A traveling system and control method for a road-rail dual-purpose excavator

Abstract

The present invention discloses a travel system and control method for a dual-purpose road-rail excavator. The travel system includes a pilot oil pump, a high-pressure oil pump, a hydraulic oil tank, a monitor, a controller, a solenoid valve assembly, a guide wheel support control proportional valve, a support control switching shuttle valve, a guide wheel lifting switching valve, a guide wheel lifting oil cylinder, a guide wheel support control overflow proportional valve, a left walking pedal, a right walking pedal, a shift handle, and a switch assembly. The pilot oil pump provides a low-pressure control oil source for the travel system. The high-pressure oil pump provides a high-pressure oil source for the actuator of the travel system. When the present invention is controlled, when the guide wheel drives the transition, the travel mode is switched to the guide wheel drive mode. The guide wheel supports the dual-purpose road-rail excavator according to the current value of the guide wheel support control proportional valve. During rapid transition and construction, manual operations such as guide wheel support adjustment, guide wheel or crawler driving mode switching, and starting straight-line driving are eliminated, thereby reducing the workload of the driving operator.

Description

Technical Field

[0001] The present invention relates to an excavator traveling system, and in particular to a road-rail dual-purpose excavator traveling system and a control method thereof. Background Art

[0002] Currently, dual-purpose road-rail excavators are becoming increasingly prominent in railway maintenance equipment. In addition to conventional excavation operations, dual-purpose excavators also utilize guide wheel drive to rapidly travel along the track, or friction drive along the track for railway maintenance and construction, resulting in a high level of functional integration. However, the operating requirements for dual-purpose excavators are becoming increasingly complex, and the driver experience requirements are also increasing, particularly to eliminate the risk of misoperation. Therefore, research on a travel system and control method for dual-purpose excavators is essential.

[0003] The existing dual-use road and rail excavators are relatively complicated to operate and require combined operations to achieve the corresponding functions. In addition to potential safety hazards, they also have the following disadvantages:

[0004] (1) The functions of switching between road mode and railway mode, raising and lowering the guide wheel, running in a straight line at low speed, and guiding the guide wheel for safety are independent of each other and cannot be linked. The cab is equipped with corresponding operating parts for each of the above functions. There are too many operating parts. In most cases, multiple, complex, and repeated operations of multiple operating parts are required to meet specific operational requirements during driving. The operation intensity is high and the driving experience of the driver is relatively high, which can easily lead to missed operations and cause danger.

[0005] (2) The walking mode is not clearly defined, the functional integration is poor, and the ergonomics is poor, which causes driving troubles for the driver. Some combined operation functions cannot be realized through manual operation, such as high-speed straight-line walking of the guide wheel and low-speed straight-line walking of the crawler with high torque. The limitations are large and driving is inconvenient. At the same time, some prohibited combined operations can only be warned in the operation guide, and there are no error-proof operation measures. There are certain safety hazards caused by misoperation; or there are risks that the crawler does not leave the ground when the guide wheel is traveling, which wears the rails and crawler; when the crawler is traveling on the rails, forget to support the guide wheel for guiding, resulting in the risk of derailment; forget to lower the guide wheel during construction work, resulting in unstable center of gravity and overturning; forget to switch to the railway mode when the entire road-rail dual-purpose excavator is fully supported by the guide wheel, resulting in idling crawler.

[0006] (3) Driving control is different from the driving habits of wheeled vehicles on the road. When driving for a long time during the transfer, the left and right walking pedals of the excavator are operated to drive the guide wheels; or when operating the left and right walking pedals of the excavator to drive the crawler tracks during railway construction, the efficiency is low, the work intensity is high, the driving is inconvenient and it is easy to cause driver fatigue.

[0007] (4) After the excavator rotates to any angle within the 360-degree range, it is difficult for the driver to identify the driving direction. The driving operation is complicated and it is easy to make a wrong judgment, causing the entire road-rail dual-purpose excavator to drive in the opposite direction of the target direction, whether it is driving the guide wheel or driving the crawler, resulting in an accidental collision and causing great losses.

[0008] For example, patents CN218505597U and CN114312179A describe a dual-track excavator travel system that incorporates guide wheels and a guide wheel lift cylinder, based on conventional crawler excavators. The system allows for either road or rail travel. In road mode, the hydraulically driven crawler tracks are used, with the guide wheels supporting the entire excavator's weight. In rail mode, the guide wheel lift cylinder fully supports the entire excavator, hydraulically driving the guide wheels for travel. Patent CN217325588U describes a dual-track excavator travel hydraulic system. Summary of the Invention

[0009] Purpose of the invention: In view of the shortcomings of the prior art, the present invention provides a traveling system and control method for a dual-purpose road-rail excavator. During the rapid transition process, manual operations such as guide wheel support adjustment, guide wheel or crawler driving mode switching, and starting straight-line driving are eliminated, thereby reducing the workload of the driving operator, improving the operational safety of the dual-purpose road-rail excavator, reducing the workload of the driving operator, and avoiding losses caused by misoperation.

[0010] Technical solution: The travel system of the road-rail dual-purpose excavator of the present invention includes a pilot oil pump, a high-pressure oil pump, a hydraulic oil tank, a monitor, a controller, a solenoid valve assembly, a guide wheel support control proportional valve, a support control switching shuttle valve, a guide wheel lifting switching valve, a guide wheel lifting oil cylinder, a guide wheel support control overflow proportional valve, a left travel pedal, a right travel pedal, a shift handle and a switch assembly;

[0011] The pilot oil pump provides low-pressure control oil source for the travel system; the high-pressure oil pump provides high-pressure oil source for the actuators of the travel system;

[0012] The solenoid valve assembly includes a guide wheel drive solenoid valve, a forward connecting solenoid valve, a reverse connecting solenoid valve, a left switching solenoid valve assembly and a right switching solenoid valve assembly; the oil inlet of the guide wheel support control proportional valve and the guide wheel drive solenoid valve is connected to the oil supply port of the pilot oil pump; the oil inlet of the guide wheel support control overflow proportional valve is connected to the guide wheel lifting cylinder, and the oil outlet is connected to the hydraulic oil tank.

[0013] The left switching solenoid valve assembly includes a left forward cut-off solenoid valve, a left reverse cut-off solenoid valve, a left forward and reverse switching valve, and a left travel mode switching valve connected to the controller;

[0014] The oil inlet of the left forward cut-off solenoid valve is connected to the oil outlet of the left walking pedal, the oil inlet of the left reverse cut-off solenoid valve is connected to the oil outlet of the left walking pedal, the oil inlet of the left forward / reverse switching valve is connected to the oil supply port of the high-pressure oil pump, and the oil return port of the left forward / reverse switching valve is connected to the hydraulic oil tank;

[0015] The control oil port of the left travel mode switching valve is connected to the oil outlet of the guide wheel drive solenoid valve, the return oil port is connected to the hydraulic oil tank, and the working oil port is connected to the working oil port of the left forward and reverse switching valve.

[0016] The right switching solenoid valve assembly includes a right forward cut-off solenoid valve, a right reverse cut-off solenoid valve, a right forward and reverse switching valve, and a right travel mode switching valve connected to the controller;

[0017] The oil inlet of the right forward cut-off solenoid valve is connected to the oil outlet of the right walking foot pedal; the oil inlet of the right reverse cut-off solenoid valve is connected to the oil outlet of the right walking foot pedal; the oil inlet of the right forward and reverse switching valve is connected to the oil supply port of the high-pressure oil pump, and the oil return port of the right forward and reverse switching valve is connected to the hydraulic oil tank.

[0018] The switch assembly includes a travel direction switching proximity switch connected to the controller, a guide wheel fast travel mode switch and a railway construction mode switch.

[0019] It also includes a guide wheel lifting control handle, the oil inlet of the guide wheel lifting control handle is connected to the oil supply port of the pilot oil pump.

[0020] The support control oil port of the guide wheel lift switching valve is connected to the oil outlet of the support control switching shuttle valve, the lifting control oil port of the guide wheel lift switching valve is connected to the oil outlet of the guide wheel lift control handle, the oil inlet of the guide wheel lift switching valve is connected to the oil supply port of the high-pressure oil pump, and the return oil port of the guide wheel lift switching valve is connected to the hydraulic oil tank.

[0021] It also includes a travel control proportional valve and a forward and reverse switching solenoid valve. The oil inlet of the travel control proportional valve is connected to the oil supply port of the pilot oil pump, and the oil return port of the travel control proportional valve is connected to the hydraulic oil tank;

[0022] The oil inlet of the forward and backward switching solenoid valve is connected to the oil outlet of the travel control proportional valve, and the oil return port of the forward and backward switching solenoid valve is connected to the hydraulic oil tank.

[0023] The control method of the traveling system of the road-rail dual-purpose excavator of the present invention comprises the following steps:

[0024] (1) Turn on the guide wheel fast travel mode switch or the railway construction mode switch according to the construction situation;

[0025] (2) After turning on the guide wheel fast travel mode switch, the guide wheel support control overflow proportional valve loses power, the guide wheel support control proportional valve becomes energized, and the guide wheel supports the excavator until the crawler tracks leave the ground; the guide wheel drive solenoid valve becomes energized, the crawler left travel motor and the crawler right travel motor become ineffective, and the guide wheel left travel motor and the guide wheel right travel motor drive the guide wheel to travel through hydraulic pressure; the left forward cut-off solenoid valve, the left reverse cut-off solenoid valve, the right forward cut-off solenoid valve, the right reverse cut-off solenoid valve, the forward connecting solenoid valve, the reverse connecting solenoid valve and the travel control proportional valve become energized, the left travel pedal and the right travel pedal become ineffective, and the travel control proportional valve is controlled by the pedal to make the excavator travel in a straight line; go to step (5);

[0026] (3) Turn on the railway construction mode switch (34) and execute step (4). Otherwise, the electromagnetic valve assembly, the guide wheel support control proportional valve (22) and the guide wheel support control overflow proportional valve (27) lose power, the guide wheel left travel motor (17) and the guide wheel right travel motor (19) fail, and the hydraulically driven crawler left travel motor (18) and the crawler right travel motor (20) travel; the oil inlet and the oil outlet of a part of the electromagnetic valve assembly are connected, the left travel pedal (2) and the right travel pedal (3) control the road-rail dual-purpose excavator to travel, and the excavator returns to the travel mode;

[0027] (4) After turning on the railway construction mode switch, the guide wheel support control overflow proportional valve is energized, the guide wheel support control proportional valve is energized, and the crawler track and guide wheel are supported on the ground; the guide wheel drive solenoid valve loses power, the guide wheel left travel motor and the guide wheel right travel motor fail, and the crawler track left travel motor and the crawler track right travel motor drive the crawler track to travel; the left forward cut-off solenoid valve, the left reverse cut-off solenoid valve, the right forward cut-off solenoid valve, the right reverse cut-off solenoid valve, the forward connecting solenoid valve, the reverse connecting solenoid valve and the travel control proportional valve are energized, the left travel pedal and the right travel pedal fail, and the travel control proportional valve is controlled by the pedal to control the excavator to travel in a straight line; otherwise, the travel mode is restored;

[0028] (5) Determine whether the shift handle is in N gear. If so, the forward control coil and the reverse control coil of the forward and reverse switching solenoid valve are de-energized, and the road-rail dual-use excavator stops traveling; otherwise, go to step (6);

[0029] (6) Determine whether the shift handle is in D gear and the driving direction switching proximity switch is at a high level. If so, the forward control coil of the forward and reverse switching solenoid valve is energized, and the road-rail dual-use excavator moves forward; otherwise, go to step (7);

[0030] (7) Determine whether the shift handle is in D gear and the driving direction switching proximity switch is at a low level. If so, the forward and reverse switching solenoid valve reverse control coil is energized, and the road-rail dual-use excavator moves forward; otherwise, go to step (8);

[0031] (8) Determine whether the shift handle is in R gear and the driving direction switching proximity switch is at a high level. If so, the forward and reverse switching solenoid valve reverse control coil is energized, and the road-rail excavator travels in the reverse direction. Otherwise, the forward and reverse switching solenoid valve forward control coil is energized, and the road-rail excavator travels backward.

[0032] In step (2), the guide wheel supports the entire road-rail excavator to the maximum height at a set support speed, and the crawler tracks leave the ground or track.

[0033] In step (4), the guide wheel support control proportional valve (22) is energized, and the guide wheel supports the weight of a part of the entire road-rail dual-purpose excavator at a set support speed, and the crawler and guide wheel are supported on the ground or rails.

[0034] Working principle: Based on the existing technology, the present invention adds a left forward cut-off solenoid valve, a left reverse cut-off solenoid valve, a right forward cut-off solenoid valve, a right reverse cut-off solenoid valve, a forward connecting solenoid valve, a reverse connecting solenoid valve, a travel control proportional valve, a forward and reverse switching solenoid valve, a guide wheel support control proportional valve, a support control switching shuttle valve, a travel direction switching proximity switch, an electronic drive pedal, a shift handle, a guide wheel fast travel mode switch and a railway construction mode switch to improve the road-rail dual-purpose excavator. The guide wheel fast travel mode is that the guide wheel automatically supports the entire road-rail dual-purpose excavator, and the electronic pedal controls the guide wheel to travel straight and at high speed on the track. The railway construction mode is that the crawler track and the guide wheel are automatically adjusted to support the track at the same time. The guide wheel supports 25%-30% of the weight of the entire road-rail dual-purpose excavator to play a safety guiding role. The electronic pedal controls the crawler track to travel straight on the track and limits the maximum travel speed.

[0035] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0036] (1) The present invention is provided with a guide wheel fast-moving mode switch. When the guide wheel is driven to transfer on the railway, only the guide wheel fast-moving mode switch is turned on, and the entire road-rail dual-purpose excavator automatically switches to the guide wheel drive driving mode. The guide wheel automatically supports the entire road-rail dual-purpose excavator at a certain speed according to the guide wheel support control proportional valve current value set by the electronic monitor. The guide wheel of the road-rail dual-purpose excavator is controlled to travel in a straight line by operating the electronic drive pedal, and the maximum travel speed reaches 20 km / h.

[0037] (2) During the rapid transfer and construction process, the present invention eliminates the manual operations of guide wheel support adjustment, guide wheel or crawler driving mode switching, and starting straight-line driving, thereby reducing the workload of the driving operator and improving the operating safety of the road-rail dual-use excavator; at the same time, the use of electronic drive pedals is more intelligent.

[0038] (3) When the construction is carried out on the railway by crawler drive, only the railway construction mode switch of the present invention is turned on, and the entire road-rail dual-purpose excavator is switched to the crawler drive driving mode. At the same time, the guide wheel supports the current value of the proportional valve according to the guide wheel support set by the electronic monitor, and the guide wheel supports the set weight of the entire road-rail dual-purpose excavator at a certain speed. The crawler and guide wheel are supported on the rails at the same time, and the guide wheel plays a safety guiding role. The guide wheel of the entire road-rail dual-purpose excavator is controlled by operating the electronic drive pedal to play a guiding role. The crawler travels in a straight line, and the maximum speed of travel reaches 3 km / h.

[0039] (4) The present invention does not require the driver to control the maximum driving speed and the degree of guide rail support based on driving experience, thereby avoiding damage to the rails, guide wheels and track rubber blocks due to forgetting to turn on the crawler drive driving mode, guide wheel driving, and track sliding, as well as the risk of the entire road-rail dual-purpose excavator derailing due to insufficient support force of the manually adjusted guide wheel support, or the risk of excessive support force, insufficient track gripping force, and wear of the track rubber blocks.

[0040] (5) The driving direction switching proximity switch for detecting the rotation state of the dual-purpose road-rail excavator of the present invention can realize that when the shift handle is pushed to the D gear, i.e. the forward gear, the dual-purpose road-rail excavator always drives forward when the guide wheel or crawler drive of the entire dual-purpose road-rail excavator is controlled by the electronically driven foot pedal to drive the dual-purpose road-rail excavator in a straight line; when the shift handle is pushed to the R gear, i.e. the reverse gear, the dual-purpose road-rail excavator always drives backward, thereby avoiding the dual-purpose road-rail excavator driving in the opposite direction to the target direction due to the driver's inability to identify or forgetting the driving direction and misoperation, thereby improving the driving safety of the entire dual-purpose road-rail excavator and avoiding losses caused by misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a hydraulic principle diagram of the traveling system of the road-rail dual-purpose excavator of the present invention;

[0042] Figure 2 This is an electrical principle block diagram of an embodiment of the traveling system of a road-rail dual-purpose excavator according to the present invention;

[0043] Figure 3 A schematic diagram of the electronic control components of an embodiment of a traveling system for a road-rail dual-purpose excavator according to the present invention;

[0044] Figure 4 This is a flow chart of the control method of the traveling system of the road-rail dual-purpose excavator of the present invention. DETAILED DESCRIPTION

[0045] like Figure 1 and Figure 2As shown, the travel system of the road-rail dual-purpose excavator of the present invention includes a pilot oil pump 1, a high-pressure oil pump 21, a hydraulic oil tank 28, an electronic monitor 29, a road-rail dual-purpose excavator controller 35, a solenoid valve assembly, a guide wheel support control proportional valve 22, a guide wheel lifting control handle 23, a support control switching shuttle valve 24, a guide wheel lifting switching valve 25, a guide wheel lifting cylinder 26, a guide wheel support control overflow proportional valve 27, a left walking foot pedal 2, a right walking foot pedal 3, a shift handle 32 and a switch assembly.

[0046] The solenoid valve assembly includes a guide wheel drive solenoid valve 14, a forward connecting solenoid valve 8, a reverse connecting solenoid valve 9, a left switching solenoid valve assembly and a right switching solenoid valve assembly; the oil inlet of the guide wheel support control proportional valve 22 and the guide wheel drive solenoid valve 14 is connected to the oil supply port of the pilot oil pump 1; the oil inlet Z1 of the guide wheel support control overflow proportional valve 27 is connected to the guide wheel lifting cylinder 26, and the oil outlet Z2 is connected to the hydraulic oil tank 28.

[0047] The left switching solenoid valve assembly includes a left forward cutoff solenoid valve 4 , a left reverse cutoff solenoid valve 5 , a left forward / reverse switching valve 12 , and a left travel mode switching valve 15 , all of which are connected to the controller 35 .

[0048] The right switching solenoid valve assembly includes a right forward cutoff solenoid valve 6 , a right reverse cutoff solenoid valve 7 , a right forward / reverse switching valve 13 and a right travel mode switching valve 16 , which are connected to the controller 35 .

[0049] The switch assembly includes a driving direction switching proximity switch 30 connected to the controller 5, a guide wheel fast mode switch 33 and a railway construction mode switch 34.

[0050] Among them, the pilot oil pump 1 provides a low-pressure control oil source for the traveling system; the high-pressure oil pump 21 provides a high-pressure oil source for each actuator of the traveling system; the hydraulic oil tank 28 is the oil supply and return device of the traveling system; the electronic monitor 29 is electrically connected to the entire road-rail dual-purpose excavator controller 35, providing the traveling control system with an interface for adjusting the current parameters of each proportional valve and providing prompt information related to operation and driving; the road-rail dual-purpose excavator controller 35 controls the traveling system.

[0051] like Figure 1As shown, the travel system also includes a travel control proportional valve 10, a forward and reverse switching solenoid valve 11, a guide wheel left travel motor 17, a crawler left travel motor 18, a guide wheel right travel motor 19 and a crawler right travel motor 20. Among them, the oil inlet A1 of the left walking pedal 2 is connected to the oil supply port of the pilot oil pump 1, the oil outlet A3 of the left walking pedal 2 is connected to the oil inlet C1 of the left forward cut-off solenoid valve 4, the oil outlet A4 of the left walking pedal 2 is connected to the oil inlet D1 of the left reverse cut-off solenoid valve 5, and the oil return port A2 is connected to the hydraulic oil tank 28; the oil inlet B2 of the right walking pedal 3 is connected to the oil supply port of the pilot oil pump 1, the oil outlet B3 of the right walking pedal 3 is connected to the oil inlet E1 of the right forward cut-off solenoid valve 6, the oil outlet B4 of the right walking pedal 3 is connected to the oil inlet F1 of the right reverse cut-off solenoid valve 7, and the oil return port B1 is connected to the hydraulic oil tank 28; the oil inlet G1 of the walking control proportional valve 10 is connected to the oil supply port of the pilot oil pump 1, and the oil outlet Port G3 is connected to the oil inlet H2 of the forward and reverse switching solenoid valve 11, and the oil return port G2 is connected to the hydraulic oil tank 28; the working oil port H3 of the forward and reverse switching solenoid valve 11 and the oil outlet F2 of the right reverse cut-off solenoid valve 7 are connected in parallel to the oil inlet K2 of the reverse connecting solenoid valve 9 and the control oil port M2 of the right forward and reverse switching valve 13, the working oil port H4 of the forward and reverse switching solenoid valve 11 and the oil outlet E2 of the right forward cut-off solenoid valve 6 are connected in parallel to the oil inlet J2 of the forward connecting solenoid valve 8 and the control oil port M1 of the right forward and reverse switching valve 13, and the oil return port H1 is connected to the hydraulic oil tank 28; the oil outlet C2 of the left forward cut-off solenoid valve 4 and the oil outlet J1 of the forward connecting solenoid valve 8 are connected in parallel to the left forward and reverse switching valve 12 control oil port L1; the left reverse cut-off solenoid valve 5 oil outlet D2 and the reverse connection solenoid valve 9 oil outlet K1 are connected in parallel to the left forward and reverse switching valve 12 control oil port L2; the left forward and reverse switching valve 12 oil inlet L4 is connected to the oil supply port of the high-pressure oil pump 21, the working oil port L5 is connected to the left travel mode switching valve 15 working oil port P3, the working oil port L6 is connected to the left travel mode switching valve 15 working oil port P4, and the oil return port L3 is connected to the hydraulic oil tank 28; the right forward and reverse switching valve 13 oil inlet M4 is connected to the oil supply port of the high-pressure oil pump 21, the working oil port M5 is connected to the right travel mode switching valve 16 working oil port Q3, and the working oil port M6 is connected to the right travel mode switching valve 16 working oil port Q4 is connected, and the return oil port M3 is connected to the hydraulic oil tank 28; the oil inlet N1 of the guide wheel drive solenoid valve 14 is connected to the oil supply port of the pilot oil pump 1, and the oil outlet N3 is respectively connected to the control oil port P1 of the left travel mode switching valve 15 and the control oil port Q1 of the right travel mode switching valve 16, and the return oil port N2 is connected to the hydraulic oil tank 28; the working oil port P5 of the left travel mode switching valve 15 is connected to the working oil port R1 of the guide wheel left travel motor 17, the working oil port P6 is connected to the working oil port R2 of the guide wheel left travel motor 17, the working oil port P7 is connected to the working oil port S1 of the crawler left travel motor 18, the working oil port P8 is connected to the working oil port S2 of the crawler left travel motor 18, and the return oil port P2 is connected to the hydraulic oil tank 28;The right travel mode switching valve 16's operating oil port Q5 is connected to the operating oil port T1 of the right guide wheel travel motor 19, the operating oil port Q6 is connected to the operating oil port T2 of the right guide wheel travel motor 19, the operating oil port Q7 is connected to the operating oil port U1 of the right crawler track travel motor 20, the operating oil port Q8 is connected to the operating oil port U2 of the right crawler track travel motor 20, and the oil return port Q2 is connected to the hydraulic oil tank 28. The left forward cutoff solenoid valve 4, the left reverse cutoff solenoid valve 5, the right forward cutoff solenoid valve 6, the right reverse cutoff solenoid valve 7, the forward connecting solenoid valve 8, the reverse connecting solenoid valve 9, the travel control proportional valve 10, the forward / reverse switching solenoid valve 11, and the guide wheel drive solenoid valve 14 are each electrically connected to the entire road-rail excavator controller 35.

[0052] The oil inlet G1 of the travel control proportional valve 10 is connected to the oil supply port of the pilot oil pump 1, and the oil return port G2 is connected to the hydraulic oil tank 28. The oil inlet H2 of the forward and reverse switching solenoid valve 11 is connected to the oil outlet G3 of the travel control proportional valve 10, and the oil return port H1 is connected to the hydraulic oil tank 28.

[0053] The oil inlet L4 of the left forward / reverse switching valve 12 is connected to the oil supply port of the high-pressure oil pump 21, the oil return port L3 is connected to the hydraulic oil tank 28, the control oil port L1 is connected to the oil outlet C2 of the left forward cut-off solenoid valve 4 and the oil outlet J1 of the forward connecting solenoid valve 8, and the control oil port L2 is connected to the oil outlet D2 of the left reverse cut-off solenoid valve 5 and the oil outlet K1 of the reverse connecting solenoid valve 9.

[0054] The oil inlet M4 of the right forward / reverse switching valve 13 is connected to the oil supply port of the high-pressure oil pump 21, the oil return port M3 is connected to the hydraulic oil tank 28, the control oil port M1 is connected to the oil outlet E2 of the right forward cut-off solenoid valve 6 and the working oil port H4 of the forward / reverse switching solenoid valve 11, and the control oil port M2 is connected to the working oil port H3 of the forward / reverse switching solenoid valve 11 and the oil outlet F2 of the right reverse cut-off solenoid valve 7.

[0055] The guide wheel drive solenoid valve 14 is electrically connected to the road-rail dual-purpose excavator controller 35 , the oil inlet N1 is connected to the oil supply port of the pilot oil pump 1 , and the oil return port N2 is connected to the hydraulic oil tank 28 .

[0056] The control oil port P1 of the left walking mode switching valve 15 is connected to the oil outlet N3 of the guide wheel drive solenoid valve 14, the return oil port P2 is connected to the hydraulic oil tank 28, the working oil port P3 is connected to the working oil port L5 of the left forward and reverse switching valve 12, and the working oil port P4 is connected to the working oil port L6 of the left forward and reverse switching valve 12.

[0057] The control oil port Q1 of the right travel mode switching valve 16 is connected to the oil outlet N3 of the guide wheel drive solenoid valve 14, the return oil port Q2 is connected to the hydraulic oil tank 28, the working oil port Q3 is connected to the working oil port M5 of the right forward and reverse switching valve 13, and the working oil port Q4 is connected to the working oil port M6 of the right forward and reverse switching valve 13.

[0058] The hydraulic port R1 of the stator left travel motor 17 is connected to the hydraulic port P5 of the left travel mode switching valve 15 , and the hydraulic port R2 is connected to the hydraulic port P6 of the left travel mode switching valve 15 .

[0059] The hydraulic port S1 of the crawler left travel motor 18 is connected to the hydraulic port P7 of the left travel mode switching valve 15 , and the hydraulic port S2 is connected to the hydraulic port P8 of the left travel mode switching valve 15 .

[0060] The operating oil port T1 of the stator right travel motor 19 is connected to the operating oil port Q5 of the right travel mode switching valve 16 , and the operating oil port T2 is connected to the operating oil port Q5 of the right travel mode switching valve 16 .

[0061] The hydraulic port U1 of the crawler right travel motor 20 is connected to the hydraulic port Q7 of the right travel mode switching valve 16 , and the hydraulic port U2 is connected to the hydraulic port Q8 of the right travel mode switching valve 16 .

[0062] The oil inlet X1 of the guide wheel lifting control handle 23 is connected to the oil supply port of the pilot oil pump 1, and the oil return port X2 is connected to the hydraulic oil tank 28.

[0063] The working oil port W1 of the support control switching shuttle valve 24 is connected to the oil outlet X3 of the guide wheel lift control handle 23. The support control oil port Y1 of the guide wheel lift switching valve 25 is connected to the oil outlet W3 of the support control switching shuttle valve 24, the lift control oil port Y2 is connected to the oil outlet X4 of the guide wheel lift control handle 23, the oil inlet Y3 is connected to the oil supply port of the high-pressure oil pump 21, and the oil return port Y4 is connected to the hydraulic oil tank 28.

[0064] The small chamber of the guide wheel lifting cylinder 26 is connected to the working oil port Y5 of the guide wheel lifting switching valve 25, and the large chamber is connected to the working oil port Y6 of the guide wheel lifting switching valve 25.

[0065] The guide wheel support control proportional valve 22 is electrically connected to the road-rail dual-purpose excavator controller 35, the oil inlet V1 is connected to the oil supply port of the pilot oil pump 1, the oil outlet V3 is connected to the working oil port W2 of the support control switching shuttle valve 24, and the oil return port V2 is connected to the hydraulic oil tank 28.

[0066] The guide wheel support control overflow proportional valve 27 is electrically connected to the road-rail dual-purpose excavator controller 35, the oil inlet Z1 is connected to the large chamber of the guide wheel lifting cylinder 26, and the oil outlet Z2 is connected to the hydraulic oil tank 28.

[0067] The oil inlet X1 of the guide wheel lifting control handle 23 is connected to the oil supply port of the pilot oil pump 1, the oil outlet X3 is connected to the working oil port W1 of the support control switching shuttle valve 24, the oil outlet X4 is connected to the lifting control oil port Y2 of the guide wheel lifting switching valve 25, and the oil return port X2 is connected to the hydraulic oil tank 28; the oil inlet V1 of the guide wheel support control proportional valve 22 is connected to the oil supply port of the pilot oil pump 1, the oil outlet V3 is connected to the working oil port W2 of the support control switching shuttle valve 24, and the oil return port V2 is connected to the hydraulic oil tank 28; the oil outlet W3 of the support control switching shuttle valve 24 is connected to the guide wheel lifting switching valve 25 The support control oil port Y1 is connected; the oil inlet Y3 of the guide wheel lifting switching valve 25 is connected to the oil supply port of the high-pressure oil pump 21, the working oil port Y5 is connected to the small chamber of the guide wheel lifting cylinder 26, the working oil port Y6 is connected to the large chamber of the guide wheel lifting cylinder 26, and the return oil port Y4 is connected to the hydraulic oil tank 28; the oil inlet Z1 of the guide wheel support control overflow proportional valve 27 is connected to the large chamber of the guide wheel lifting cylinder 26, and the oil outlet Z2 is connected to the hydraulic oil tank 28; the guide wheel support control proportional valve 22 and the guide wheel support control overflow proportional valve 27 are respectively electrically connected to the entire road-rail dual-purpose excavator controller 35.

[0068] like Figure 2 As shown, the travel system also includes an electronic drive pedal 31 and a shift handle 32. The travel direction switching proximity switch 30, the electronic drive pedal 31, the shift handle 32, the guide wheel fast travel mode switch 33, and the railway construction mode switch 34 are all electrically connected to the entire road-rail dual-purpose excavator controller 35.

[0069] like Figure 3 As shown, the shift handle 32 has three gears: N is the neutral gear for electronically driven pedal linear travel, D is the forward gear for electronically driven pedal linear travel, and R is the reverse gear for electronically driven pedal linear travel. The guide wheel fast travel mode switch 33 and the railway construction mode switch 34 are both two-position non-reset rocker switches.

[0070] like Figure 4 As shown, the walking control method of the road-rail dual-purpose excavator of the present invention includes the following steps:

[0071] (1) The driver selects the guide wheel fast travel mode and the railway construction mode according to the construction working conditions. When driving for a fast transition on the railway, the driver manually turns on the guide wheel fast travel mode switch 33. After turning on the guide wheel fast travel mode switch 33, step (2) is executed. Otherwise, step (3) is executed.

[0072] (2) After turning on the guide wheel fast travel mode switch 33, the travel system of the dual-purpose road-rail excavator automatically completes the following actions: (2.1) The guide wheel support control overflow proportional valve 27 loses power, the oil inlet Z1 and the oil outlet Z2 are cut off, the guide wheel support control proportional valve 22 is energized for a second, and the pilot oil acts on the guide wheel lifting switching valve 25 support control oil port Y1 through the guide wheel support control proportional valve 22 oil inlet V1, oil outlet V3 and working oil port W2, oil outlet V3. The guide wheel lifting switching valve 25 oil inlet Y3 and working oil port Y6 are connected according to the set opening degree, and the high-pressure oil pump 21 acts on the large cavity end of the guide wheel lifting cylinder 26 without overflow. The guide wheel supports the entire dual-purpose road-rail excavator to the maximum height according to the set support speed, and the crawler leaves the ground or track; (2.2) The guide wheel drive solenoid valve 14 is energized, and the guide wheel drive solenoid valve 14 oil inlet N1 and outlet N2 are connected. The oil port N3 is connected, and the pilot oil acts on the control oil port P1 of the left travel mode switching valve 15 and the control oil port Q1 of the right travel mode switching valve 16 respectively. The working oil port P3 of the left travel mode switching valve 15 is cut off from the working oil port P7, and the working oil port P4 is cut off from the working oil port P8. The working oil port Q3 of the right travel mode switching valve 16 is cut off from the working oil port Q7, and the working oil port Q4 is cut off from the working oil port Q8. The crawler left travel motor 18 and the crawler right travel motor 20 are disabled. At the same time, the working oil port P3 of the left travel mode switching valve 15 is connected to the working oil port P5, and the working oil port P4 is connected to the working oil port P6. The working oil port Q3 of the right travel mode switching valve 16 is connected to the working oil port Q5, and the working oil port Q4 is connected to the working oil port Q6. The guide wheel left travel motor 17 and the guide wheel right travel motor 19 can realize guide wheel driving travel through hydraulic drive; (2.3) The left forward cut-off solenoid valve 4, the left reverse cut-off solenoid valve 5, the right forward cut-off solenoid valve 6, and the right reverse cut-off solenoid valve 7 are energized. At this time, the oil inlet C1 and oil outlet C2 of the left forward cut-off solenoid valve 4 are cut off, the oil inlet D1 and oil outlet D2 of the left reverse cut-off solenoid valve 5 are cut off, the oil inlet E1 and oil outlet E2 of the right forward cut-off solenoid valve 6 are cut off, and the oil inlet F1 and oil outlet F2 of the right reverse cut-off solenoid valve 7 are cut off. The pilot oil cannot act on the left forward / reverse switching valve 12 and the right forward / reverse switching valve 13 through the left walking pedal 2 and the right walking pedal 3. , the hydraulic oil is cut off at the left forward and reverse switching valve 12 and the right forward and reverse switching valve 13, and cannot act on the left crawler travel motor 18 and the right crawler travel motor 20, and the left travel pedal 2 and the right travel pedal 3 are invalid; the forward connecting solenoid valve 8 and the reverse connecting solenoid valve 9 are energized, and the travel control proportional valve 10 is de-energized, the forward connecting solenoid valve 8 oil outlet J1 and the oil inlet J2 are connected, the reverse connecting solenoid valve 9 oil outlet K1 and the oil inlet K2 are connected, and the travel control proportional valve 10 oil inlet G1 and the oil outlet G3 are at the maximum opening degree, and the electronically driven pedal 31 controls the travel control proportional valve 10 within the maximum opening range, and the pilot oil passes through the travel control proportional valve 10 oil inlet G1, oil outlet G3, forward and reverse switching solenoid valve 11 oil inlet H2, working oil port H4, forward connecting solenoid valve 8 oil outlet J1, oil inlet J2 to act on the left forward and reverse switching valve 12 control oil port L1 and the right forward and reverse switching valve 13 control oil port M1, so that the electronic drive foot pedal 31 controls the entire road-rail dual-purpose excavator to move forward in a straight line. Alternatively, the pilot oil passes through the travel control proportional valve 10 oil inlet G1 in sequence , oil outlet G3, oil inlet H2 of forward / reverse switching solenoid valve 11, working oil port H3, oil outlet K1 and oil inlet K2 of forward connecting solenoid valve 9 act on the left forward / reverse switching valve 12 to control oil port L2 and the right forward / reverse switching valve 13 to control oil port M2, so as to realize the electronic drive pedal 31 to control the entire road-rail dual-purpose excavator to move in a straight line backward. Among them, the current value range of the travel control proportional valve 10 is 700mA-0mA, and the electronic drive pedal 31 is controlled to realize the speed of 0km / h-20km / h, and then go to step (5);

[0073] (3) When working on the railway, manually turn on the railway construction mode switch 34, and then execute step (4). Otherwise, the guide wheel drive solenoid valve 14, the left forward cut-off solenoid valve 4, the left reverse cut-off solenoid valve 5, the right forward cut-off solenoid valve 6, the right reverse cut-off solenoid valve 7, the forward connecting solenoid valve 8, the reverse connecting solenoid valve 9, the guide wheel support control proportional valve 22 and the guide wheel support control overflow proportional valve 27 lose power. At this time, the oil inlet N1 and the oil outlet N3 of the guide wheel drive solenoid valve 14 (3.1) are cut off, and the pilot The oil no longer acts on the control port P1 of the left travel mode switching valve 15 and the control port Q1 of the right travel mode switching valve 16. The working port P3 of the left travel mode switching valve 15 is connected to the working port P7, and the working port P4 is connected to the working port P8. The working port Q3 of the right travel mode switching valve 16 is connected to the working port Q7, and the working port Q4 is connected to the working port Q8. The guide wheel left travel motor 17 and the guide wheel right travel motor 19 fail. The road-rail dual-purpose excavator drives the crawler left travel motor 18 and the crawler right travel motor 19 through hydraulic pressure. The travel motor 20 moves; (3.2) the oil inlet C1 and oil outlet C2 of the left forward cut-off solenoid valve 4 are connected, the oil inlet D1 and oil outlet D2 of the left reverse cut-off solenoid valve 5 are connected, the oil inlet E1 and oil outlet E2 of the right forward cut-off solenoid valve 6 are connected, the oil inlet F1 and oil outlet F2 of the right reverse cut-off solenoid valve 7 are connected, the oil outlet J1 and oil inlet J2 of the forward connecting solenoid valve 8 are cut off, and the oil outlet K1 and oil inlet K2 of the reverse connecting solenoid valve 9 are cut off. At this time, the electronic drive pedal 31 fails, and the road-rail dual-purpose excavator The travel of the dual-purpose road-rail excavator is controlled by the left travel pedal 2 and the right travel pedal 3; (3.3) the oil inlet V1 and the oil outlet V3 of the guide wheel support control proportional valve 22 are cut off, the oil inlet Z1 and the oil outlet Z2 of the guide wheel support control overflow proportional valve 27 are cut off, the guide wheel support control proportional valve 22 and the guide wheel support control overflow proportional valve 27 fail, and the dual-purpose road-rail excavator is manually raised and lowered by the guide wheel lifting control handle 23. At this point, the dual-purpose road-rail excavator resumes the normal excavator travel mode and ends.

[0074] (4) After turning on the railway construction mode switch 34, the travel system of the road-rail excavator completes the following actions: (4.1) The guide wheel support control overflow proportional valve 27 is energized, and the overflow pressure is opened between the oil inlet Z1 and the oil outlet Z2. The guide wheel support control proportional valve 22 is energized for b seconds, and the pilot oil acts on the guide wheel lifting switching valve 25 support control oil port Y1 through the guide wheel support control proportional valve 22 oil inlet V1, oil outlet V3 and working oil port W2, oil outlet V3. The guide wheel lifting switching valve 25 oil inlet Y3 and working oil port Y6 are connected according to the set opening degree. The high-pressure oil pump 21 applies hydraulic oil to the large cavity end of the guide wheel lifting cylinder 26 according to the set pressure. The guide wheel supports 25%-30% of the weight of the entire road-rail excavator according to the set support speed. At this time, the crawler The guide wheel and the guide wheel are supported on the ground or rail at the same time, and the guide wheel can play a safe guiding role; (4.2) The guide wheel drive solenoid valve 14 loses power, the oil inlet N1 and oil outlet N3 of the guide wheel drive solenoid valve 14 are cut off, and the pilot oil no longer acts on the left travel mode switching valve 15 control oil port P1 and the right travel mode switching valve 16 control oil port Q1. The working oil port P3 of the left travel mode switching valve 15 is connected to the working oil port P7, and the working oil port P4 is connected to the working oil port P8. The working oil port Q3 of the right travel mode switching valve 16 is connected to the working oil port Q7, and the working oil port Q4 is connected to the working oil port Q8. The guide wheel left travel motor 17 and the guide wheel right travel motor 19 fail, and the road-rail dual-purpose excavator travels by hydraulically driving the crawler left travel motor 18 and the crawler right travel motor 20; (4.3) The left forward cut-off solenoid valve 4, the left reverse cut-off solenoid valve 5, the right forward cut-off solenoid valve 6, and the right reverse cut-off solenoid valve 7 are energized. At this time, the oil inlet C1 and oil outlet C2 of the left forward cut-off solenoid valve 4 are cut off, the oil inlet D1 and oil outlet D2 of the left reverse cut-off solenoid valve 5 are cut off, the oil inlet E1 and oil outlet E2 of the right forward cut-off solenoid valve 6 are cut off, and the oil inlet F1 and oil outlet F2 of the right reverse cut-off solenoid valve 7 are cut off. The pilot oil cannot act on the left forward / reverse switching valve 1 through the left walking pedal 2 and the right walking pedal 3. 2 and the right forward and reverse switching valve 13, the hydraulic oil is cut off at the left forward and reverse switching valve 12 and the right forward and reverse switching valve 13, and cannot act on the left crawler travel motor 18 and the right crawler travel motor 20, and the left travel pedal 2 and the right travel pedal 3 are invalid; the forward connecting solenoid valve 8, the reverse connecting solenoid valve 9 and the travel control proportional valve 10 are energized, the forward connecting solenoid valve 8 oil outlet J1 and the oil inlet J2 are connected, the reverse connecting solenoid valve 9 oil outlet K1 and the oil inlet K2 are connected, and the travel control proportional valve 10 oil inlet G 1 and the oil outlet G3 set the maximum opening degree, and the electronically driven foot pedal 31 controls the travel control proportional valve 10 within the set opening degree range. The pilot oil passes through the oil inlet G1 and oil outlet G3 of the travel control proportional valve 10, the oil inlet H2 of the forward and reverse switching solenoid valve 11, the working oil port H4, the oil outlet J1 and the oil inlet J2 of the forward connecting solenoid valve 8, and acts on the control oil port L1 of the left forward and reverse switching valve 12 and the control oil port M1 of the right forward and reverse switching valve 13, so that the electronically driven foot pedal 31 controls the entire excavator. The excavator moves forward in a straight line. Alternatively, pilot oil flows sequentially through the travel control proportional valve 10's oil inlet G1 and oil outlet G3, the forward / reverse switching solenoid valve 11's oil inlet H2, the working oil port H3, and the forward connecting solenoid valve 9's oil outlet K1 and oil inlet K2, acting on the left forward / reverse switching valve 12's control port L2 and the right forward / reverse switching valve 13's control port M2. This enables the electronically driven pedal 31 to control the entire excavator's straight-line reverse movement. The travel control proportional valve 10's current range is 700 mA to 100 mA. This control, via the electronically driven pedal 31, allows for slow construction operations at speeds between 0 km / h and 3 km / h.

[0075] (5) Determine whether the shift handle 32 is in the N gear. If so, the forward control coil and the reverse control coil of the forward / reverse switching solenoid valve 11 are de-energized, and the entire road-rail dual-purpose excavator stops traveling. Otherwise, go to step (6);

[0076] (6) Determine whether the shift handle 32 is in the D gear and the driving direction switching proximity switch 30 is at a high level. If so, the forward control coil of the forward / reverse switching solenoid valve 11 is energized, and the road-rail dual-use excavator moves forward. Otherwise, go to step (7);

[0077] (7) Determine whether the shift handle 32 is in the D gear and the driving direction switching proximity switch 30 is at a low level. If so, the forward and reverse switching solenoid valve 11 reverse control coil is energized, and the entire road-rail dual-use excavator moves forward. Otherwise, go to step (8);

[0078] (8) Determine whether the shift handle 32 is in the R gear and the driving direction switching proximity switch 30 is at a high level. If so, the forward and reverse switching solenoid valve 11 reverse control coil is energized, and the road-rail dual-use excavator travels in the reverse direction, and the process ends. Otherwise, the forward and reverse switching solenoid valve 11 forward control coil is energized, and the road-rail dual-use excavator travels backward, and the process ends.

Claims

1. A traveling system for a road-rail dual-purpose excavator, characterized by: The invention comprises a pilot oil pump (1), a high-pressure oil pump (21), a hydraulic oil tank (28), a monitor (29), a controller (35), a solenoid valve assembly, a guide wheel support control proportional valve (22), a support control switching shuttle valve (24), a guide wheel lifting switching valve (25), a guide wheel lifting oil cylinder (26), a guide wheel support control overflow proportional valve (27), a left walking pedal (2), a right walking pedal (3), a shift handle (32) and a switch assembly; The pilot oil pump (1) provides a low-pressure control oil source for the traveling system; the high-pressure oil pump (21) provides a high-pressure oil source for the actuator of the traveling system; The solenoid valve assembly includes a guide wheel drive solenoid valve (14), a forward communication solenoid valve (8), a reverse communication solenoid valve (9), a left switching solenoid valve assembly, and a right switching solenoid valve assembly; the oil inlets of the guide wheel support control proportional valve (22) and the guide wheel drive solenoid valve (14) are connected to the oil supply port of the pilot oil pump (1); the oil inlet (Z1) of the guide wheel support control overflow proportional valve (27) is connected to the guide wheel lifting cylinder (26), and the oil outlet (Z2) is connected to the hydraulic oil tank (28); The switch assembly includes a travel direction switching proximity switch (30), a guide wheel fast travel mode switch (33) and a railway construction mode switch (34) connected to a controller (35); It also includes a guide wheel lifting control handle (23), wherein the oil inlet of the guide wheel lifting control handle (23) is connected to the oil supply port of the pilot oil pump (1); The support control oil port (Y1) of the guide wheel lifting switching valve (25) is connected to the oil outlet (W3) of the support control switching shuttle valve (24), the lifting control oil port (Y2) of the guide wheel lifting switching valve is connected to the oil outlet (X4) of the guide wheel lifting control handle (23), the oil inlet (Y3) of the guide wheel lifting switching valve is connected to the oil supply port of the high-pressure oil pump (21), and the oil return port (Y4) of the guide wheel lifting switching valve is connected to the hydraulic oil tank (28); It also includes a travel control proportional valve (10) and a forward / reverse switching solenoid valve (11), wherein the oil inlet (G1) of the travel control proportional valve (10) is connected to the oil supply port of the pilot oil pump (1), and the oil return port (G2) of the travel control proportional valve (10) is connected to the hydraulic oil tank (28); The oil inlet (H2) of the forward / reverse switching solenoid valve (11) is connected to the oil outlet (G3) of the travel control proportional valve (10), and the oil return port (H1) of the forward / reverse switching solenoid valve (11) is connected to the hydraulic oil tank (28).

2. The traveling system of the road-rail dual-purpose excavator according to claim 1, characterized in that: The left switching solenoid valve assembly comprises a left forward cut-off solenoid valve (4), a left reverse cut-off solenoid valve (5), a left forward and reverse switching valve (12), and a left travel mode switching valve (15) connected to a controller (35); The oil inlet (C1) of the left forward cut-off solenoid valve (4) is connected to the oil outlet (A3) of the left walking pedal (2), the oil inlet (D1) of the left reverse cut-off solenoid valve (5) is connected to the oil outlet (A4) of the left walking pedal (2), the oil inlet (L4) of the left forward / reverse switching valve (12) is connected to the oil supply port of the high-pressure oil pump (21), and the oil return port (L3) of the left forward / reverse switching valve (12) is connected to the hydraulic oil tank (28); The control oil port (P1) of the left travel mode switching valve (15) is connected to the oil outlet (N3) of the guide wheel drive solenoid valve (14), the return oil port (P2) of the left travel mode switching valve is connected to the hydraulic oil tank (28), and the working oil port is connected to the working oil port of the left forward and reverse switching valve (12).

3. The traveling system of the road-rail dual-purpose excavator according to claim 2, characterized in that: The right switching solenoid valve assembly comprises a right forward cut-off solenoid valve (6), a right reverse cut-off solenoid valve (7), a right forward and reverse switching valve (13), and a right travel mode switching valve (16) connected to a controller (35); The oil inlet (E1) of the right forward cut-off solenoid valve (6) is connected to the oil outlet (B3) of the right walking pedal (3); the oil inlet (F1) of the right backward cut-off solenoid valve (7) is connected to the oil outlet (B4) of the right walking pedal (3); the oil inlet (M4) of the right forward / backward switching valve (13) is connected to the oil supply port of the high-pressure oil pump (21), and the oil return port (M3) of the right forward / backward switching valve (13) is connected to the hydraulic oil tank (28).

4. A method for controlling a traveling system of a road-rail dual-purpose excavator according to claim 3, characterized in that: The following steps are involved: (1) After turning on the guide wheel fast mode switch (33), execute step (2); otherwise, go to step (3); (2) After turning on the guide wheel fast travel mode switch (33), the guide wheel support control overflow proportional valve (27) loses power, the guide wheel support control proportional valve (22) becomes energized, and the guide wheel supports the excavator until the crawler tracks leave the ground; When the guide wheel driving solenoid valve (14) is energized, the crawler left travel motor (18) and the crawler right travel motor (20) are disabled, and the guide wheel left travel motor (17) and the guide wheel right travel motor (19) drive the guide wheel to travel; when the solenoid valve assembly and the travel control proportional valve (10) are energized, the left travel pedal (2) and the right travel pedal (3) are disabled, and the travel control proportional valve (10) is controlled by the pedal (31) to make the excavator travel in a straight line; Go to step (5); (3) Turn on the railway construction mode switch (34) and execute step (4). Otherwise, the solenoid valve assembly, the guide wheel support control proportional valve (22) and the guide wheel support control overflow proportional valve (27) lose power, the guide wheel left travel motor (17) and the guide wheel right travel motor (19) fail, and the hydraulic drive crawler left travel motor (18) and the crawler right travel motor (20) are turned on. The oil inlet and the oil outlet of a part of the solenoid valve assembly are connected, and the left travel pedal (2) and the right travel pedal (3) control the road-rail dual-purpose excavator to travel, and the excavator returns to the travel mode. (4) After turning on the railway construction mode switch (34), the guide wheel support control overflow proportional valve (27) is energized, the guide wheel support control proportional valve (22) is energized, and the crawler track and the guide wheel are supported on the ground; the guide wheel drive solenoid valve (14) loses power, the guide wheel left travel motor (17) and the guide wheel right travel motor (19) fail, and the crawler track left travel motor (18) and the crawler track right travel motor (20) drive the crawler track to travel; the left forward cut-off solenoid valve (4), the left backward cut-off solenoid valve (5), the right forward cut-off solenoid valve (6), the right backward cut-off solenoid valve (7), the forward connecting solenoid valve (8), the backward connecting solenoid valve (9) and the travel control proportional valve (10) are energized, the left travel pedal (2) and the right travel pedal (3) fail, and the travel control proportional valve (10) is controlled by the pedal (31) to control the excavator to travel in a straight line backward; Otherwise, resume walking mode; (5) Determine whether the shift handle (32) is in the N gear. If so, the forward control coil and the reverse control coil of the forward / reverse switching solenoid valve (11) are de-energized, and the road-rail excavator stops traveling. Otherwise, go to step (6); (6) Determine whether the shift handle (32) is in the D gear and the driving direction switching proximity switch (30) is at a high level. If so, the forward control coil of the forward / reverse switching solenoid valve (11) is energized and the road-rail dual-use excavator moves forward; otherwise, go to step (7); (7) Determine whether the shift handle (32) is in the D gear and the driving direction switching proximity switch (30) is at a low level. If so, the forward control coil of the forward / reverse switching solenoid valve (11) is energized and the road-rail excavator moves forward; otherwise, go to step (8); (8) Determine whether the shift handle (32) is in the R gear and the driving direction switching proximity switch (30) is at a high level. If so, the forward and reverse switching solenoid valve (11) reverse control coil is energized, and the road-rail excavator travels in the reverse direction. Otherwise, the forward and reverse switching solenoid valve (11) forward control coil is energized, and the road-rail excavator travels forward.

5. The control method for the traveling system of a road-rail dual-purpose excavator according to claim 4, characterized in that: In step (2), the guide wheel supports the entire road-rail excavator to the maximum height at a set support speed, and the crawler tracks leave the ground or track.

6. The control method for the traveling system of a road-rail dual-purpose excavator according to claim 4, characterized in that: In step (4), the guide wheel support control proportional valve (22) is energized, and the guide wheel supports the weight of a part of the entire road-rail dual-purpose excavator at a set support speed, and the crawler and guide wheel are supported on the ground or rails.

Images