of the left mode switching valve, and the return oil port K6 is connected to the hydraulic oil tank.

[0025] The inlet J5 of the right forward / reverse switching valve is connected to the oil supply port of the high-pressure oil pump, the working port J3 is connected to the working port B7 of the right mode switching valve, the working port J4 is connected to the working port B8 of the right mode switching valve, and the return port J6 is connected to the hydraulic oil tank.

[0026] The working ports D3 and D4 of the left mode switching valve are connected to the working ports E1 and E2 of the left track travel motor, respectively; the working ports D5 and D6 are connected to the working ports E3 and E4 of the left guide wheel travel motor, respectively; and the control port D2 is connected to the hydraulic oil tank.

[0027] The working ports B3 and B4 of the right mode switching valve are connected to the working ports C1 and C2 of the right track travel motor, respectively. The working ports B5 and B6 are connected to the working ports C3 and C4 of the right guide wheel travel motor, respectively. The control port B2 is connected to the hydraulic oil tank.

[0028] Preferably, the walking control subsystem further includes a guide wheel pressure sensor, a guide wheel support proportional valve, a guide wheel lifting control handle, a guide wheel lifting switching valve, and a guide wheel lifting hydraulic cylinder;

[0029] The oil inlet W1 of the guide wheel lifting control handle is connected to the oil supply port of the pilot oil pump, the oil outlet W3 is connected to the control oil port X1 of the guide wheel lifting switching valve, the oil outlet W4 is connected to the control oil port X2 of the guide wheel lifting switching valve, and the oil return port W2 is connected to the hydraulic oil tank.

[0030] The oil inlet X3 of the guide wheel lifting switching valve is connected to the oil supply port of the high-pressure oil pump, the working oil port X5 is connected to the large cavity of the guide wheel lifting cylinder, the working oil port X6 is connected to the small cavity of the guide wheel lifting cylinder, and the return oil port X4 is connected to the hydraulic oil tank.

[0031] The oil inlet Y1 of the guide wheel support proportional valve is connected to the oil circuit that connects the large chamber of the guide wheel lifting cylinder to the working oil port X5 of the guide wheel lifting switching valve, and the oil outlet Y2 is connected to the hydraulic oil tank.

[0032] The guide wheel pressure sensor is used to measure the pressure in the large chamber of the guide wheel lifting cylinder.

[0033] The guide wheel pressure sensor, the guide wheel support proportional valve, and the overall controller are electrically connected.

[0034] Preferably, the walking control subsystem further includes an electronic monitor and a straight rail tamping mode switch;

[0035] The electronic monitor is connected to the whole machine controller and is used to input the set current value of the walking proportional valve and the set current value of the guide wheel support proportional valve.

[0036] The overall controller is also used to control the maximum output pressure of the walking proportional valve based on the set current value of the walking proportional valve, and to control the opening pressure of the guide wheel support proportional valve based on the set current value of the guide wheel support proportional valve.

[0037] The straight rail tamping mode switch is connected to the machine controller.

[0038] Preferably, it also includes a one-click tamping subsystem;

[0039] The one-button tamping subsystem includes a rail clamping solenoid valve, a rail loosening solenoid valve, a vibration solenoid valve, a lower insertion solenoid valve, a lifting solenoid valve, a clamping solenoid valve, a sleigh loosening solenoid valve, a vibration motor, a sleigh loosening cylinder, a lower insertion lifting cylinder, a rail loosening cylinder, and a one-button tamping button.

[0040] The rail clamping solenoid valve and the rail loosening solenoid valve share an oil inlet V1 and an oil return port V2. The oil inlet V1 is connected to the oil supply port of the high-pressure oil pump, and the oil return port V2 is connected to the hydraulic oil tank. The oil outlet V3 of the rail clamping solenoid valve is connected to the large cavity of the rail clamping and loosening cylinder, and the oil outlet V4 of the rail loosening solenoid valve is connected to the small cavity of the rail clamping and loosening cylinder.

[0041] The oil inlet R1 of the excitation solenoid valve is connected to the oil supply port of the high-pressure oil pump, the oil return port R2 is connected to the hydraulic oil tank, and the oil outlet R3 is connected to the oil inlet S1 of the excitation motor.

[0042] The return port S2 of the vibration motor is connected to the hydraulic oil tank;

[0043] The lower insertion solenoid valve and the lifting solenoid valve share a common oil inlet U1 and oil return port U2. The oil inlet U1 is connected to the oil supply port of the high-pressure oil pump, and the oil return port U2 is connected to the hydraulic oil tank. The oil outlet U3 of the lower insertion solenoid valve is connected to the large cavity of the lower insertion lifting cylinder, and the oil outlet U4 of the lifting solenoid valve is connected to the small cavity of the lower insertion lifting cylinder.

[0044] The clamping solenoid valve and the slack solenoid valve share an inlet T1 and an outlet T2. The inlet T1 is connected to the oil supply port of the high-pressure oil pump, and the outlet T2 is connected to the hydraulic oil tank. The outlet T3 of the clamping solenoid valve is connected to the large cavity of the clamping and slack cylinder, and the outlet T4 of the slack solenoid valve is connected to the small cavity of the clamping and slack cylinder.

[0045] The rail clamping solenoid valve, rail loosening solenoid valve, vibration solenoid valve, insertion solenoid valve, lifting solenoid valve, clamping solenoid valve, slewing solenoid valve, and one-button tamping button are connected to the whole machine controller.

[0046] Preferably, the one-button tamping subsystem further includes a rail clamping pressure sensor, a left slewing shut-off valve, a right slewing shut-off valve, a slewing motor, a left and right slewing switching valve, and a slewing control handle;

[0047] The rail clamping pressure sensor is used to measure the pressure in the large chamber of the rail clamping cylinder.

[0048] The oil inlets L1 and L4 of the rotary control handle are connected to the oil supply port of the pilot oil pump, the oil outlet L6 is connected to the oil inlet M4 of the left rotary shut-off valve, the oil outlet L3 is connected to the oil inlet M1 of the right rotary shut-off valve, and the oil return ports L2 and L5 are connected to the hydraulic oil tank.

[0049] The oil outlet M6 of the left rotary shut-off valve is connected to the control oil outlet N2 of the left and right rotary switching valve, and the oil return port M5 is connected to the hydraulic oil tank.

[0050] The right rotary shut-off valve outlet M3 is connected to the left and right rotary switching valve control port N1, and the return port M2 is connected to the hydraulic oil tank.

[0051] The oil inlet N5 of the left-right rotary switching valve is connected to the oil supply port of the high-pressure oil pump, the oil return port N6 is connected to the hydraulic oil tank, and the working oil ports N3 and N4 are connected to the working oil ports Q1 and Q2 of the rotary motor, respectively.

[0052] The rail clamping pressure sensor, the left rotary shut-off valve, and the right rotary shut-off valve are electrically connected to the overall machine controller.

[0053] Preferably, the one-button tamping subsystem further includes an emergency stop switch, a slack switch, a vibration switch, a rail slack switch, and a lifting switch;

[0054] The emergency stop switch, slack rail switch, vibration switch, slack rail switch, and lifting switch are electrically connected to the overall machine controller.

[0055] Secondly, a control method for a dual-purpose (road and rail) tamping machine is provided, including:

[0056] Step 1: Determine whether to proceed in a straight line. If yes, proceed to Step 2; otherwise, proceed to Step 3.

[0057] Step 2: The left forward cut-off valve, left reverse cut-off valve, forward connecting valve and reverse connecting valve are energized by the whole machine controller described in the first aspect. The left travel pedal is disabled. The oil circuit connected to the oil outlet G5 of the right travel pedal and the oil control port K1 of the left forward and reverse switching valve, and the oil circuit connected to the oil outlet G6 of the right travel pedal and the oil control port K2 of the left forward and reverse switching valve are connected. The right travel pedal makes the right travel motor of the guide wheel and the left travel motor of the guide wheel run synchronously or the right travel motor of the track and the left travel motor of the track run synchronously to achieve straight-line travel.

[0058] Step 3: Perform a one-button tamping operation via the machine controller, including;

[0059] The overall controller energizes the rail clamping solenoid valve to cause the tamping tool to clamp the rail.

[0060] The whole machine controller energizes the excitation solenoid valve and the lower insertion solenoid valve, and the tamping implement begins to vibrate at a fixed frequency. At the same time, the tamping implement is inserted. After the tamping implement is inserted, the whole machine controller de-energizes the lower insertion solenoid valve.

[0061] The whole machine controller energizes the clamping solenoid valve, the tamping machine clamps the sleepers and tamps them, and after the tamping machine completes the tamping, the whole machine controller de-energizes the clamping solenoid valve.

[0062] The whole machine controller energizes the slewing solenoid valve, the tamping machine slewing is then energized, and after the tamping machine has finished slewing, the whole machine controller de-energizes the slewing solenoid valve.

[0063] The whole machine controller energizes the lifting solenoid valve to lift the tamping implement, and after the tamping implement is lifted, the whole machine controller de-energizes the lifting solenoid valve.

[0064] When the controller de-energizes the excitation solenoid valve, the tamping machine stops its constant-frequency vibration.

[0065] The machine controller energizes the rail slack solenoid valve, which loosens the rails of the tamping machine. Once the rail slack is complete, the machine controller de-energizes the rail slack solenoid valve.

[0066] Preferably, step 2 further includes controlling the set current value of the travel proportional valve through the whole machine controller while traveling in a straight line; the set current value of the travel proportional valve is input through an electronic monitor.

[0067] Preferably, step 2 further includes simultaneously controlling the set current value of the guide wheel support proportional valve by using the right travel foot pedal to make the right travel motor and the left travel motor of the track move in a straight line, and controlling the set current value of the guide wheel support proportional valve by the whole machine controller; the set current value of the guide wheel support proportional valve is input by an electronic monitor.

[0068] Preferably, step 2 further includes monitoring the pressure value of the guide wheel pressure sensor through the whole machine controller while traveling in a straight line. When the pressure value of the guide wheel pressure sensor reaches the preset range of guide wheel pressure, the whole machine controller controls the road mode solenoid valve to be energized and switches to track walking mode.

[0069] Preferably, step 3 further includes, while performing the one-button tamping operation, determining whether the rail clamping pressure value uploaded by the rail clamping pressure sensor exceeds the rail clamping pressure setting value through the whole machine controller; when the rail clamping pressure value exceeds the rail clamping pressure setting value, controlling the left slewing shut-off valve and the right slewing shut-off valve to be energized simultaneously, cutting off the oil circuit connected to the slewing operation handle and the left and right slewing switching valve.

[0070] Preferably, step 3 further includes monitoring whether the emergency stop switch is closed via the machine controller while performing the one-button tamping operation.

[0071] When the emergency stop switch is closed, the one-button tamping operation is stopped, and the following operations are performed simultaneously:

[0072] S1: Determine whether the tamping machine needs to be vibrated. If so, turn on the excitation switch to energize the excitation solenoid valve and make the tamping machine vibrate at a fixed frequency before proceeding to step S2; otherwise, proceed directly to step S2.

[0073] S2: Determine whether the tamping machine needs to be lifted. If so, turn on the lifting switch to energize the lifting solenoid valve and lift the tamping machine. After lifting is complete, turn off the lifting switch and proceed to step S3. Otherwise, proceed directly to step S3.

[0074] S3: Determine whether saddle loosening is required. If so, turn on the saddle loosening switch to energize the saddle loosening solenoid valve and loosen the saddle using the tamping machine. After loosening is complete, turn off the saddle loosening switch and proceed to step S4. Otherwise, proceed directly to step S4.

[0075] S4: Determine whether the excitation switch is on. If yes, turn off the excitation switch and proceed to step S5; otherwise, proceed directly to step S5.

[0076] S5: Determine if rail loosening is required. If so, turn on the rail loosening switch to energize the rail loosening solenoid valve, and the tamping machine will loosen the rail. After the rail loosening is completed, turn off the rail loosening switch.

[0077] The beneficial effects of this invention are:

[0078] This invention controls the machine's straight-line movement by using a right-hand foot pedal, eliminating the need for the operator to use their left foot. Simultaneously, the maximum speed can be controlled by limiting the current of the walking proportional valve, eliminating the need for the operator to adjust the speed based on driving experience. This improves the stability of the dual-purpose road-rail tamping machine during movement, reduces the risk of wear on the rails and guide wheels when not traveling in a straight line, and lowers the workload of the operator.

[0079] This invention controls the overall weight of the guide wheel support by limiting the current of the guide wheel support proportional valve, thus solving the risks of derailment caused by insufficient support force when the weight of the guide wheel support is unstable when manually adjusting it in the prior art, as well as the risks of slippage due to insufficient track gripping force when the support force is too large, and wear and tear on the rails and track rubber blocks.

[0080] This invention automatically switches to road mode when both the guide wheel and the track are on the track, thus preventing the guide wheel from driving and the track from dragging on the track, which would cause wear and tear on the track and track.

[0081] This invention enables one-click completion of tamping operations, replacing the need for drivers to operate multiple control components, effectively reducing the workload of drivers. At the same time, it reduces the number of control components by 86%. Once the tamping tool is clamped on the track, the entire machine automatically restricts rotation, avoiding the risk of damage to the rails and tamping tool due to misoperation. Attached Figure Description

[0082] Figure 1 A schematic diagram of the walking control subsystem provided by the present invention;

[0083] Figure 2 A schematic diagram of the one-click tamping subsystem provided by the present invention;

[0084] Figure 3 Hydraulic schematic diagram of the control system for the dual-purpose road and rail tamping machine provided by the present invention;

[0085] Figure 4 A flowchart of the control method for a dual-purpose road-rail tamping machine provided by the present invention;

[0086] Figure 5 A flowchart of straight-line driving provided by the present invention;

[0087] Figure 6 A flowchart for one-click tamping provided by the present invention;

[0088] The components are as follows: 1-Electronic monitor, 2-Straight rail tamping mode switch, 3-Guide wheel pressure sensor, 4-Machine controller, 5-Travel proportional valve, 6-Left forward cut-off valve, 7-Left reverse cut-off valve, 8-Forward connecting valve, 9-Reverse connecting valve, 10-Guide wheel support proportional valve, 11-Highway mode solenoid valve, 12-One-button tamping, 13-Vibration switch, 14-Rail slack switch, 15-Lifting switch, 16-Sleeper slack switch, 17-Emergency stop switch, 18-Rail clamping pressure sensor, 19-Rail clamping solenoid valve, 20-Rail slack solenoid valve, 21-Vibration solenoid valve, 22-Lower insertion solenoid valve, 23-Lifting solenoid valve, 24-Clamping solenoid valve, 25-Sleeper slack solenoid valve, 26-Left rotary cut-off valve. 27-Right slewing shut-off valve, 28-High pressure oil pump, 29-Pilot oil pump, 30-Right track travel motor, 31-Right guide wheel travel motor, 32-Left track travel motor, 33-Left guide wheel travel motor, 34-Right mode switching valve, 35-Left mode switching valve, 36-Right forward / reverse switching valve, 37-Left forward / reverse switching valve, 38-Slewing motor, 39-Left / right slewing switching valve, 40-Vibration motor, 41-Sleeping slewing cylinder, 42-Lower insertion lifting cylinder, 43-Sleeping rail cylinder, 44-Guide wheel lifting switching valve, 45-Guide wheel lifting cylinder, 46-Hydraulic oil tank, 47-Guide wheel lifting control handle, 48-Slewing control handle, 49-Left travel foot pedal, 50-Right travel foot pedal. Detailed Implementation

[0089] The present invention will be further described below with reference to the embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0090] The existing tamping implement is connected to the boom and stick of a dual-purpose road-rail excavator via a mechanical quick-connect coupling. The hydraulic lines of the dual-purpose excavator are connected to the hydraulic lines of the tamping implement via a hydraulic quick-connect interface, thus assembling a dual-purpose road-rail tamping machine. The dual-purpose road-rail excavator acts as the driving system, moving the tamping implement along the rails and providing hydraulic power for tamping operations. Travel can be in either road or rail mode. In road mode, hydraulically driven tracks are used, with guide wheels supporting the machine's weight; in rail mode, hydraulically driven guide wheels are used. The combination of the tamping implement and the dual-purpose road-rail excavator is existing technology, as described in patent CN208907191U, and will not be detailed here. This invention further improves the dual-purpose road-rail tamping machine based on this, as detailed in the following embodiments.

[0091] This invention provides a control system for a dual-purpose (road and rail) tamping machine, see below. Figure 1 and Figure 3The system includes a main controller 44, a hydraulic oil tank 46, a pilot oil pump 29, a high-pressure oil pump 28, and a travel control subsystem. The travel control subsystem includes a first travel pedal, a first forward / reverse switching valve, a second travel pedal, and a second forward / reverse switching valve. The travel control subsystem also includes a first forward cut-off valve, a first reverse cut-off valve, a forward connecting valve 8, and a reverse connecting valve 9. The first forward cut-off valve is located on the oil line connected to the forward control end of the first travel pedal and the first forward / reverse switching valve; the first reverse cut-off valve is located on the oil line connected to the reverse control end of the first travel pedal and the first forward / reverse switching valve; the oil inlet of the forward connecting valve 8 is connected to the oil outlet of the second travel pedal, and the oil outlet is connected to the forward control end of the first forward / reverse switching valve; the oil inlet of the reverse connecting valve 9 is connected to the oil outlet of the second travel pedal, and the oil outlet is connected to the reverse control end of the first forward / reverse switching valve; the first forward cut-off valve, the first reverse cut-off valve, the forward connecting valve 8, and the reverse connecting valve 9 are electrically connected to the whole machine controller 4.

[0092] This invention adds a first forward cut-off valve, a first reverse cut-off valve, a forward connecting valve 8, and a reverse connecting valve 9 to the existing walking control subsystem. When straight-line travel is required, the overall controller 4 energizes the first forward cut-off valve, the first reverse cut-off valve, the forward connecting valve 8, and the reverse connecting valve 9, disabling the first walking pedal. This connects the oil circuit between the oil outlet of the second walking pedal and the forward control terminal of the first forward / reverse switching valve, as well as the oil circuit between the oil outlet of the second walking pedal and the reverse control terminal of the first forward / reverse switching valve. In other words, the second walking pedal simultaneously controls both the first and second forward / reverse switching valves. Since the first and second forward / reverse switching valves are connected in parallel, the amount of oil flowing through them is the same. Therefore, the walking drive components controlled by the first and second forward / reverse switching valves operate synchronously, achieving straight-line travel. This invention solves the problem in the prior art where straight-line travel cannot be achieved when the first and second walking pedals are not synchronized.

[0093] Considering the driving habits of operators, it is preferable to use the right-hand travel pedal to control straight-line movement. Furthermore, the implementation of this invention will be further illustrated using a road-rail tamping machine that includes both tracked and guide wheel travel modes as an example. Of course, the mode of using only the second travel pedal to achieve straight-line movement can also be used in other types of road-rail tamping machines, such as those including both tire-based and guide wheel travel modes.

[0094] In an optional embodiment of the present invention, see Figure 1 and Figure 3The walking control subsystem includes a right guide wheel walking motor 31, a right track walking motor 30, a left guide wheel walking motor 33, a left track walking motor 32, a left mode switching valve 35, a right mode switching valve 34, a left forward / reverse switching valve 37, a right forward / reverse switching valve 36, a left walking foot pedal 49, a right walking foot pedal 50, a left forward cut-off valve 6, a left reverse cut-off valve 7, a forward connecting valve 8, a reverse connecting valve 9, and a road mode solenoid valve 11. The return oil port G4 of the left travel foot pedal 49 and the return oil port G2 of the right travel foot pedal 50 are connected to the hydraulic oil tank 46; the inlet H5 of the left forward cut-off valve 6 is connected to the outlet G7 of the left travel foot pedal 49, and the outlet H6 is connected to the control oil port K1 of the left forward / reverse switching valve 37; the inlet H7 of the left reverse cut-off valve 7 is connected to the outlet G8 of the left travel foot pedal 49, and the outlet H8 is connected to the control oil port K2 of the left forward / reverse switching valve 37; the inlet H1 of the forward connecting valve 8 is connected to the outlet G2 of the right travel foot pedal 50. 5 is connected to the oil circuit that connects to the control port J1 of the right forward / reverse switching valve 36, and the oil outlet H2 is connected to the oil circuit that connects to the control port K1 of the left forward / reverse switching valve 37 and the oil outlet H6 of the left forward shut-off valve 6; the oil inlet H3 of the reverse connecting valve 9 is connected to the oil circuit that connects to the oil outlet G6 of the right travel pedal 50 and the control port J2 of the right forward / reverse switching valve 36, and the oil outlet H4 is connected to the oil circuit that connects to the control port K2 of the left forward / reverse switching valve 37 and the oil outlet H8 of the left reverse shut-off valve 7. The inlet A1 of the highway mode solenoid valve 11 is connected to the supply port of the pilot oil pump 29, and the outlet A3 is connected in parallel to the control port D1 of the left mode switching valve 35 and the control port B1 of the right mode switching valve 34. The return port A2 is connected to the hydraulic oil tank 46. The inlet K5 of the left forward / reverse switching valve 37 is connected to the supply port of the high-pressure oil pump 28, the working port K3 is connected to the working port D7 of the left mode switching valve 35, the working port K4 is connected to the working port D8 of the left mode switching valve 35, and the return port K6 is connected to the hydraulic oil tank 46. The inlet J5 of the right forward / reverse switching valve 36 is connected to the supply port of the high-pressure oil pump 28, and the working port J3 is connected to the working port of the right mode switching valve 34. Port B7 is connected to the working oil port J4, which is connected to the working oil port B8 of the right mode switching valve 34. The return oil port J6 is connected to the hydraulic oil tank 46. Working oil ports D3 and D4 of the left mode switching valve 35 are connected to working oil ports E1 and E2 of the left track travel motor 32, respectively. Working oil ports D5 and D6 are connected to working oil ports E3 and E4 of the left guide wheel travel motor 33, respectively. The control oil port D2 is connected to the hydraulic oil tank 46. Working oil ports B3 and B4 of the right mode switching valve 34 are connected to working oil ports C1 and C2 of the right track travel motor 30, respectively. Working oil ports B5 and B6 are connected to working oil ports C3 and C4 of the right guide wheel travel motor 31, respectively. The control oil port B2 is connected to the hydraulic oil tank 46. The machine controller 4 is electrically connected to the left forward cut-off valve 6, the left reverse cut-off valve 7, the forward connecting valve 8, the reverse connecting valve 9, and the highway mode solenoid valve 11.The pilot oil pump 29, the high-pressure oil pump 28 and the suction line are connected to the hydraulic oil tank 46. Figure 3 (Not shown in the image). Existing technology requires simultaneous operation of the left walking pedal 49 and the right walking pedal 50 during movement, which is relatively complex and carries the risk of failing to move in a straight line. Failure to move in a straight line can further cause the guide wheels to squeeze the track. This invention enables the right walking pedal 50 to control the entire machine to move in a straight line, avoiding this risk.

[0095] In an optional embodiment of the present invention, see Figure 1 and Figure 3 The travel control subsystem also includes a travel proportional valve 5; the oil inlet F1 of the travel proportional valve 5 is connected to the oil supply port of the pilot oil pump 29, and the oil outlet F2 is connected in parallel to the oil inlet G3 of the left travel foot pedal 49 and the oil inlet G1 of the right travel foot pedal 50; the travel proportional valve 5 is electrically connected to the machine controller 4. In the prior art, the travel speed of the dual-purpose road-rail tamping machine is difficult to control during construction, which increases the difficulty of tamping operations. This invention adjusts the maximum output pressure of the travel proportional valve 5 through the machine controller 4, which can limit the maximum travel speed and increase safety.

[0096] In an optional embodiment of the present invention, see Figure 1 and Figure 3The walking control subsystem also includes a guide wheel pressure sensor 3, a guide wheel support proportional valve 10, a guide wheel lifting control handle 47, a guide wheel lifting switching valve 44, and a guide wheel lifting cylinder 45. The oil inlet W1 of the guide wheel lifting control handle 47 is connected to the oil supply port of the pilot oil pump 29, the oil outlet W3 is connected to the control oil port X1 of the guide wheel lifting switching valve 44, the oil outlet W4 is connected to the control oil port X2 of the guide wheel lifting switching valve 44, and the oil return port W2 is connected to the hydraulic oil tank 46. The oil inlet X3 of the guide wheel lifting switching valve 44 is connected to the oil supply port of the high-pressure oil pump 28. Working port X5 is connected to the large cavity of the guide wheel lifting cylinder 45, working port X6 is connected to the small cavity of the guide wheel lifting cylinder 45, and return port X4 is connected to the hydraulic oil tank 46; the inlet Y1 of the guide wheel support proportional valve 10 is connected to the oil circuit that connects the large cavity of the guide wheel lifting cylinder 45 to the working port X5 of the guide wheel lifting switching valve 44, and the outlet Y2 is connected to the hydraulic oil tank 46; the guide wheel pressure sensor 3 is used to measure the pressure of the large cavity of the guide wheel lifting cylinder 45; the guide wheel pressure sensor 3, the guide wheel support proportional valve 10, and the whole machine controller 4 are electrically connected. The opening pressure of the guide wheel support proportional valve 10 can be limited by the whole machine controller, thereby limiting the maximum support force of the guide wheel. In the prior art, when the guide wheel plays a guiding role and the track grips the rail, the operator adjusts the degree of guide wheel support according to driving experience. If the manual adjustment is not appropriate, the dual-purpose tamping machine for both road and rail is prone to derailment accidents or insufficient track gripping force when traveling on the railway, resulting in slippage and wear on the rail and track rubber blocks. This invention controls the load-bearing ratio of the guide wheel by limiting the opening pressure of the guide wheel support ratio valve 10, thereby preventing derailment and excessive support force, and ensuring that the guide wheel plays a safe and reliable guiding role.

[0097] In an optional embodiment of the present invention, see Figure 1 and Figure 3The travel control subsystem also includes an electronic monitor 1 and a straight rail tamping mode switch 2. The electronic monitor 1 is connected to the machine controller 4 and is used to input the set current value of the travel proportional valve 5 and the set current value of the guide wheel support proportional valve 10. The machine controller 4 is used to control the maximum output pressure of the travel proportional valve 5 based on the set current value of the travel proportional valve 5, and to control the opening pressure of the guide wheel support proportional valve 10 based on the set current value of the guide wheel support proportional valve 10. The straight rail tamping mode switch 2 is connected to the machine controller 4. When straight-line travel is required, pressing the straight-rail tamping mode switch 2 energizes the left forward cut-off valve 6, the left reverse cut-off valve 7, the forward connecting valve 8, and the reverse connecting valve 9. The left travel pedal 49 is disabled. The oil circuit connecting the oil outlet G5 of the right travel pedal 50 to the control oil outlet K1 of the left forward / reverse switching valve 37, and the oil circuit connecting the oil outlet G6 of the right travel pedal 50 to the control oil outlet K2 of the left forward / reverse switching valve 37, are connected. The right travel pedal 50 then synchronously operates the guide wheel right travel motor 31 and the guide wheel left travel motor 33, or the track right travel motor 30 and the track left travel motor 32, achieving straight-line travel. Of course, when turning or when straight-line travel is not required, both the left travel pedal 49 and the right travel pedal 50 can still be operated simultaneously for travel.

[0098] In an optional embodiment of the present invention, see Figure 2 and Figure 3The control system of the dual-purpose road and rail tamping machine also includes a one-button tamping subsystem; the one-button tamping subsystem includes a rail clamping solenoid valve 19, a rail loosening solenoid valve 20, a vibration solenoid valve 21, a lower insertion solenoid valve 22, a lifting solenoid valve 23, a clamping solenoid valve 24, a sleeper loosening solenoid valve 25, a vibration motor 40, a sleeper loosening cylinder 41, a lower insertion lifting cylinder 42, a rail loosening cylinder 43, and a one-button tamping button 12; the rail clamping solenoid valve 19 and the rail loosening solenoid valve 20 share an oil inlet V1 and an oil return port V2, and the oil inlet... Port V1 is connected to the oil supply port of the high-pressure oil pump 28, and return port V2 is connected to the hydraulic oil tank 46. Port V3 of the rail clamping solenoid valve 19 is connected to the large chamber of the rail loosening cylinder 43, and port V4 of the rail loosening solenoid valve 20 is connected to the small chamber of the rail loosening cylinder 43. Port R1 of the excitation solenoid valve 21 is connected to the oil supply port of the high-pressure oil pump 28, return port R2 is connected to the hydraulic oil tank 46, and outlet port R3 is connected to the oil inlet S1 of the excitation motor 40. Return port S2 of the excitation motor 40... Connected to hydraulic oil tank 46; the lower insertion solenoid valve 22 and the lifting solenoid valve 23 share an inlet U1 and a return port U2. The inlet U1 is connected to the supply port of the high-pressure oil pump 28, and the return port U2 is connected to the hydraulic oil tank 46. The outlet U3 of the lower insertion solenoid valve 22 is connected to the large chamber of the lower insertion lifting cylinder 42, and the outlet U4 of the lifting solenoid valve 23 is connected to the small chamber of the lower insertion lifting cylinder 42. The clamping solenoid valve 24 and the slack release solenoid valve 25 share an inlet T1 and a return port T2. Port T1 is connected to the oil supply port of the high-pressure oil pump 28, and the return port T2 is connected to the hydraulic oil tank 46. The oil outlet T3 of the clamping solenoid valve 24 is connected to the large cavity of the slewing cylinder 41, and the oil outlet T4 of the slewing solenoid valve 25 is connected to the small cavity of the slewing cylinder 41. The rail clamping solenoid valve 19, the rail slack solenoid valve 20, the vibration solenoid valve 21, the insertion solenoid valve 22, the lifting solenoid valve 23, the clamping solenoid valve 24, the slewing solenoid valve 25, and the one-button tamping button 12 are connected to the whole machine controller 4. In the existing technology, the dual-purpose tamping machine for both road and rail needs to repeatedly and cyclically operate the various operating parts to complete the operations such as clamping rail, vibration, insertion, clamping, slewing, lifting, and slackling during tamping operations. The operation is complex and labor-intensive. At the same time, since the machine weighs more than 2 tons, there are too many operating parts, the steps are cumbersome, and the operation is inconvenient. There is a risk of human error causing damage to the rails, track rubber blocks, and tamping tools. The one-click tamping subsystem of this application can complete the tamping operation with one click, replacing the need for the driver to operate multiple control components multiple times, effectively reducing the workload of the driver. For details, please refer to the control method of the dual-purpose road and rail tamping machine below.

[0099] In an optional embodiment of the present invention, see Figure 2 and Figure 3The one-button tamping subsystem also includes a rail clamping pressure sensor 18, a left slewing shut-off valve 26, a right slewing shut-off valve 27, a slewing motor 38, a left / right slewing switching valve 39, and a slewing control handle 48. The rail clamping pressure sensor 18 is used to measure the pressure in the large chamber of the rail clamping cylinder 43. The oil inlets L1 and L4 of the slewing control handle 48 are connected to the oil supply port of the pilot oil pump 29, the oil outlet L6 is connected to the oil inlet M4 of the left slewing shut-off valve 26, the oil outlet L3 is connected to the oil inlet M1 of the right slewing shut-off valve 27, and the oil return ports L2 and L5 are connected to the hydraulic oil tank 46. The oil outlet M6 of the left slewing shut-off valve 26... The control port N2 of the left-right rotation switching valve 39 is connected, and the return port M5 is connected to the hydraulic oil tank 46; the outlet port M3 of the right rotation shut-off valve 27 is connected to the control port N1 of the left-right rotation switching valve 39, and the return port M2 is connected to the hydraulic oil tank 46; the inlet port N5 of the left-right rotation switching valve 39 is connected to the supply port of the high-pressure oil pump 28, and the return port N6 is connected to the hydraulic oil tank 46; the working ports N3 and N4 are respectively connected to the working ports Q1 and Q2 of the rotary motor 38; the rail clamping pressure sensor 18, the left rotation shut-off valve 26, and the right rotation shut-off valve 27 are electrically connected to the machine controller 4. In the prior art, there is no machine rotation restriction function during tamping operations, which poses a risk of damage to the rails and tamping tools due to accidental contact with the rotation operation handle. This application sets up the left rotation shut-off valve 26 and the right rotation shut-off valve 27 to restrict the rotation of the entire machine during tamping operations, reducing the risk of misoperation.

[0100] In an optional embodiment of the present invention, see Figure 2 and Figure 3 The one-button tamping subsystem also includes an emergency stop switch 17, a slack switch 16, a vibration switch 13, a rail slack switch 14, and a lifting switch 15. These switches are electrically connected to the machine controller 4. The emergency stop switch 17 is used to immediately stop the one-button tamping operation in case of a malfunction in the tamping equipment or hydraulic circuit, while the travel control subsystem continues to operate normally. When the tamping equipment malfunctions, pressing the emergency stop button allows the tamping equipment to be lifted off the track via the control switch group, enabling the dual-purpose road-rail tamping machine to be driven off the rails for maintenance.

[0101] This invention also provides a control method for a dual-purpose road-rail tamping machine, see [link / reference]. Figure 4 , Figure 5 and Figure 6 ,include,

[0102] Step 1: Determine whether to drive in a straight line. If yes, proceed to Step 2; otherwise, it means that tamping is required at a fixed location. Proceed to Step 3.

[0103] Step 2: Press the straight rail tamping mode switch 2. The whole machine controller 4 controls the left forward cut-off valve 6, the left reverse cut-off valve 7 to be energized, the forward connecting valve 8 and the reverse connecting valve 9 to be energized, the left travel foot pedal 49 is disabled, the oil circuit connected to the oil outlet G5 of the right travel foot pedal 50 and the oil circuit connected to the oil outlet K1 of the left forward and reverse switching valve 37 and the oil circuit connected to the oil outlet G6 of the right travel foot pedal 50 and the oil outlet K2 of the left forward and reverse switching valve 37 are connected. The right travel foot pedal 50 makes the guide wheel right travel motor 31 and the guide wheel left travel motor 33 run synchronously (guide wheel travel mode) or the track right travel motor 30 and the track left travel motor 32 run synchronously (track travel mode) to achieve straight travel.

[0104] Step 3: When the emergency stop switch 17 is ON, the whole machine controller 4 receives a high level. After pressing the one-button tamping button 12, the whole machine controller 4 performs a one-button tamping operation, including:

[0105] The whole machine controller 4 controls the rail clamping solenoid valve 19 to be energized for 1.5 seconds to make the tamping tool clamp the rail;

[0106] The whole machine controller 4 controls the excitation solenoid valve 21 to be energized, and the tamping tool starts to vibrate at a fixed frequency. At the same time, the insertion solenoid valve 22 is energized for 2.5 seconds, and the tamping tool is inserted. After the tamping tool is inserted, the whole machine controller 4 controls the insertion solenoid valve 22 to be de-energized, and the tamping tool stops inserting.

[0107] The whole machine controller 4 controls the clamping solenoid valve 24 to be energized for 6 seconds, the tamping machine clamps the sleeper and tamps it. After the tamping machine completes the tamping, the whole machine controller 4 controls the clamping solenoid valve 24 to be de-energized, and the tamping machine stops clamping the sleeper.

[0108] The whole machine controller 4 controls the saddle loosening solenoid valve 25 to be energized for 2 seconds, the tamping machine loosens the saddle, and after the tamping machine has finished loosening the saddle, the whole machine controller 4 controls the saddle loosening solenoid valve 25 to be de-energized, the tamping machine stops the saddle loosening action.

[0109] The whole machine controller 4 controls the lifting solenoid valve 23 to be energized for 2 seconds, and the tamping implement is lifted. After the tamping implement is lifted, the whole machine controller 4 controls the lifting solenoid valve 23 to be de-energized, and the tamping implement stops lifting.

[0110] The machine controller 4 de-energizes the vibration solenoid valve 21, causing the tamping machine to stop its fixed-frequency vibration.

[0111] The machine controller 4 energizes the rail loosening solenoid valve 20 for 20 seconds, loosening the rails of the tamping machine. After the rail loosening is completed, the machine controller 4 de-energizes the rail loosening solenoid valve 20, thus completing the one-button tamping operation. The energizing time of each solenoid valve can be adjusted according to specific working conditions.

[0112] like Figure 1 , 3As shown in Figure 5, the whole machine controller 4 outputs the set current value (e.g., 150mA) of the walking proportional valve 5 to the walking proportional valve 5 to control the maximum walking speed (e.g., 3Km / h). At the same time, the set current value of the walking proportional valve 5 can be adjusted in the system parameters of the electronic monitor 1 according to the work needs, so as to further adjust the maximum speed.

[0113] like Figure 1 , 3 As shown in Figure 5, when the straight rail tamping mode switch 2 is turned on, the right travel foot pedal 49 causes the right travel motor 30 and the left travel motor 32 of the track to run synchronously and move in a straight line. At the same time, the machine controller 4 outputs the set current value (e.g., 200mA) of the guide wheel support proportional valve 10 to the guide wheel support proportional valve 10, controlling the percentage (e.g., 30%) of the total weight supported by the guide wheel. Simultaneously, the set current value of the guide wheel support proportional valve 10 can be adjusted in the system parameters of the electronic monitor 1 according to work needs, further adjusting the weight supported by the guide wheel. Of course, even when the straight rail tamping mode switch 2 is not pressed, the current value of the guide wheel support proportional valve 10 can still be controlled by the machine controller 4 to control the amount of support provided by the guide wheel.

[0114] When driven by guide wheels, insufficient support from the guide wheels poses a risk of track wear due to track dragging. Existing technology lacks methods for detecting guide wheel support and adjusting the driving mode accordingly. In optional embodiments of the present invention, such as... Figure 1 , 3 As shown in Figure 5, while the machine is in motion, the pressure value of the guide wheel pressure sensor 3 is monitored by the whole machine controller 4. When the pressure value of the guide wheel pressure sensor 3 reaches the preset range of guide wheel pressure (such as 9-59 bar), the guide wheel support is insufficient. The guide wheel and the track are on the track at the same time. At this time, the guide wheel is moving, and the track has the risk of dragging. The whole machine controller 4 controls the road mode solenoid valve 11 to be energized. That is, when the whole machine controller 4 detects that there is a risk of track dragging due to the existing support of the guide wheel, it actively changes the guide wheel driving mode to the track driving mode. At this time, the guide wheel only partially supports the weight of the whole machine and plays a guiding role.

[0115] In an optional embodiment of the present invention, see Figure 6 While performing one-button tamping, the whole machine controller 4 determines whether the rail clamping pressure value uploaded by the rail clamping pressure sensor 18 exceeds the rail clamping pressure setting value. When the rail clamping pressure value exceeds the rail clamping pressure setting value (such as 18 MPa), the tamping tool is clamped on the rail. The left slewing cutoff valve 26 and the right slewing cutoff valve 27 are energized at the same time, cutting off the oil circuit connected to the slewing operation handle and the left and right slewing switching valve 39, and automatically limiting the slewing operation of the whole machine.

[0116] In an optional embodiment of the present invention, see Figure 6While performing the one-button tamping operation, the machine controller 4 monitors whether the emergency stop switch 17 is closed. When the emergency stop switch 17 is OFF, the machine controller 4 does not receive a high level signal, executes the emergency stop logic, stops the one-button tamping operation, and simultaneously performs the following operations:

[0117] S1: Determine whether the tamping machine needs to be vibrated. If so, turn on the excitation switch 13 to control the excitation solenoid valve 21 to make the tamping machine vibrate at a fixed frequency and then proceed to step S2; otherwise, proceed directly to step S2.

[0118] S2: Determine whether the tamping machine needs to be lifted. If so, turn on the lifting switch 15 to energize the lifting solenoid valve 23 and lift the tamping machine. After lifting is complete, turn off the lifting switch 15 and proceed to step S3. Otherwise, proceed directly to step S3.

[0119] S3: Determine whether saddle loosening is required. If so, turn on saddle loosening switch 16 to energize saddle loosening solenoid valve 25, and loosen the saddle using the tamping machine. After loosening is completed, turn off saddle loosening switch 16 and proceed to step S4. Otherwise, proceed directly to step S4.

[0120] S4: Determine whether the excitation switch 13 is open. If yes, turn off the excitation switch 13 and proceed to step S5; otherwise, proceed directly to step S5.

[0121] S5: Determine if rail loosening is necessary. If so, open rail loosening switch 14 to energize rail loosening solenoid valve 20, loosening the rails of the tamping machine. After rail loosening is completed, close rail loosening switch 14. Complete the rail loosening, vibration, lifting, or sleeper loosening operations of the tamping machine, return the tamping machine to its original position, and drive it away from the site for inspection and maintenance.

[0122] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0123] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0124] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0125] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0126] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

[0127] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A control system for a dual-purpose road-rail tamping machine, comprising a machine controller, a hydraulic oil tank, a pilot oil pump, a high-pressure oil pump, and a travel control subsystem; the travel control subsystem comprising a first travel pedal, a first forward / reverse switching valve, a second travel pedal, and a second forward / reverse switching valve; characterized in that, The walking control subsystem also includes a first forward cut-off valve, a first backward cut-off valve, a forward connecting valve, and a backward connecting valve; The first forward cut-off valve is located on the oil line where the first walking pedal is connected to the forward control end of the first forward / reverse switching valve; The first reversing shut-off valve is located on the oil line where the first walking pedal is connected to the reversing control end of the first forward / reverse switching valve; The oil inlet of the forward connecting valve is connected to the oil outlet of the second walking pedal, and the oil outlet is connected to the forward control end of the first forward / reverse switching valve. The oil inlet of the reversing connecting valve is connected to the oil outlet of the second walking foot pedal, and the oil outlet is connected to the reversing control end of the first forward and reverse switching valve. The first forward shut-off valve, the first reverse shut-off valve, the forward connecting valve, and the reverse connecting valve are electrically connected to the whole machine controller; The first forward shut-off valve is a left forward shut-off valve; the first walking pedal is a left walking pedal; the first forward-backward switching valve is a left forward-backward switching valve; the first backward shut-off valve is a left backward shut-off valve; the second walking pedal is a right walking pedal; the second forward-backward switching valve is a right forward-backward switching valve. The oil inlet H5 of the left forward cut-off valve is connected to the oil outlet G7 of the left walking foot pedal, and the oil outlet H6 is connected to the control oil outlet K1 of the left forward and backward switching valve; the oil inlet H7 of the left backward cut-off valve is connected to the oil outlet G8 of the left walking foot pedal, and the oil outlet H8 is connected to the control oil outlet K2 of the left forward and backward switching valve. The oil circuit connecting the right walking pedal outlet G5 and the control oil port J1 of the right forward / reverse switching valve is connected to the inlet H1 of the forward connecting valve; the oil circuit connecting the control oil port K1 of the left forward / reverse switching valve and the outlet H6 of the left forward shut-off valve is connected to the outlet H2 of the forward connecting valve; the oil circuit connecting the right walking pedal outlet G6 and the control oil port J2 of the right forward / reverse switching valve is connected to the inlet H3 of the reverse connecting valve; the oil circuit connecting the control oil port K2 of the left forward / reverse switching valve and the outlet H8 of the left reverse shut-off valve is connected to the outlet H4 of the reverse connecting valve.

2. The control system for a dual-purpose road-rail tamping machine according to claim 1, characterized in that, The walking control subsystem also includes a walking proportional valve; the oil inlet F1 of the walking proportional valve is connected to the oil supply port of the pilot oil pump, and the oil outlet F2 is connected in parallel to the first walking pedal and the second walking pedal. The walking proportional valve is electrically connected to the whole machine controller.

3. The control system for a dual-purpose road-rail tamping machine according to claim 2, characterized in that, The oil inlet G3 of the left walking foot pedal and the oil inlet G1 of the right walking foot pedal are both connected to the oil outlet F2 of the walking proportional valve, and the oil return port G4 of the left walking foot pedal and the oil return port G2 of the right walking foot pedal are connected to the hydraulic oil tank. The walking control subsystem also includes a left guide wheel walking motor, a left track walking motor, a right guide wheel walking motor, a right track walking motor, a left mode switching valve, a right mode switching valve, and a road mode solenoid valve; The inlet A1 of the highway mode solenoid valve is connected to the supply port of the pilot oil pump, the outlet A3 is connected in parallel to the control port D1 of the left mode switching valve and the control port B1 of the right mode switching valve, and the return port A2 is connected to the hydraulic oil tank; the highway mode solenoid valve is electrically connected to the whole machine controller. The oil inlet K5 of the left forward / reverse switching valve is connected to the oil supply port of the high-pressure oil pump, the working oil port K3 is connected to the working oil port D7 of the left mode switching valve, the working oil port K4 is connected to the working oil port D8 of the left mode switching valve, and the return oil port K6 is connected to the hydraulic oil tank. The inlet J5 of the right forward / reverse switching valve is connected to the oil supply port of the high-pressure oil pump, the working port J3 is connected to the working port B7 of the right mode switching valve, the working port J4 is connected to the working port B8 of the right mode switching valve, and the return port J6 is connected to the hydraulic oil tank. The working ports D3 and D4 of the left mode switching valve are connected to the working ports E1 and E2 of the left track travel motor, respectively; the working ports D5 and D6 are connected to the working ports E3 and E4 of the left guide wheel travel motor, respectively; and the control port D2 is connected to the hydraulic oil tank. The working ports B3 and B4 of the right mode switching valve are connected to the working ports C1 and C2 of the right track travel motor, respectively. The working ports B5 and B6 are connected to the working ports C3 and C4 of the right guide wheel travel motor, respectively. The control port B2 is connected to the hydraulic oil tank.

4. The control system for a dual-purpose road-rail tamping machine according to claim 3, characterized in that, The walking control subsystem also includes a guide wheel pressure sensor, a guide wheel support proportional valve, a guide wheel lifting control handle, a guide wheel lifting switching valve, and a guide wheel lifting hydraulic cylinder; The oil inlet W1 of the guide wheel lifting control handle is connected to the oil supply port of the pilot oil pump, the oil outlet W3 is connected to the control oil port X1 of the guide wheel lifting switching valve, the oil outlet W4 is connected to the control oil port X2 of the guide wheel lifting switching valve, and the oil return port W2 is connected to the hydraulic oil tank. The oil inlet X3 of the guide wheel lifting switching valve is connected to the oil supply port of the high-pressure oil pump, the working oil port X5 is connected to the large cavity of the guide wheel lifting cylinder, the working oil port X6 is connected to the small cavity of the guide wheel lifting cylinder, and the return oil port X4 is connected to the hydraulic oil tank. The oil inlet Y1 of the guide wheel support proportional valve is connected to the oil circuit that connects the large chamber of the guide wheel lifting cylinder to the working oil port X5 of the guide wheel lifting switching valve, and the oil outlet Y2 is connected to the hydraulic oil tank. The guide wheel pressure sensor is used to measure the pressure in the large chamber of the guide wheel lifting cylinder. The guide wheel pressure sensor, the guide wheel support proportional valve, and the overall controller are electrically connected.

5. The control system for a dual-purpose road-rail tamping machine according to claim 4, characterized in that, The walking control subsystem also includes an electronic monitor and a straight rail tamping mode switch; The electronic monitor is connected to the whole machine controller and is used to input the set current value of the walking proportional valve and the set current value of the guide wheel support proportional valve. The overall controller is also used to control the maximum output pressure of the walking proportional valve based on the set current value of the walking proportional valve, and to control the opening pressure of the guide wheel support proportional valve based on the set current value of the guide wheel support proportional valve. The straight rail tamping mode switch is connected to the machine controller.

6. The control system for a dual-purpose road-rail tamping machine according to claim 1, characterized in that, It also includes a one-click tamping subsystem; The one-button tamping subsystem includes a rail clamping solenoid valve, a rail loosening solenoid valve, a vibration solenoid valve, a lower insertion solenoid valve, a lifting solenoid valve, a clamping solenoid valve, a sleigh loosening solenoid valve, a vibration motor, a sleigh loosening cylinder, a lower insertion lifting cylinder, a rail loosening cylinder, and a one-button tamping button. The rail clamping solenoid valve and the rail loosening solenoid valve share an oil inlet V1 and an oil return port V2. The oil inlet V1 is connected to the oil supply port of the high-pressure oil pump, and the oil return port V2 is connected to the hydraulic oil tank. The oil outlet V3 of the rail clamping solenoid valve is connected to the large cavity of the rail clamping and loosening cylinder, and the oil outlet V4 of the rail loosening solenoid valve is connected to the small cavity of the rail clamping and loosening cylinder. The oil inlet R1 of the excitation solenoid valve is connected to the oil supply port of the high-pressure oil pump, the oil return port R2 is connected to the hydraulic oil tank, and the oil outlet R3 is connected to the oil inlet S1 of the excitation motor. The return port S2 of the vibration motor is connected to the hydraulic oil tank; The lower insertion solenoid valve and the lifting solenoid valve share a common oil inlet U1 and oil return port U2. The oil inlet U1 is connected to the oil supply port of the high-pressure oil pump, and the oil return port U2 is connected to the hydraulic oil tank. The oil outlet U3 of the lower insertion solenoid valve is connected to the large cavity of the lower insertion lifting cylinder, and the oil outlet U4 of the lifting solenoid valve is connected to the small cavity of the lower insertion lifting cylinder. The clamping solenoid valve and the slack solenoid valve share an inlet T1 and an outlet T2. The inlet T1 is connected to the oil supply port of the high-pressure oil pump, and the outlet T2 is connected to the hydraulic oil tank. The outlet T3 of the clamping solenoid valve is connected to the large cavity of the clamping and slack cylinder, and the outlet T4 of the slack solenoid valve is connected to the small cavity of the clamping and slack cylinder. The rail clamping solenoid valve, rail loosening solenoid valve, vibration solenoid valve, insertion solenoid valve, lifting solenoid valve, clamping solenoid valve, slewing solenoid valve, and one-button tamping button are connected to the whole machine controller.

7. The control system for a dual-purpose road-rail tamping machine according to claim 6, characterized in that, The one-button tamping subsystem also includes a rail clamping pressure sensor, a left slewing shut-off valve, a right slewing shut-off valve, a slewing motor, a left and right slewing switching valve, and a slewing control handle. The rail clamping pressure sensor is used to measure the pressure in the large chamber of the rail clamping cylinder. The oil inlets L1 and L4 of the rotary control handle are connected to the oil supply port of the pilot oil pump, the oil outlet L6 is connected to the oil inlet M4 of the left rotary shut-off valve, the oil outlet L3 is connected to the oil inlet M1 of the right rotary shut-off valve, and the oil return ports L2 and L5 are connected to the hydraulic oil tank. The oil outlet M6 of the left rotary shut-off valve is connected to the control oil outlet N2 of the left and right rotary switching valve, and the oil return port M5 is connected to the hydraulic oil tank. The right rotary shut-off valve outlet M3 is connected to the left and right rotary switching valve control port N1, and the return port M2 is connected to the hydraulic oil tank. The oil inlet N5 of the left-right rotary switching valve is connected to the oil supply port of the high-pressure oil pump, the oil return port N6 is connected to the hydraulic oil tank, and the working oil ports N3 and N4 are connected to the working oil ports Q1 and Q2 of the rotary motor, respectively. The rail clamping pressure sensor, the left rotary shut-off valve, and the right rotary shut-off valve are electrically connected to the overall machine controller.

8. The control system for a dual-purpose road-rail tamping machine according to claim 6, characterized in that, The one-button tamping subsystem also includes an emergency stop switch, a slack switch, a vibration switch, a rail slack switch, and a lifting switch; The emergency stop switch, slack rail switch, vibration switch, slack rail switch, and lifting switch are electrically connected to the overall machine controller.

9. A control method for a dual-purpose road-rail tamping machine, characterized in that, include, Step 1: Determine whether to proceed in a straight line. If yes, proceed to Step 2; otherwise, proceed to Step 3. Step 2: The left forward cut-off valve, left reverse cut-off valve, forward connecting valve and reverse connecting valve are energized by the whole machine controller described in any one of claims 1 to 8. The left travel pedal is disabled. The oil circuit connected to the oil outlet G5 of the right travel pedal and the oil control oil outlet K1 of the left forward and reverse switching valve, and the oil circuit connected to the oil outlet G6 of the right travel pedal and the oil control oil outlet K2 of the left forward and reverse switching valve are connected. The right travel pedal is used to make the right travel motor of the guide wheel and the left travel motor of the guide wheel run synchronously or the right travel motor of the track and the left travel motor of the track run synchronously to achieve straight-line travel. Step 3: Perform a one-button tamping operation via the machine controller, including; The overall controller energizes the rail clamping solenoid valve to cause the tamping tool to clamp the rail. The whole machine controller energizes the excitation solenoid valve and the lower insertion solenoid valve, and the tamping implement begins to vibrate at a fixed frequency. At the same time, the tamping implement is inserted. After the tamping implement is inserted, the whole machine controller de-energizes the lower insertion solenoid valve. The whole machine controller energizes the clamping solenoid valve, the tamping machine clamps the sleepers and tamps them, and after the tamping machine completes the tamping, the whole machine controller de-energizes the clamping solenoid valve. The whole machine controller energizes the slewing solenoid valve, the tamping machine slewing is then energized, and after the tamping machine has finished slewing, the whole machine controller de-energizes the slewing solenoid valve. The whole machine controller energizes the lifting solenoid valve to lift the tamping implement, and after the tamping implement is lifted, the whole machine controller de-energizes the lifting solenoid valve. When the controller de-energizes the excitation solenoid valve, the tamping machine stops its constant-frequency vibration. The machine controller energizes the rail slack solenoid valve, which loosens the rails of the tamping machine. Once the rail slack is complete, the machine controller de-energizes the rail slack solenoid valve.

10. The control method for a dual-purpose road-rail tamping machine according to claim 9, characterized in that, Step 2 further includes controlling the set current value of the travel proportional valve through the whole machine controller while traveling in a straight line; the set current value of the travel proportional valve is input through an electronic monitor.

11. The control method for a dual-purpose road-rail tamping machine according to claim 9, characterized in that, Step 2 further includes, while simultaneously controlling the set current value of the guide wheel support proportional valve by using the right walking foot pedal to make the right track walking motor and the left track walking motor run synchronously and move in a straight line, the whole machine controller controls the set current value of the guide wheel support proportional valve. The set current value of the proportional valve supported by the guide wheel is input via an electronic monitor.

12. The control method for a dual-purpose road-rail tamping machine according to claim 9, characterized in that, Step 2 further includes monitoring the pressure value of the guide wheel pressure sensor through the whole machine controller while driving in a straight line. When the pressure value of the guide wheel pressure sensor reaches the preset range of guide wheel pressure, the whole machine controller controls the road mode solenoid valve to be energized and switches to track walking mode.

13. The control method for a dual-purpose road-rail tamping machine according to claim 9, characterized in that, Step 3 further includes, while performing the one-button tamping operation, determining whether the rail clamping pressure value uploaded by the rail clamping pressure sensor exceeds the rail clamping pressure setting value through the whole machine controller; when the rail clamping pressure value exceeds the rail clamping pressure setting value, controlling the left slewing shut-off valve and the right slewing shut-off valve to be energized simultaneously, cutting off the oil circuit connected to the slewing operation handle and the left and right slewing switching valve.

14. The control method for a dual-purpose road-rail tamping machine according to claim 9, characterized in that, Step 3 also includes monitoring whether the emergency stop switch is closed via the machine controller while performing the one-button tamping operation. When the emergency stop switch is closed, the one-button tamping operation is stopped, and the following operations are performed simultaneously: S1: Determine whether the tamping machine needs to be vibrated. If so, turn on the excitation switch to energize the excitation solenoid valve and make the tamping machine vibrate at a fixed frequency before proceeding to step S2; otherwise, proceed directly to step S2. S2: Determine whether the tamping machine needs to be lifted. If so, turn on the lifting switch to energize the lifting solenoid valve and lift the tamping machine. After lifting is complete, turn off the lifting switch and proceed to step S3. Otherwise, proceed directly to step S3. S3: Determine whether saddle loosening is required. If so, turn on the saddle loosening switch to energize the saddle loosening solenoid valve and loosen the saddle using the tamping machine. After loosening is complete, turn off the saddle loosening switch and proceed to step S4. Otherwise, proceed directly to step S4. S4: Determine whether the excitation switch is on. If yes, turn off the excitation switch and proceed to step S5; otherwise, proceed directly to step S5. S5: Determine if rail loosening is required. If so, turn on the rail loosening switch to energize the rail loosening solenoid valve, and the tamping machine will loosen the rail. After the rail loosening is completed, turn off the rail loosening switch.

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