Electro-hydraulic proportional navigation control valve capable of realizing full-automatic navigation and tractor

Abstract

The invention relates to an electro-hydraulic proportional navigation control valve capable of achieving full-automatic navigation and a tractor, the control valve comprises a double-acting oil cylinder, a steering gear, a pump, a first valve, a second electromagnetic valve, a third valve, a fourth electromagnetic valve and a fifth electromagnetic valve, the first valve is provided with a first connector, a second connector, a third connector, a fourth connector, a fifth connector, a sixth connector, a seventh connector, an eighth connector and a ninth connector, the second electromagnetic valve is provided with a tenth connector and an eleventh connector, and the two ends of a valve cavity of the third valve form a third cavity and a fourth cavity. The third valve is provided with a twelfth interface, a thirteenth interface, a fourteenth interface, a fifteenth interface and a sixteenth interface, the fourth electromagnetic valve is provided with a seventeenth interface, an eighteenth interface and a nineteenth interface, and the fifth electromagnetic valve is provided with a twentieth interface, a twenty-first interface and a twenty-second interface. The system has the advantages that the system has the function of quick switching response between a manual mode and an automatic mode, has a load compensation function, and is accurate in control and high in response speed.

Description

Technical Field

[0001] The invention relates to an automatic navigation technology for a tractor, and in particular to an electro-hydraulic proportional navigation control valve and a tractor capable of realizing full-automatic navigation. Background Art

[0002] In recent years, the application scope of agricultural machinery automatic navigation technology in my country has been continuously expanding. The use of automatic navigation technology can improve the accuracy of agricultural machinery's straight-line driving and operation, reduce overlap and line errors, and reduce driver fatigue.

[0003] At present, most agricultural machinery automatic steering technologies use electronic steering wheels. Their installation and use will occupy the original space in the cab, which will invisibly reduce the driver's driving experience.

[0004] Based on this, it is necessary to develop an electro-hydraulic proportional navigation control valve and a tractor that can realize fully automatic navigation to overcome the above technical problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an electro-hydraulic proportional navigation control valve and a tractor capable of realizing full-automatic navigation, which effectively overcomes the defects of the prior art.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] An electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation, comprising a double-acting oil cylinder, a steering gear, a pump, a first valve, a second solenoid valve, a third valve, a fourth solenoid valve and a fifth solenoid valve, wherein the two ends of the valve cavity of the first valve constitute a first cavity and a second cavity equipped with a spring, the first valve is provided with a first interface, a second interface, a third interface, a fourth interface, a fifth interface, a sixth interface, a seventh interface, an eighth interface and a ninth interface, the second solenoid valve is provided with a tenth interface and an eleventh interface, the two ends of the valve cavity of the third valve constitute a third cavity and a fourth cavity respectively equipped with springs, the third valve is provided with a twelfth interface, a thirteenth interface, a fourteenth interface, a fifteenth interface and a sixteenth interface, the fourth solenoid valve is provided with a seventeenth interface, an eighteenth interface and a nineteenth interface The fifth solenoid valve is provided with a twentieth interface, a twenty-first interface and a twenty-second interface, the steering gear is provided with a first inlet, a first oil return port, a left steering oil port and a right steering oil port, the double-acting cylinder is provided with a left steering oil chamber and a right steering oil chamber, the outlet of the pump is connected to the fourth interface, the first chamber, the tenth interface, the seventeenth interface and the twentieth interface respectively through pipelines, the second interface is connected to the left steering oil port and the left steering oil chamber through a pipeline, the third interface is connected to the right steering oil port and the right steering oil chamber through a pipeline, the first inlet is connected to the sixth interface through a pipeline, the first oil return port is connected to the twelfth interface through a pipeline, the first interface is connected to the second chamber through a pipeline, and the seventh interface is connected to the seventh interface through a pipeline. The sixteenth interface, the eighth interface is connected to the fourteenth interface through a pipeline, the ninth interface is connected to the thirteenth interface through a pipeline, the fifteenth interface is connected to the second cavity through a pipeline, the nineteenth interface is connected to the third cavity through a pipeline, the twenty-second interface is connected to the fourth cavity through a pipeline, the first oil return port, the fifth interface, the eleventh interface, the seventeenth interface and the twenty-first interface are connected to the oil return pipeline respectively; the valve core of the first valve can be moved to the fourth interface and the sixth interface for communication, or moved to the second interface and the seventh interface, the third interface and the eighth interface for communication, the fourth interface and the ninth interface for communication respectively, or moved to the second interface and the seventh interface, the third interface and the eighth interface for communication The fourth interface and the sixth interface, the fourth interface and the ninth interface are connected respectively; the second solenoid valve is energized or de-energized, and its valve core can be moved to make the tenth interface and the eleventh interface connected or disconnected; the valve core of the third valve can be moved to the twelfth interface and the fourteenth interface, the thirteenth interface and the fifteenth interface, the thirteenth interface and the sixteenth interface respectively connected, or moved to the twelfth interface and the fifteenth interface respectively connected, or moved to the twelfth interface and the sixteenth interface, the thirteenth interface and the fourteenth interface, the thirteenth interface and the fifteenth interface respectively connected; the fourth solenoid valve is energized or de-energized, and its valve core can be moved to make the seventeenth interface and the eighteenth interface selected from the nineteenth interface connected;When the fifth solenoid valve is powered or de-powered, its valve core can move to make the 20th interface or the 21st interface connected to the 22nd interface.

[0008] Based on the above technical solution, the present invention can also be improved as follows.

[0009] Furthermore, a first throttle valve is provided on the pipeline connecting the nineteenth interface and the third chamber.

[0010] Furthermore, a second throttle valve is provided on the pipeline connecting the twenty-second interface and the fourth chamber.

[0011] Furthermore, a third throttle valve is provided on the pipeline connecting the outlet of the pump and the tenth interface.

[0012] Furthermore, a first filter is provided on the pipeline connecting the eighteenth interface and the oil return pipeline.

[0013] Furthermore, a second filter is provided on the pipeline connecting the twentieth interface and the oil return pipeline.

[0014] Furthermore, a pressure measuring point is provided at the first inlet.

[0015] Furthermore, the pipeline connecting the fifteenth interface and the second chamber is also connected to an overflow pipeline, an overflow valve is provided on the overflow pipeline, and the overflow pipeline is connected to the oil return pipeline.

[0016] Furthermore, the inlet and the oil return pipeline of the pump are connected to the oil tank respectively.

[0017] The beneficial effects of the present invention are: reasonable structural design, fast switching response function between manual and automatic modes, manual mode priority, load compensation function, no extra space in the cab as a whole, precise control and fast response rate.

[0018] A tractor is also provided, comprising an electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to the present invention.

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0021] 1. Double-acting cylinder; 2. Steering gear; 3. Pump; 4. First valve; 5. Second solenoid valve; 6. Third valve; 7. Fourth solenoid valve; 8. Fifth solenoid valve. DETAILED DESCRIPTION

[0022] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0023] Example 1

[0024] like Figure 1As shown, the electro-hydraulic proportional navigation control valve capable of realizing full-automatic navigation in this embodiment comprises a double-acting oil cylinder 1, a steering gear 2, a pump 3, a first valve 4, a second solenoid valve 5, a third valve 6, a fourth solenoid valve 7 and a fifth solenoid valve 8. The two ends of the valve cavity of the first valve 4 constitute a first cavity and a second cavity equipped with a spring. The first valve 4 is provided with a first interface a, a second interface b, a third interface c, a fourth interface d, a fifth interface e, a sixth interface f, a seventh interface g, an eighth interface h and a ninth interface i. The second solenoid valve 5 is provided with a tenth interface j and an eleventh interface k. The two ends of the valve cavity of the third valve 6 constitute a third cavity and a fourth cavity equipped with springs respectively. The third valve 6 is provided with a twelfth interface l, a thirteenth interface m, a fourteenth interface n, a fifteenth interface i and a fifth interface j. The fourth solenoid valve 7 is provided with a seventeenth interface q, an eighteenth interface r and a nineteenth interface s, the fifth solenoid valve 8 is provided with a twentieth interface t, a twenty-first interface u and a twenty-second interface v, the steering gear 2 is provided with a first inlet, a first oil return port, a left steering oil port and a right steering oil port, the double-acting cylinder 1 is provided with a left steering oil chamber and a right steering oil chamber, the outlet of the pump 3 is respectively connected to the fourth interface, the first chamber, the tenth interface, the seventeenth interface and the twentieth interface through pipelines, the second interface is connected to the left steering oil port and the left steering oil chamber through a pipeline, the third interface is connected to the right steering oil port and the right steering oil chamber through a pipeline, the first inlet is connected to the sixth interface through a pipeline, the first oil return port The twelfth interface is connected to the second cavity through a pipeline, the first interface is connected to the second cavity through a pipeline, the seventh interface is connected to the sixteenth interface through a pipeline, the eighth interface is connected to the fourteenth interface through a pipeline, the ninth interface is connected to the thirteenth interface through a pipeline, the fifteenth interface is connected to the second cavity through a pipeline, the nineteenth interface is connected to the third cavity through a pipeline, the twenty-second interface is connected to the fourth cavity through a pipeline, the first oil return port, the fifth interface, the eleventh interface, the seventeenth interface and the twenty-first interface are connected to the oil return pipeline respectively; the valve core of the first valve 4 can be moved to the fourth interface and the sixth interface for communication, or moved to the second interface and the seventh interface, the third interface and the eighth interface for communication, The fourth interface is connected to the ninth interface respectively, or moved to the second interface and the seventh interface, the third interface and the eighth interface are connected, the fourth interface and the sixth interface, and the fourth interface and the ninth interface are connected respectively; the second solenoid valve 5 is powered or powered off, and its valve core can be moved to make the tenth interface and the eleventh interface connected or disconnected; the valve core of the third valve 6 can be moved to the twelfth interface and the fourteenth interface, the thirteenth interface and the fifteenth interface, and the thirteenth interface and the sixteenth interface respectively, or moved to the twelfth interface and the fifteenth interface, or moved to the twelfth interface and the sixteenth interface, the thirteenth interface and the fourteenth interface, and the thirteenth interface and the fifteenth interface respectively;When the fourth solenoid valve 7 is powered or de-powered, its valve core can be moved to make the seventeenth interface and the eighteenth interface connected to the nineteenth interface; when the fifth solenoid valve 8 is powered or de-powered, its valve core can be moved to make the twentieth interface and the twenty-first interface connected to the twenty-second interface.

[0025] The electro-hydraulic proportional navigation control valve capable of realizing full-automatic navigation in this embodiment can flexibly use both manual mode and automatic mode. The specific process is as follows:

[0026] 1) Manual steering mode

[0027] The second solenoid valve 5 is not energized (press Figure 1 As shown, the second solenoid valve 5 is in the lower position), the tenth interface of the second solenoid valve 5 is connected to the eleventh interface, the first chamber is connected to the tenth interface, the first valve 4 is in the left position (the fourth interface is connected to the sixth interface), and the fourth solenoid valve 7 and the fifth solenoid valve 8 are not energized (according to Figure 1 As shown, the fourth solenoid valve 7 is in the right position, the eighteenth interface is not connected to the above-mentioned nineteenth interface, the fifth solenoid valve 8 is in the left position, and the twentieth interface is not connected to the twenty-second interface), the pump 3 pumps the oil into the first inlet of the steering gear 2 through the fourth interface and the sixth interface. When not steering, the first inlet is connected to the first oil return port, and the oil flows out through the first oil return port. When steering, the oil enters the left steering oil chamber or the right steering oil chamber of the double-acting cylinder 1 through the first inlet, the left steering oil port or the right steering oil port to achieve left or right turn.

[0028] 2) Automatic steering mode

[0029] The second solenoid valve 5 is energized (by pressing Figure 1 As shown, the second solenoid valve 5 is in the upper position), the tenth interface is disconnected from the eleventh interface, the pump 3 sends part of the oil into the first cavity, pushes the valve core of the first valve 4 to move, so that the first valve 4 is in the middle position / right position, at this time, the second interface is connected to the seventh interface, the third interface is connected to the eighth interface, and the fourth interface is connected to the ninth interface respectively (when in the right position, on this basis, the fourth interface is also connected to the sixth interface), when no steering is required, the third valve 6 is in the right position (the third cavity and the fourth cavity are equal in pressure), when steering is required, the fourth solenoid valve 7 or the fifth solenoid valve 8 is energized (according to Figure 1As shown, the fourth solenoid valve 7 is energized in the left position, the seventeenth interface and the nineteenth interface are connected, the fifth solenoid valve 8 is energized in the right position, and the twenty-first interface and the twenty-second interface are connected), so that the oil enters the third chamber or the fourth chamber, and the valve core of the third valve 6 moves, so that the third valve 6 is in the left position or the right position, and the oil finally enters the left steering oil port of the steering gear 2 through the sixteenth interface, the seventh interface, and the second interface, or enters the right steering oil port of the steering gear 2 through the fourteenth interface, the eighth interface, and the third interface, so as to realize the double-acting cylinder 1 driving the left turn or the right turn. In this process, whether it is turning left or right, a part of the oil will enter the second chamber through the fifteenth interface, and the pressure of the second chamber will be compared with the pressure of the P port of the pump 3. When the pressure difference is large, the first valve 4 switches from the middle position to the right position, and part of the oil will enter the first oil inlet of the steering gear 2 through the sixth interface and flow out from the first oil return port to release the pressure. When the pressure difference is small, the first valve 4 switches to the middle position.

[0030] When in automatic mode, if the steering gear 2 makes a steering action, the second solenoid valve 5 will be quickly powered off (de-energized), the first chamber of the first valve 4 will quickly release pressure through the second solenoid valve 5, and the valve core of the first valve 4 will move to the right under the action of the spring of its second chamber, so that the first valve 4 will quickly switch to the left position, that is, quickly switch to the manual steering mode.

[0031] In this embodiment, a first throttle valve is provided on the pipeline connecting the nineteenth interface and the third chamber.

[0032] In this embodiment, a second throttle valve is provided on the pipeline connecting the twenty-second interface and the fourth chamber.

[0033] In this embodiment, a third throttle valve is provided on the pipeline connecting the outlet of the pump 3 and the tenth interface.

[0034] In this embodiment, a first filter is provided on the pipeline connecting the eighteenth interface and the return oil pipeline. The setting of the first filter ensures that the oil quality entering the fourth solenoid valve 7 is high, thereby protecting the fourth solenoid valve 7 and extending its life.

[0035] In this embodiment, a second filter is provided on the pipeline connecting the above-mentioned twentieth interface and the above-mentioned return oil pipeline. The setting of the second filter ensures that the oil quality entering the fifth solenoid valve 8 is higher, plays a protective role on the fifth solenoid valve 8, and prolongs its life.

[0036] In this embodiment, a pressure measuring point is provided at the first inlet.

[0037] In the present embodiment, the pipeline connecting the fifteenth interface and the second chamber is also connected to an overflow pipeline, an overflow valve is provided on the overflow pipeline, and the overflow pipeline is connected to the return oil pipeline. The setting of the overflow pipeline ensures that when the pressure of the second chamber is too high, the pressure is relieved, and the pressure difference between the first chamber and the second chamber can make the first valve 4 be in the middle position / right position in the automatic mode.

[0038] In this embodiment, the inlet and the oil return pipeline of the pump 3 are connected to the oil tank respectively.

[0039] Example 2

[0040] The tractor of this embodiment includes the electro-hydraulic proportional navigation control valve in Embodiment 1 capable of realizing fully automatic navigation.

[0041] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0046] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation, characterized in that: The invention comprises a double-acting oil cylinder (1), a steering gear (2), a pump (3), a first valve (4), a second solenoid valve (5), a third valve (6), a fourth solenoid valve (7) and a fifth solenoid valve (8), wherein the two ends of the valve cavity of the first valve (4) constitute a first cavity and a second cavity equipped with a spring, the first valve (4) is provided with a first interface, a second interface, a third interface, a fourth interface, a fifth interface, a sixth interface, a seventh interface, an eighth interface and a ninth interface, the second solenoid valve (5) is provided with a tenth interface and an eleventh interface, the two ends of the valve cavity of the third valve (6) constitute a third cavity and a fourth cavity equipped with springs respectively, the third valve (6) is provided with a twelfth interface, a thirteenth interface, a fourteenth interface, a fifteenth interface and a sixteenth interface, the fourth solenoid valve (5) is provided with a tenth interface and an eleventh interface, the third cavity (6) is provided with a twelfth interface, a thirteenth interface, a fourteenth interface, a fifteenth interface and a sixteenth interface, the fourth solenoid valve (6) is provided with a The magnetic valve (7) is provided with a seventeenth interface, an eighteenth interface and a nineteenth interface, the fifth solenoid valve (8) is provided with a twentieth interface, a twenty-first interface and a twenty-second interface, the steering gear (2) is provided with a first inlet, a first oil return port, a left steering oil port and a right steering oil port, the double-acting oil cylinder (1) is provided with a left steering oil chamber and a right steering oil chamber, the outlet of the pump (3) is connected to the fourth interface, the first chamber, the tenth interface, the seventeenth interface and the twentieth interface respectively through pipelines, the second interface is connected to the left steering oil port and the left steering oil chamber through a pipeline, the third interface is connected to the right steering oil port and the right steering oil chamber through a pipeline, the first inlet is connected to the sixth interface through a pipeline, the first oil return port is connected to the third interface through a pipeline The first interface is connected to the second cavity through a pipeline, the seventh interface is connected to the sixteenth interface through a pipeline, the eighth interface is connected to the fourteenth interface through a pipeline, the ninth interface is connected to the thirteenth interface through a pipeline, the fifteenth interface is connected to the second cavity through a pipeline, the nineteenth interface is connected to the third cavity through a pipeline, the twenty-second interface is connected to the fourth cavity through a pipeline, the first oil return port, the fifth interface, the eleventh interface, the seventeenth interface and the twenty-first interface are connected to the oil return pipeline respectively; the valve core of the first valve (4) can be moved to the fourth interface to be connected with the sixth interface, or moved to the second interface to be connected with the seventh interface, the third interface to be connected with the eighth interface, the fourth interface to be connected with the The second solenoid valve (5) is energized or de-energized, and its valve core can be moved to make the tenth interface and the eleventh interface connected or disconnected; the valve core of the third valve (6) can be moved to the twelfth interface and the fourteenth interface, the thirteenth interface and the fifteenth interface, the thirteenth interface and the sixteenth interface, or moved to the twelfth interface and the fifteenth interface, or moved to the twelfth interface and the sixteenth interface, the thirteenth interface and the fourteenth interface, or the thirteenth interface and the fifteenth interface, respectively.When the fourth solenoid valve (7) is energized or de-energized, its valve core can be moved to make the seventeenth interface and the eighteenth interface communicate with the nineteenth interface; when the fifth solenoid valve (8) is energized or de-energized, its valve core can be moved to make the twenty-tenth interface and the twenty-first interface communicate with the twenty-second interface.

2. The electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to claim 1, characterized in that: A first throttle valve is provided on the pipeline connecting the nineteenth interface and the third chamber.

3. The electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to claim 1, characterized in that: A second throttle valve is provided on the pipeline connecting the 22nd interface and the fourth chamber.

4. The electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to claim 1, characterized in that: A third throttle valve is provided on the pipeline connecting the outlet of the pump (3) and the tenth interface.

5. The electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to claim 1, characterized in that: A first filter is provided on the pipeline connecting the eighteenth interface and the oil return pipeline.

6. The electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to claim 1, characterized in that: A second filter is provided on the pipeline connecting the 20th interface and the oil return pipeline.

7. The electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to claim 1, characterized in that: A pressure measuring point is provided at the first inlet.

8. The electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to claim 1, characterized in that: The pipeline connecting the fifteenth interface and the second chamber is also connected to an overflow pipeline, an overflow valve is provided on the overflow pipeline, and the overflow pipeline is connected to the oil return pipeline.

9. An electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to any one of claims 1 to 8, characterized in that: The inlet and the oil return pipeline of the pump (3) are respectively connected to the oil tank.

10. A tractor, characterized in that: It comprises an electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation as described in any one of claims 1 to 9.

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