Steering auxiliary control system of crawler walking mechanism

Abstract

The invention belongs to the technical field of crawler walking machinery, and particularly relates to a steering auxiliary control system of a crawler walking mechanism, a control handle integrates the power cut-off and braking functions of a single-side crawler assembly of the crawler walking mechanism, and the operation convenience of an operator is greatly improved. Wherein the control valve replaces an operator to control a stay wire to adjust the power-assisted valve, so that the operation difficulty of the operator can be remarkably reduced, and the convenience and comfort of steering control are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of crawler traveling machinery, and in particular relates to a steering auxiliary control system of a crawler traveling mechanism. Background Art

[0002] In order to adapt to the complex working road surface, agricultural machinery usually adopts crawler walking mechanism. In the prior art, when the crawler walking mechanism is turned, the operator needs to swing the operating handle to pull the pull wire, the pull wire drives the lever to rotate, the lever pushes the steering power valve stem to achieve the braking of the corresponding crawler, so that the crawlers on both sides travel at differential speeds, and then the crawler walking mechanism is turned. During the operation process, it is often necessary to change the working direction or angle of the agricultural machinery. However, the swinging operation of the operating handle is very laborious and prone to work fatigue. The turning radius of the walking mechanism is achieved by controlling the swing amplitude and swing speed of the operating handle. If the swing amplitude of the operating handle is large and the swing speed is fast, the pull wire pulls the lever to rotate with a large amplitude and a fast rotation speed, and the turning radius of the walking mechanism is small. However, the pull wire will gradually loosen with the increase of the number of uses and years, making it difficult to accurately control the turning radius of the walking mechanism, further increasing the difficulty of operation. Summary of the invention

[0003] The object of the present invention is to provide a steering auxiliary control system for a crawler traveling mechanism which is easy to control.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: a steering auxiliary control system for a crawler walking mechanism, including a controller, which is electrically connected to a control handle, a reversing valve, and a control valve, wherein:

[0005] The control handle is used for the user to input control commands. The control handle is provided with a command input element. The control handle uploads the command input by the command input element to the controller;

[0006] After receiving the command output by the controller, the reversing valve switches the working mode, so that its output end is in a no-load working state and is connected with the left track brake fork of the gearbox or the right track brake fork; when the output end of the reversing valve is no-load, the left track transmission gear and the right track transmission gear of the gearbox are respectively meshed with the power transmission gear at the power source end, and the power is transmitted to the left track assembly and the right track assembly respectively; when the output end of the reversing valve is connected with the left track brake fork of the gearbox, the left track transmission gear is separated from the power transmission gear at the power source end, and the power transmission to the left track assembly is cut off; when the output end of the reversing valve is connected with the right track brake fork of the gearbox, the right track transmission gear is separated from the power transmission gear at the power source end, and the power transmission to the right track assembly is cut off;

[0007] After the control valve receives the command output by the controller, the control valve stem of the control valve makes telescopic displacement along its rod core and pushes or pulls the input rod section of the lever to drive the lever to rotate around its hinge axis core. When rotational displacement occurs, the output rod section of the lever pushes the booster valve stem. Based on the displacement speed and displacement amount of the booster valve stem, the booster valve provides power for the cooperation between the gearbox track brake fork and the brake element, thereby braking the track on that side.

[0008] Compared with the prior art, the present invention has the following technical effects: the control handle integrates the power cut-off and braking functions of the single-side crawler assembly of the crawler walking mechanism, which greatly improves the difficulty of operation for operators. The control valve replaces the operator to operate the pull wire to adjust the power valve, which can significantly reduce the difficulty of operation for operators, thereby improving the convenience and comfort of steering control. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The following is a brief description of the contents and symbols in the drawings of this specification:

[0010] Figure 1 It is a schematic diagram of the present invention;

[0011] Figure 2 It is the assembly diagram of the control valve, lever, cable, and power valve;

[0012] Figure 3 It is a schematic diagram of the assembly of a control valve, a lever, a pull wire, and a power valve in another embodiment. DETAILED DESCRIPTION

[0013] The specific implementation of the present invention is further described in detail below through description of embodiments in conjunction with the accompanying drawings.

[0014] A steering auxiliary control system for a crawler walking mechanism comprises a controller 10. The controller 10 is electrically connected to a control handle 20, a reversing valve 30 and a control valve 40 respectively.

[0015] The control handle 20 is used for the user to input control commands. The control handle 20 is provided with a command input element 21. The control handle 20 uploads the command input by the command input element 21 to the controller 10. The control handle 20 is an electronic handle connected to the controller 10 by wire, or a remote control handle connected to the controller 10 by wireless signals. The command input mode of the handle can be input modes such as buttons, knobs, joysticks, and screen interaction.

[0016] After receiving the command output by the controller 10, the reversing valve 30 switches the working mode, so that its output end is in a no-load working state, and is connected with the left track brake fork or the right track brake fork of the gearbox. When the output end of the reversing valve 30 is no-load, the left track transmission gear and the right track transmission gear of the gearbox are respectively meshed with the power transmission gear at the power source end, and the power output by the power source is transmitted to the left track assembly and the right track assembly respectively. When the output end of the reversing valve 30 is connected with the left track brake fork of the gearbox, the left track drive gear is separated from the power source end power drive gear, cutting off the power transmission to the left track assembly, while the power transmission of the right track assembly is still maintained, so that there is a difference in the track travel speeds on both sides of the track travel mechanism, and the travel speed of the right track assembly is greater than the travel speed of the left track assembly. In this driving state, the driver adjusts the travel direction of the mechanism to make it deflect to the left, so that the left turn displacement of the track travel mechanism can be achieved. During the displacement process, the left track assembly can continue to displace under the action of inertia, and can also follow the action of the right track assembly and the ground friction. When the output end of the reversing valve 30 is connected with the right track brake fork of the gearbox, the right track drive gear is separated from the power source end power drive gear, cutting off the power transmission to the right track assembly, while the power transmission of the left track assembly is still maintained, so that there is a difference in the track travel speeds on both sides of the track travel mechanism, and the travel speed of the left track assembly is greater than the travel speed of the right track assembly. In this driving state, the driver adjusts the driving direction of the mechanism to make it deflect to the right, so as to realize the right turn displacement of the crawler walking mechanism. During the displacement process, the right crawler assembly can continue to displace under the action of inertia, and can also follow the action of the left crawler assembly and ground friction.

[0017] After the control valve 40 receives the command output by the controller 10, the control valve stem 41 of the control valve 40 makes a telescopic displacement along its rod core and pushes or pulls the input rod section of the lever 50 to drive the lever 50 to rotate around its hinge axis. When the rotation displacement occurs, the output rod section of the lever 50 pushes the booster valve stem 61. The booster valve 60 provides power for the cooperation between the gearbox track brake fork and the brake element based on the displacement speed and displacement amount of the booster valve stem 61, and implements the braking of the track on this side. In other words, the booster valve 60 provides power for the action of the track brake fork, and the control valve 40 regulates the power output of the booster valve 60. In this embodiment, the brake element is a friction plate, and the track brake fork in the gearbox can drive the corresponding track drive gear to move closer to or away from the friction plate. The faster the displacement speed of the booster valve stem 61, the faster the power output speed of the booster valve 60 driving the track brake fork to move toward the side where the friction plate is located, and the displacement speed of the track drive gear toward the side where the friction plate is located is also accelerated, so that the track assembly on that side can be quickly braked by quickly squeezing the friction plate. The greater the displacement of the booster valve stem 61, the greater the travel of the booster valve 60 driving the track brake fork to move toward the side where the friction plate is located, and the greater the braking force applied to the track assembly on that side.

[0018] In this way, the power cut-off and braking functions of the single-side track assembly of the crawler walking mechanism can be integrated to improve the convenience of operation for the operator. The control valve 40 is used to replace the operator's operation of the pull wire to achieve the adjustment of the power valve 60, which can significantly reduce the operating difficulty of the operator and improve the convenience and comfort of steering control.

[0019] The reversing valve 30 is used to connect or cut off the power transmission between the single-side track assembly and the power source, and the power-assisting valve 60 is used to brake the single-side track assembly. Obviously, when only the power transmission is cut off, the track assembly can still be displaced under the action of inertia, so that the rotation radius of the track traveling mechanism is still large. Therefore, when the track traveling mechanism turns sharply, it is necessary to brake the single-side track assembly. To this end, the present embodiment is provided with two control modes of steering and sharp turn according to the needs. In the conventional steering mode, only the power transmission between the single-side track assembly and the power source is cut off, so that it loses power; in the sharp turn mode, the power transmission between the single-side track assembly and the power source is first cut off, and then the track assembly on that side is braked, thereby further reducing the displacement of the track on that side when the track traveling mechanism turns, thereby reducing the turning radius.

[0020] The specific implementation is as follows:

[0021] After the control handle 20 uploads a left turn instruction to the controller 10, the controller 10 outputs an instruction to the reversing valve 30, driving the reversing valve 30 to switch to a working state in which the output end is connected with the left crawler brake fork of the gearbox;

[0022] After the control handle 20 uploads the left sharp turn instruction to the controller 10, the controller 10 first outputs an instruction to the reversing valve 30, driving the reversing valve 30 to switch to a working state in which the output end is connected with the left track brake fork of the gearbox, and then outputs an instruction to the control valve 40, driving the control valve stem 41 to move and regulate the booster valve 60 to output the braking power;

[0023] After the control handle 20 uploads the right turn instruction to the controller 10, the controller 10 outputs an instruction to the reversing valve 30, driving the reversing valve 30 to switch to a working state in which the output end is connected with the right crawler brake fork of the gearbox;

[0024] After the control handle 20 uploads the right sharp turn command to the controller 10, the controller 10 first outputs a command to the reversing valve 30, driving the reversing valve 30 to switch to a working state in which the output end is connected to the right track brake fork of the gearbox, and then outputs a command to the control valve 40, driving the control valve stem 41 to move and regulate the power-assisted valve 60 to output braking power.

[0025] In the above-mentioned embodiment, in the sharp turn mode, the controller 10 outputs instructions to the reversing valve 30 and the control valve 40 successively. Since the time required for the switching of the working mode of the reversing valve 30 is relatively fixed, in another embodiment, the controller 10 may also output instructions to the reversing valve 30 and the control valve 40 at the same time, wherein the instruction output to the control valve 40 is to wait for a set time before operating, wherein the set time is greater than or equal to the time required for the switching of the working mode of the reversing valve 30. The specific implementation method of the left sharp turn is as follows: after the control handle 20 uploads the left sharp turn instruction to the controller 10, the controller 10 outputs instructions to the reversing valve 30 and the control valve 40 at the same time, and the reversing valve 30 immediately switches to a working state in which the output end is connected with the left track brake fork of the gearbox, and the control valve 40 waits for the set time before driving the control valve stem 41 to act to regulate the output braking power of the boost valve 60. By the same token, the implementation method of the right sharp turn can be obtained, that is, after the control handle 20 uploads the right sharp turn command to the controller 10, the controller 10 simultaneously outputs commands to the reversing valve 30 and the control valve 40, and the reversing valve 30 immediately switches to a working state in which the output end is connected with the right track brake fork of the gearbox, and the control valve 40 waits for a set time before driving the control valve stem 41 to move and regulate the power valve 60 to output braking power.

[0026] The displacement speed and displacement amount of the control valve stem 41 of the control valve 40 can be adjusted by the control handle 20. A control valve 40 with a control valve stem 41 displacement speed regulating function can be selected, and a speed regulator 80 can be electrically connected between the controller 10 and the control valve 40, and the speed regulator 80 is used to regulate the displacement speed of the control valve stem 41. In specific implementation, after the control handle 20 uploads a steering angle reduction instruction to the controller 10, the controller 10 outputs a speed regulation instruction to the speed regulator 80, and the speed regulator 80 increases the displacement speed of the control valve stem 41; after the control handle 20 uploads a steering angle increase instruction to the controller 10, the controller 10 outputs a speed regulation instruction to the speed regulator 80, and the speed regulator 80 reduces the displacement speed of the control valve stem 41.

[0027] The displacement of the control valve stem 41 of the control valve 40 can also be adjusted by the control handle 20. After determining the displacement speed of the control valve stem 41, the displacement duration of the control valve stem 41 can be adjusted to adjust the displacement of the control valve stem 41. In this embodiment, when the user inputs a left / right sharp turn command, such as continuously pressing the sharp turn button, the corresponding control circuit can be turned on, and the control valve stem 41 is displaced at a preset speed. When the user no longer inputs a left / right sharp turn command, such as releasing the sharp turn button, the corresponding control circuit is interrupted, and the displacement of the control valve stem 41 is stopped and its posture is maintained, thereby realizing the regulation of the displacement of the control valve stem 41.

[0028] To prevent the failure of the control valve 40 from affecting the steering control of the crawler walking mechanism, Figure 2 , 3 As shown, the input rod section of the lever 50 is mechanically connected to the control handle 20 through the pull wire 51. The control handle 20 swings and pulls the pull wire 51, and the pull wire 51 pulls the lever 50 to rotate around its hinged axis to drive the power valve stem 61 to move. Figure 2 In the embodiment shown, the control valve 40 and the pull wire 51 are placed on both sides of the lever 50. Figure 3 In the illustrated embodiment, the control valve 40 and the pull wire 51 are both disposed on the left side of the lever 50. In specific implementation, the pull wire 51 pulls or the control valve 40 pushes / pull the lower end of the lever 50 to the left, driving the lever 50 to rotate clockwise, and the upper end of the lever 50 moves rightward to push the booster valve stem 61, and the booster valve stem 61 moves rightward to provide power for the displacement of the track brake fork.

[0029] In order to further improve the convenience of agricultural machinery operation, the controller 10 is also electrically connected to the lifting motor 70 of the reel in this embodiment. The controller 10 integrates the control circuit of the reel lifting motor, and the control handle 20 presets the reel lifting control motor input command. After receiving the command output by the controller 10, the reel lifting motor 70 drives the reel to rise or fall to adjust the working position of the reel. In specific implementation, after the control handle 20 uploads the reel rising command to the controller 10, the controller 10 outputs a command to the reel lifting motor 70, driving the reel lifting motor 70 to rotate forward to drive the reel to rise; after the control handle 20 uploads the reel lowering command to the controller 10, the controller 10 outputs a command to the reel lifting motor 70, driving the reel lifting motor 70 to rotate forward to drive the reel to fall.

Claims

1. A steering assist control system for a crawler walking mechanism, characterized in that: The invention comprises a controller (10), wherein the controller (10) is electrically connected to a control handle (20), a reversing valve (30), and a control valve (40), respectively, wherein: The control handle (20) is used for a user to input control commands. The control handle (20) is provided with a command input element (21). The control handle (20) uploads the command input by the command input element (21) to the controller (10); After receiving the instruction output by the controller (10), the reversing valve (30) switches the working mode, so that its output end is in a no-load working state and is connected with the left track brake fork of the gearbox or the right track brake fork; when the output end of the reversing valve (30) is no-load, the left track driving gear and the right track driving gear of the gearbox are respectively meshed with the power driving gear at the power source end, and the power is transmitted to the left track assembly and the right track assembly respectively; when the output end of the reversing valve (30) is connected with the left track brake fork of the gearbox, the left track driving gear is separated from the power driving gear at the power source end, and the power transmission to the left track is cut off; when the output end of the reversing valve (30) is connected with the right track brake fork of the gearbox, the right track driving gear is separated from the power driving gear at the power source end, and the power transmission to the right track assembly is cut off; After the control valve (40) receives the command output by the controller (10), the control valve stem (41) of the control valve (40) moves along its stem core to make a telescopic displacement and push or pull the input stem section of the lever (50) to drive the lever (50) to rotate around its hinge axis. When the rotation displacement occurs, the output stem section of the lever (50) pushes the booster valve stem (61). The booster valve (60) provides power for the cooperation between the gearbox track brake fork and the brake element based on the displacement speed and displacement amount of the booster valve stem (61), thereby implementing the braking of the track on that side.

2. The steering assist control system of the crawler walking mechanism according to claim 1, characterized in that: After the control handle (20) transmits a left turn instruction to the controller (10), the controller (10) outputs an instruction to the reversing valve (30), driving the reversing valve (30) to switch to a working state in which the output end is connected with the left crawler brake fork of the gearbox; After the control handle (20) transmits a left sharp turn instruction to the controller (10), the controller (10) first outputs an instruction to the reversing valve (30) to drive the reversing valve (30) to switch to a working state in which the output end is connected to the left crawler brake fork of the gearbox, and then outputs an instruction to the control valve (40) to drive the control valve rod (41) to move and regulate the power-assisting valve (60) to output braking power; After the control handle (20) uploads a right turn instruction to the controller (10), the controller (10) outputs an instruction to the reversing valve (30), driving the reversing valve (30) to switch to a working state in which the output end is connected with the right crawler brake fork of the gearbox; After the control handle (20) uploads a right sharp turn instruction to the controller (10), the controller (10) first outputs an instruction to the reversing valve (30) to drive the reversing valve (30) to switch to a working state in which the output end is connected with the right crawler brake fork of the gearbox, and then outputs an instruction to the control valve (40) to drive the control valve rod (41) to move and regulate the power-assisting valve (60) to output braking power.

3. The steering assist control system of the crawler walking mechanism according to claim 2, characterized in that: After the control handle (20) uploads a left / right sharp turn instruction to the controller (10), the controller (10) simultaneously outputs instructions to the reversing valve (30) and the control valve (40), and the reversing valve (30) immediately switches to a working state in which the output end is connected with the left / right crawler brake fork of the gearbox, and the control valve (40) waits for a set time before driving the control valve rod (41) to move and regulate the power-assisting valve (60) to output the braking power.

4. The steering assist control system of the crawler walking mechanism according to claim 2 or 3, characterized in that: A speed regulator (80) is electrically connected between the controller (10) and the control valve (40), and the speed regulator (80) is used to adjust the displacement speed of the control valve stem (41); After the control handle (20) uploads a steering angle reduction instruction to the controller (10), the controller (10) outputs a speed regulation instruction to the speed regulator (80), and the speed regulator (80) increases the displacement speed of the control valve stem (41); After the control handle (20) uploads a steering angle increase instruction to the controller (10), the controller (10) outputs a speed regulation instruction to the speed regulator (80), and the speed regulator (80) reduces the displacement speed of the control valve stem (41).

5. The steering assist control system of the crawler walking mechanism according to claim 1, characterized in that: The input rod section of the lever (50) is mechanically connected to the control handle (20) via a pull wire (51). The control handle (20) swings and moves to pull the pull wire (51), and the pull wire (51) drives the lever (50) to rotate around its hinged axis to drive the power valve stem (61) to operate.

6. The steering assist control system of the crawler walking mechanism according to claim 1, characterized in that: The controller (10) is electrically connected to the reel lifting motor (70); after receiving the command output by the controller (10), the reel lifting motor (70) drives the reel to rise or fall, thereby adjusting the working position of the reel; After the control handle (20) transmits a reel raising instruction to the controller (10), the controller (10) outputs an instruction to the reel raising and lowering motor (70), driving the reel raising and lowering motor (70) to rotate forward to drive the reel to rise; After the control handle (20) transmits a reel lowering instruction to the controller (10), the controller (10) outputs an instruction to the reel lifting motor (70), driving the reel lifting motor (70) to rotate forward and drive the reel to lower.

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