Hydraulic control system for walking machine and walking machine

Abstract

A rodless cavity of a first hydraulic oil cylinder of the hydraulic control system communicates with a rodless cavity of a second hydraulic oil cylinder of the hydraulic control system and is connected with a one-way valve, the one-way valve is connected with an electromagnetic reversing valve, and the electromagnetic reversing valve is connected with a hydraulic oil tank and a controller. The controller is configured to detect whether a first difference value between the stroke of the first hydraulic oil cylinder and the stroke of the second hydraulic oil cylinder is larger than a first preset threshold value or not under the condition that a steering control signal for the walking machine is received; and under the condition that the first difference value is larger than a first preset threshold value, the electromagnetic reversing valve is controlled to communicate with the one-way valve, so that hydraulic oil of the hydraulic oil tank enters a rodless cavity of the second hydraulic oil cylinder or the first hydraulic oil cylinder through the one-way valve, and the first difference value is smaller than or equal to the first preset threshold value. According to the scheme, manual errors can be reduced, and the equipment steering precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of hydraulic systems, and in particular to a hydraulic control system for a walking machine and the walking machine. Background Art

[0002] At present, wheel-side driven sugarcane harvesters generally adopt the front wheel steering method, that is, the hydraulic steering gear is operated to control the left and right steering cylinders to make the front wheels swing to different angles to achieve the steering function. Due to the limitations of the structure and layout of feeding, root cutting, and conveying channels, the two steering wheels of the sugarcane harvester cannot maintain the same steering angle by using a connecting rod rigid connection. If the steering angle error of the two steering wheels is too large, it will greatly affect the steering reliability, stability and operating comfort of the whole machine. Therefore, it is very important to control the steering accuracy of the two steering wheels. However, manual adjustment is prone to errors, and internal leakage of the oil cylinder will also make it difficult to control the steering accuracy of the equipment. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a hydraulic control system and a walking machine, so as to solve the technical problem in the prior art that the accuracy of the equipment's walking and steering is difficult to control due to manual adjustment errors and internal leakage of the oil cylinder.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a hydraulic control system for a walking machine, the hydraulic control system comprising a hydraulic oil tank, a first hydraulic oil cylinder, a second hydraulic oil cylinder, a one-way valve, an electromagnetic reversing valve and a controller, the rodless chamber of the first hydraulic oil cylinder is in communication with the rodless chamber of the second hydraulic oil cylinder, and both are connected to the one-way valve, the one-way valve is connected to the electromagnetic reversing valve, the electromagnetic reversing valve is respectively connected to the hydraulic oil tank and the controller, and the electromagnetic reversing valve is usually in a disconnected state, and the controller is configured as follows:

[0005] In the case of receiving a steering control signal for the walking machine, detecting whether a first difference between the stroke of the first hydraulic cylinder and the stroke of the second hydraulic cylinder is greater than a first preset threshold;

[0006] When the first difference is greater than the first preset threshold, the solenoid reversing valve is controlled to be connected to the one-way valve, so that the hydraulic oil in the hydraulic oil tank enters the rodless chamber of the second hydraulic cylinder or the first hydraulic cylinder through the one-way valve, so that the first difference is less than or equal to the first preset threshold.

[0007] In an embodiment of the present application, the solenoid reversing valve includes a first working position, and when the first difference is greater than the first preset threshold value, controlling the solenoid reversing valve to be connected to the one-way valve includes: when the first difference is greater than the first preset threshold value and there is no hydraulic oil in the rodless chamber of the first hydraulic cylinder and / or the rodless chamber of the second hydraulic cylinder, controlling the first working position to open to connect the solenoid reversing valve to the one-way valve, and at the same time allowing the hydraulic oil in the rod chamber of the second hydraulic cylinder to return to the hydraulic oil tank through the solenoid reversing valve.

[0008] In an embodiment of the present application, the hydraulic control system also includes a steering valve, which is respectively connected to the rod chambers of the first hydraulic cylinder and the second hydraulic cylinder and the hydraulic oil tank. When the first difference is greater than the first preset threshold, controlling the solenoid reversing valve to be connected to the one-way valve includes: when the first difference is greater than the first preset threshold and there is hydraulic oil in the rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder, controlling the solenoid reversing valve to be connected to the one-way valve; controlling the hydraulic oil in the rod chamber of the first hydraulic cylinder or the rod chamber of the second hydraulic cylinder to return to the hydraulic oil tank through the steering valve.

[0009] In an embodiment of the present application, the solenoid reversing valve includes a second working position. When the first difference is greater than the first preset threshold value and hydraulic oil exists in both the rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder, controlling the solenoid reversing valve to be connected to the one-way valve includes: when the first difference is greater than the first preset threshold value and hydraulic oil exists in both the rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder, controlling the second working position to be opened to connect the solenoid reversing valve to the one-way valve.

[0010] In an embodiment of the present application, the hydraulic control system also includes: a first displacement sensor installed on the first hydraulic cylinder, the first displacement sensor is used to detect the stroke of the first hydraulic cylinder; a second displacement sensor installed on the second hydraulic cylinder, the second displacement sensor is used to detect the stroke of the second hydraulic cylinder.

[0011] In an embodiment of the present application, the hydraulic control system also includes a steering valve, which is connected to the hydraulic oil tank. The steering valve includes a first working oil port and a second working oil port. The first working oil port is connected to the rod chamber of the first hydraulic cylinder, and the second working oil port is connected to the rod chamber of the second hydraulic cylinder. The steering control signal includes a left turn control signal and a right turn control signal. The controller is also configured to: when a left turn control signal is received, control the first working oil port to open so that the hydraulic oil in the hydraulic oil tank enters the rod chamber of the first hydraulic cylinder; when a right turn control signal is received, control the second working oil port to open so that the hydraulic oil in the hydraulic oil tank enters the rod chamber of the second hydraulic cylinder.

[0012] In an embodiment of the present application, the steering valve also includes: a first overflow valve installed at the first working oil port, the first overflow valve is used to limit the pressure of the hydraulic oil flowing through the first working oil port; a second overflow valve installed at the second working oil port, the second overflow valve is used to limit the pressure of the hydraulic oil flowing through the second working oil port; a third overflow valve installed at the valve core of the steering valve, the third overflow valve is used to limit the pressure of the hydraulic oil in the valve core of the steering valve.

[0013] In an embodiment of the present application, the hydraulic control system also includes: a priority valve, which is respectively connected to the steering valve, the solenoid reversing valve and the hydraulic oil tank, and is used to adjust the flow rate of hydraulic oil from the hydraulic oil tank to the steering valve and the solenoid reversing valve.

[0014] In an embodiment of the present application, the hydraulic control system also includes: a pressure reducing valve, which is respectively connected to the one-way valve and the solenoid reversing valve, and is used to adjust the pressure of the hydraulic oil flowing from the solenoid reversing valve to the rodless chamber of the first hydraulic cylinder and the second hydraulic cylinder.

[0015] A second aspect of the present application provides a walking machine, comprising the above-mentioned hydraulic control system for the walking machine.

[0016] Through the above technical scheme, through the hydraulic control system for walking machinery and walking machinery, the hydraulic control system includes a hydraulic oil tank, a first hydraulic oil cylinder, a second hydraulic oil cylinder, a one-way valve, an electromagnetic reversing valve and a controller, the rodless chamber of the first hydraulic oil cylinder and the rodless chamber of the second hydraulic oil cylinder are connected, and both are connected to the one-way valve, the one-way valve is connected to the electromagnetic reversing valve, the electromagnetic reversing valve is connected to the hydraulic oil tank and the controller respectively, and the electromagnetic reversing valve is usually in a disconnected state, and the controller is configured to: when receiving a steering control signal for the walking machinery, detect whether the first difference between the stroke of the first hydraulic oil cylinder and the stroke of the second hydraulic oil cylinder is greater than the first preset threshold; when the first difference is greater than the first preset threshold, control the electromagnetic reversing valve to communicate with the one-way valve, so that the hydraulic oil in the hydraulic oil tank enters the rodless chamber of the second hydraulic oil cylinder or the first hydraulic oil cylinder through the one-way valve, so that the first difference is less than or equal to the first preset threshold. The above scheme reduces manual errors, controls and improves the accuracy of equipment walking and steering, and improves the reliability, stability and operating comfort of steering.

[0017] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0019] Figure 1The structure diagram of a hydraulic control system for a walking machine according to an embodiment of the present application is schematically shown;

[0020] Figure 2 A schematic diagram of a flow chart of a hydraulic control method for a walking machine according to an embodiment of the present application is schematically shown;

[0021] Figure 3 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0022] Description of Reference Numerals

[0023] 10 Hydraulic oil tank 61 First overflow valve

[0024] 20 First hydraulic cylinder 62 Second relief valve

[0025] 21 Rod chamber of the first hydraulic cylinder 63 Third relief valve

[0026] 22 Rodless chamber L of the first hydraulic cylinder First working oil port

[0027] 30 Second hydraulic cylinder R Second working oil port

[0028] 31 Rod chamber of the second hydraulic cylinder 70 Priority valve

[0029] 32 Rodless chamber CF of the first hydraulic cylinder First oil port of the priority valve

[0030] 40 Check valve LS Load sensing port

[0031] 50 Solenoid reversing valve 80 Pressure reducing valve

[0032] DT1 First working position 90 hydraulic pump

[0033] DT2 Second working position A First displacement sensor

[0034] 60 Steering valve B Second displacement sensor DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0036] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0037] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0038] Figure 1 The following schematically shows a structural diagram of a hydraulic control system for a walking machine according to an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides a hydraulic control system for a walking machine, the hydraulic control system includes a hydraulic oil tank 10, a first hydraulic oil cylinder 20, a second hydraulic oil cylinder 30, a one-way valve 40, an electromagnetic reversing valve 50 and a controller, the rodless chamber between the first hydraulic oil cylinder 20 and the second hydraulic oil cylinder 30 is communicated, and both are connected to the one-way valve 40, the one-way valve 40 is connected to the electromagnetic reversing valve 50, the electromagnetic reversing valve 50 is respectively connected to the hydraulic oil tank 10 and the controller, and the electromagnetic reversing valve 50 is usually in a disconnected state, and the controller is configured as follows:

[0039] In the case of receiving a steering control signal for the walking machine, detecting whether a first difference between the stroke of the first hydraulic cylinder 20 and the stroke of the second hydraulic cylinder 30 is greater than a first preset threshold;

[0040] When the first difference is greater than the first preset threshold, the solenoid reversing valve 50 is controlled to be connected with the one-way valve 40, so that the hydraulic oil in the hydraulic oil tank 10 enters the rodless chamber of the second hydraulic cylinder 30 or the first hydraulic cylinder 20 through the one-way valve, so that the first difference is less than or equal to the first preset threshold.

[0041] It can be understood that the first hydraulic cylinder 20 and the second hydraulic cylinder 30 can be single-rod piston cylinders or double-rod piston rods. The electromagnetic reversing valve 50 can also be a proportional valve, or a switch valve, or a servo valve. The connection between the first hydraulic cylinder 20 and the second hydraulic cylinder 30 can be that the rodless chamber 22 of the first hydraulic cylinder 20 is connected to the rodless chamber 32 of the second hydraulic cylinder 30, or that the rod chamber 21 of the first hydraulic cylinder 20 is connected to the rod chamber 31 of the second hydraulic cylinder 30, or that the rodless chamber 22 of the first hydraulic cylinder 20 is connected to the rod chamber 31 of the second hydraulic cylinder 30, etc. There is no substantial difference in the connection method between the rod chamber and the rodless chamber between the first hydraulic cylinder 20 and the second hydraulic cylinder 30, and both drive the movement of the other hydraulic cylinder by moving one of the hydraulic cylinders.

[0042] If the oil cylinder leaks, the first difference between the stroke of the first hydraulic cylinder and the stroke of the second hydraulic cylinder will be greater than the first preset threshold value, so that after the steering wheel is returned to the correct position, the two steering wheels will also be in an "outward eight" position, and the steering operation cannot be effectively completed. Then, it is necessary to control the electromagnetic reversing valve 50 to open and connect it with the one-way valve 40, so that the hydraulic oil in the hydraulic oil tank 10 enters the rodless chamber of the second hydraulic cylinder 30 or the first hydraulic cylinder 20 through the one-way valve, so that the first difference is less than or equal to the first preset threshold value. Since the one-way valve 40 cannot flow in the reverse direction, the rodless chambers of the two oil cylinders are one-way closed chambers in series, and the elastic modulus of the hydraulic oil is very large and almost incompressible, so the stroke of one oil cylinder extending out can be basically consistent with the stroke of the other oil cylinder retracting. In this way, there is no need to manually fill the rodless chambers of the two steering oil cylinders with oil and adjust the angle of the steering wheel in this way, which can reduce manual errors, improve and control the accuracy of the equipment's walking and steering, and improve the reliability, stability and operating comfort of the steering. The first preset threshold refers to an error value preset by technicians based on technical experience. When the first difference is less than or equal to the first preset threshold, hydraulic oil no longer enters the two rodless chambers from the one-way valve 40, thereby improving operating efficiency.

[0043] refer to Figure 1 In one embodiment, the solenoid reversing valve 50 includes a first working position DT1. When the first difference is greater than the first preset threshold, controlling the solenoid reversing valve to be connected to the one-way valve includes: when the first difference is greater than the first preset threshold and there is no hydraulic oil in the rodless chamber 22 of the first hydraulic cylinder and / or the rodless chamber 32 of the second hydraulic cylinder, controlling the first working position DT1 to open so that the solenoid reversing valve 50 is connected to the one-way valve 40, and at the same time allowing the hydraulic oil in the rod chamber 31 of the second hydraulic cylinder to return to the hydraulic oil tank 10 through the solenoid reversing valve 50.

[0044] refer to Figure 1During the equipment assembly and commissioning, after the middle position of the left and right steering wheels is adjusted, the steering wheel is turned to the left, the controller receives the steering control signal for the walking machine, the hydraulic oil in the hydraulic oil tank 10 enters the rod chamber 21 of the first hydraulic oil cylinder, and the piston rod of the rod chamber 21 of the first hydraulic oil cylinder is telescopic. However, since there is no hydraulic oil in the rodless chambers of the two hydraulic oil cylinders at this time, the second hydraulic oil cylinder 30 will not move at this time, that is, the second hydraulic oil cylinder 30 is not in motion. Then, the first difference at this time is greater than the first preset threshold value, and the controller can control the electromagnetic reversing valve 50 to switch from the disconnected state to the first working position of the electromagnetic reversing valve 50, and the electromagnetic reversing valve 50 is connected to the check valve 40 through the first working position. Then, the hydraulic oil in the hydraulic oil tank 10 enters the rodless chamber 22 of the first hydraulic oil cylinder and the rodless chamber 32 of the second hydraulic oil cylinder through the check valve 40. At the same time, the opening of the first working position DT1 can also make the rod chamber 31 of the second hydraulic oil cylinder communicate with the hydraulic oil tank 10, so that the hydraulic oil in the rod chamber 31 of the second hydraulic oil cylinder returns to the hydraulic oil tank 10 through the electromagnetic reversing valve 50. It should be noted that the steering control signal that causes the hydraulic oil in the hydraulic oil tank 10 to enter the rod chamber 21 of the first hydraulic oil cylinder is not limited to a left signal, but can also be a right signal.

[0045] It can be understood that due to the presence of the one-way valve 40, the hydraulic oil in the rodless chamber 22 of the first hydraulic cylinder and the rodless chamber 32 of the second hydraulic cylinder will no longer flow back to the hydraulic oil tank 10 from the oil circuit of the one-way valve 40 and the electromagnetic reversing valve 50. Therefore, the rodless chambers of the first hydraulic cylinder 20 and the second hydraulic cylinder 30 form a one-way closed chamber that does not flow back the hydraulic oil. It can be understood that when the steering wheel is turned to the right, the hydraulic oil in the hydraulic oil tank 10 enters the rod chamber 31 of the second hydraulic cylinder 30. The principle can refer to the logic of turning the steering wheel to the left. Further, when the hydraulic oil that continues to flow into the rodless chamber drives the hydraulic cylinder that has not been moved to start moving, it also drives the hydraulic cylinder with a smaller stroke in the rod chamber 21 of the first hydraulic cylinder and the rodless chamber 32 of the second hydraulic cylinder to accelerate, so that the first difference between the stroke of the rod chamber 21 of the first hydraulic cylinder and the stroke of the rodless chamber 32 of the second hydraulic cylinder is less than or equal to the first preset threshold, thereby completing the steering action. Since the one-way valve 40 cannot flow in the reverse direction, the rodless chambers of the two oil cylinders are one-way closed chambers in series, and the elastic modulus of the hydraulic oil is very large and almost incompressible, so the extension stroke of one oil cylinder and the retraction stroke of the other oil cylinder can be basically consistent. In this way, there is no need to manually inject oil into the rodless chambers of the two steering cylinders and adjust the angle of the steering wheel in this way, which can reduce manual errors, improve and control the accuracy of the equipment's travel and steering, and improve the reliability, stability and operating comfort of the steering. The first preset threshold refers to the error value pre-set by the technician based on technical experience. When the first difference is less than or equal to the first preset threshold, hydraulic oil will no longer enter the two rodless chambers from the one-way valve 40, thereby improving operating efficiency.

[0046] refer to Figure 1 In one embodiment, the hydraulic control system also includes a steering valve 60, which is respectively connected to the rod chamber 31 of the second hydraulic cylinder and the hydraulic oil tank 10. When the first difference is greater than the first preset threshold, controlling the electromagnetic reversing valve 50 to be connected to the one-way valve 40 includes: when the first difference is greater than the first preset threshold and there is hydraulic oil in the rodless chamber 22 of the first hydraulic cylinder and the rodless chamber 32 of the second hydraulic cylinder, controlling the electromagnetic reversing valve 50 to be connected to the one-way valve 40; controlling the hydraulic oil 22 in the rod chamber 21 of the first hydraulic cylinder or the rod chamber of the second hydraulic cylinder to return to the hydraulic oil tank through the steering valve 60.

[0047] refer to Figure 1 In one embodiment, the solenoid reversing valve 50 includes a second working position DT2. When the first difference is greater than the first preset threshold value and hydraulic oil exists in both the rodless chamber 22 of the first hydraulic cylinder and the rodless chamber 32 of the second hydraulic cylinder, controlling the solenoid reversing valve 50 to be connected with the one-way valve 40 includes: when the first difference is greater than the first preset threshold value and hydraulic oil exists in both the rodless chamber 22 of the first hydraulic cylinder and the rodless chamber 32 of the second hydraulic cylinder, controlling the second working position DT2 to be opened to connect the solenoid reversing valve 50 with the one-way valve 40.

[0048] refer to Figure 1 In one embodiment, the hydraulic control system also includes a steering valve 60, which is connected to the hydraulic oil tank 10. The steering valve 60 includes a first working oil port L and a second working oil port R. The first working oil port L is connected to the rod chamber 21 of the first hydraulic cylinder 20, and the second working oil port R is connected to the rod chamber 31 of the second hydraulic cylinder. The steering control signal includes a left turn control signal and a right turn control signal. The controller is also configured to: when a left turn control signal is received, control the first working oil port L to open so that the hydraulic oil in the hydraulic oil tank 10 enters the rod chamber 21 of the first hydraulic cylinder; when a right turn control signal is received, control the second working oil port R to open so that the hydraulic oil in the hydraulic oil tank 10 enters the rod chamber 31 of the second hydraulic cylinder.

[0049] It can be understood that the steering valve 60 can be a steering gear or a steering control valve. The steering valve 60 is a component used to control the flow direction of oil in a hydraulic system, also known as a directional control valve or a directional valve. It is mainly used to control the flow direction of oil, thereby controlling the movement direction of the actuator. The steering valve 60 includes a first working oil port L and a second working oil port R. The first working oil port L is connected to the rod chamber 21 of the first hydraulic cylinder, and the second working oil port R is connected to the rod chamber 31 of the second hydraulic cylinder. It can be understood that the first working oil port L can also be connected to the rodless chamber 22 of the first hydraulic cylinder, and the second working oil port R can also be connected to the rodless chamber 32 of the second hydraulic cylinder. In this case, the rod chamber 21 of the first hydraulic cylinder is connected to the rod chamber 31 of the second hydraulic cylinder. The function of the first working oil port L and the second working oil port R is to open the corresponding working oil port when receiving different steering control signals, so that the hydraulic oil of the hydraulic oil tank 10 enters the hydraulic cylinder connected to the opened working oil port. The steering valve 60 can be connected to the controller, and when receiving a left turn control signal, the first working oil port L is controlled to be opened so that the hydraulic oil in the hydraulic oil tank 10 enters the rod chamber 21 of the first hydraulic cylinder. When receiving a right turn control signal, the second working oil port R is controlled to be opened so that the hydraulic oil in the hydraulic oil tank 10 enters the rod chamber 31 of the second hydraulic cylinder. When the first difference is greater than the first preset threshold value, and there is hydraulic oil in the rodless chamber 22 of the first hydraulic cylinder and the rodless chamber 32 of the second hydraulic cylinder, the second working position DT2 of the electromagnetic reversing valve 50 is controlled to be opened, so that the electromagnetic reversing valve 50 is connected to the check valve 40. However, when the second working position DT2 is opened, the rod chamber 32 of the second hydraulic cylinder is not connected to the hydraulic oil tank 10. Then, the hydraulic oil in the rod chamber 21 of the first hydraulic cylinder or the rod chamber 22 of the second hydraulic cylinder can be returned to the hydraulic oil tank through the steering valve 60, but not through the electromagnetic reversing valve 50. It avoids steering errors caused by leakage of left and right steering cylinders due to wear and aging of cylinder seals, realizes automatic detection and correction of steering stroke, and ensures that the steering accuracy meets the use requirements.

[0050] refer to Figure 1In one embodiment, the steering valve 60 further includes: a first relief valve 61, installed at the first working oil port L, the first relief valve 61 is used to limit the pressure of the hydraulic oil flowing through the first working oil port L; a second relief valve 62, installed at the second working oil port R, the second relief valve 62 is used to limit the pressure of the hydraulic oil flowing through the second working oil port R; a third relief valve 63, installed at the valve core of the steering valve 60, the third relief valve 63 is used to limit the pressure of the hydraulic oil in the valve core of the steering valve 60. The first relief valve 61, the second relief valve 62, and the third relief valve 63 are all connected to the hydraulic oil tank 10, and the hydraulic oil of the relief valve is returned to the hydraulic oil tank 10, so as to solve the problem of excessive pressure of the local hydraulic oil of the steering valve 60 and protect the steering valve 60.

[0051] refer to Figure 1 In one embodiment, the hydraulic control system also includes: a first displacement sensor A, installed on the first hydraulic cylinder 20, and the first displacement sensor A is used to detect the stroke of the first hydraulic cylinder 20; a second displacement sensor B, installed on the second hydraulic cylinder 30, and the second displacement sensor B is used to detect the stroke of the second hydraulic cylinder 30.

[0052] refer to Figure 1 , the first oil circuit: the rodless chamber 22 of the first hydraulic cylinder 20 and the rodless chamber 32 of the second hydraulic cylinder 30 are connected to the hydraulic oil tank 10 through the one-way valve 40 and the electromagnetic reversing valve 50, and the second oil circuit: the rod chamber 31 of the second hydraulic cylinder 30 is also connected to the hydraulic oil tank 10 through the electromagnetic reversing valve 50. The third oil circuit: the rod chamber 31 of the second hydraulic cylinder 30 is connected to the hydraulic oil tank 10 through the steering valve 60. The electromagnetic reversing valve 50 includes a first working position DT1 and a second working position DT2. When the first working position DT1 is turned on, the first oil circuit is connected to the oil inlet and the second oil circuit is connected to the oil return. When the second working position DT2 is turned on, the first oil circuit is connected to the oil inlet, the second oil circuit is disconnected, and the oil is returned through the third oil circuit. Specifically, when a steering control signal for a walking machine is received and there is no hydraulic oil in the rodless chamber of the first hydraulic cylinder and / or the rodless chamber of the second hydraulic cylinder, the first difference between the stroke of the first hydraulic cylinder and the stroke of the second hydraulic cylinder is greater than the first preset threshold. Then, the first working position DT1 is controlled to be opened so that the electromagnetic reversing valve 50 is connected to the first oil circuit corresponding to the one-way valve 40 for oil replenishment operation. At the same time, the first working position DT1 is opened to connect the second oil circuit so that the hydraulic oil in the rod chamber 31 returns to the hydraulic oil tank 10 through the electromagnetic reversing valve 50.

[0053] When a steering control signal for the walking machine is received and hydraulic oil exists in the rodless chamber of the first hydraulic cylinder and / or the rodless chamber of the second hydraulic cylinder, if the first difference between the stroke of the first hydraulic cylinder and the stroke of the second hydraulic cylinder is greater than the first preset threshold, the second working position DT2 is controlled to be opened so that the electromagnetic reversing valve 50 is connected to the one-way valve 40 for oil replenishment operation. The opening of the second working position DT2 also disconnects the second oil circuit, and the third oil circuit can be used for oil return, that is, the hydraulic oil in the rod chamber 31 is returned to the hydraulic oil tank 10 through the steering valve 60. In addition, after the hydraulic cylinder with a smaller stroke in the rod chamber 21 of the first hydraulic cylinder 20 and the rodless chamber 32 of the second hydraulic cylinder 30 is driven to accelerate, the walking machine is driven to complete the steering movement. The hydraulic control system also includes: a first displacement sensor A, installed on the first hydraulic cylinder 20, and the first displacement sensor A is used to detect the stroke of the first rod chamber 21; a second displacement sensor B, installed on the second hydraulic cylinder 30, and the second displacement sensor B is used to detect the stroke of the rod chamber 31 of the second hydraulic cylinder 30. Then, if in the subsequent walking and steering process, it can be detected in real time whether the first difference is greater than the first preset threshold. In this way, the steering error caused by the internal leakage of the left and right steering cylinders due to wear and aging of the cylinder seals can be reduced, and the automatic detection and correction function of the steering stroke is realized, thereby improving the steering accuracy and meeting the use requirements.

[0054] In the embodiment of the present application, the hydraulic control system further includes: a priority valve 70, which is connected to the reversing valve and the hydraulic oil tank 10 respectively, and is used to adjust the flow of hydraulic oil from the hydraulic oil tank 10 to the steering valve 60 and the electromagnetic reversing valve 50. The priority valve 70 is also connected to other circuits, and the hydraulic oil in the hydraulic oil tank 10 can flow into other circuits. A hydraulic pump 90 needs to be set between the priority valve 70 and the hydraulic oil tank 10.

[0055] refer to Figure 1 In one embodiment, the hydraulic control system also includes: a pressure reducing valve 80, which is respectively connected to the one-way valve 40 and the solenoid reversing valve 50, and is used to adjust the pressure of the hydraulic oil flowing from the one-way valve 40 to the solenoid reversing valve 50 to flow into the rodless chamber of the first hydraulic cylinder and the second hydraulic cylinder.

[0056] Figure 2 The flowchart of a hydraulic control method for a walking machine according to an embodiment of the present application is schematically shown. Figure 2 As shown, in an embodiment of the present application, a hydraulic control method for a walking machine is provided, which is applied to Figure 1 The hydraulic control system for a walking machine shown in the figure, the hydraulic control method includes the following steps.

[0057] S202: When a steering control signal for a walking machine is received, detect whether a first difference between a stroke of the first hydraulic cylinder and a stroke of the second hydraulic cylinder is greater than a first preset threshold.

[0058] S204, when the first difference is greater than the first preset threshold, control the solenoid reversing valve to be connected with the one-way valve, so that the hydraulic oil in the hydraulic oil tank enters the second hydraulic cylinder or the rodless chamber of the first hydraulic cylinder through the one-way valve for oil replenishment, so that the first difference is less than or equal to the first preset threshold.

[0059] In an embodiment of the present application, the solenoid reversing valve includes a first working position, and when the first difference is greater than the first preset threshold value, controlling the solenoid reversing valve to be connected to the one-way valve includes: when the first difference is greater than the first preset threshold value and there is no hydraulic oil in the rodless chamber of the first hydraulic cylinder and / or the rodless chamber of the second hydraulic cylinder, controlling the first working position to open to connect the solenoid reversing valve to the one-way valve, and at the same time allowing the hydraulic oil in the rod chamber of the second hydraulic cylinder to return to the hydraulic oil tank through the solenoid reversing valve.

[0060] In an embodiment of the present application, the hydraulic control system also includes a steering valve, which is respectively connected to the rod chamber of the second hydraulic cylinder and the hydraulic oil tank. When the first difference is greater than the first preset threshold, controlling the solenoid reversing valve to be connected to the one-way valve includes: when the first difference is greater than the first preset threshold and there is hydraulic oil in the rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder, controlling the solenoid reversing valve to be connected to the one-way valve; controlling the hydraulic oil in the rod chamber of the first hydraulic cylinder or the rod chamber of the second hydraulic cylinder to return to the hydraulic oil tank through the steering valve.

[0061] In an embodiment of the present application, the solenoid reversing valve includes a second working position. When the first difference is greater than the first preset threshold value and hydraulic oil exists in both the rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder, controlling the solenoid reversing valve to be connected to the one-way valve includes: when the first difference is greater than the first preset threshold value and hydraulic oil exists in both the rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder, controlling the second working position to be opened to connect the solenoid reversing valve to the one-way valve.

[0062] In an embodiment of the present application, the hydraulic control system also includes: a first displacement sensor installed on the first hydraulic cylinder, the first displacement sensor is used to detect the stroke of the first hydraulic cylinder; a second displacement sensor installed on the second hydraulic cylinder, the second displacement sensor is used to detect the stroke of the second hydraulic cylinder.

[0063] In an embodiment of the present application, the hydraulic control system also includes a steering valve, which is connected to the hydraulic oil tank. The steering valve includes a first working oil port and a second working oil port. The first working oil port is connected to the rod chamber of the first hydraulic cylinder, and the second working oil port is connected to the rod chamber of the second hydraulic cylinder. The steering control signal includes a left turn control signal and a right turn control signal. The controller is also configured to: when a left turn control signal is received, control the first working oil port to open so that the hydraulic oil in the hydraulic oil tank enters the rod chamber of the first hydraulic cylinder; when a right turn control signal is received, control the second working oil port to open so that the hydraulic oil in the hydraulic oil tank enters the rod chamber of the second hydraulic cylinder.

[0064] In an embodiment of the present application, the steering valve also includes: a first overflow valve installed at the first working oil port, the first overflow valve is used to limit the pressure of the hydraulic oil flowing through the first working oil port; a second overflow valve installed at the second working oil port, the second overflow valve is used to limit the pressure of the hydraulic oil flowing through the second working oil port; a third overflow valve installed at the valve core of the steering valve, the third overflow valve is used to limit the pressure of the hydraulic oil in the valve core of the steering valve.

[0065] In an embodiment of the present application, the hydraulic control system also includes: a priority valve, which is respectively connected to the steering valve, the solenoid reversing valve and the hydraulic oil tank, and is used to adjust the flow rate of hydraulic oil from the hydraulic oil tank to the steering valve and the solenoid reversing valve.

[0066] In an embodiment of the present application, the hydraulic control system also includes: a pressure reducing valve, which is respectively connected to the one-way valve and the solenoid reversing valve, and is used to adjust the pressure of the hydraulic oil flowing from the solenoid reversing valve to the rodless chamber of the first hydraulic cylinder and the second hydraulic cylinder.

[0067] Figure 2 FIG. 1 is a flow chart of a hydraulic control method for a walking machine in one embodiment. It should be understood that although Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0068] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned hydraulic control method for a walking machine.

[0069] The embodiment of the present application further provides a walking machine, which may include the above-mentioned hydraulic control system for the walking machine. The walking machine may be agricultural machinery equipment, specifically a sugarcane harvester.

[0070] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data for a hydraulic control method for a walking machine. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a hydraulic control method for a walking machine is implemented.

[0071] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0072] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0073] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0076] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0077] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0078] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0079] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0080] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A hydraulic control system for a walking machine, characterized in that: The hydraulic control system comprises a hydraulic oil tank, a first hydraulic oil cylinder, a second hydraulic oil cylinder, a one-way valve, an electromagnetic reversing valve and a controller. The rodless chamber of the first hydraulic oil cylinder is communicated with the rodless chamber of the second hydraulic oil cylinder and both are connected to the one-way valve. The one-way valve is connected to the electromagnetic reversing valve. The electromagnetic reversing valve is connected to the hydraulic oil tank and the controller respectively, and the electromagnetic reversing valve is usually in a disconnected state. The controller is configured as follows: In the case of receiving a steering control signal for the walking machine, detecting whether a first difference between a stroke of the first hydraulic cylinder and a stroke of the second hydraulic cylinder is greater than a first preset threshold; When the first difference is greater than the first preset threshold, the solenoid reversing valve is controlled to be connected to the one-way valve, so that the hydraulic oil in the hydraulic oil tank enters the rodless chamber of the second hydraulic cylinder or the first hydraulic cylinder through the one-way valve, so that the first difference is less than or equal to the first preset threshold.

2. The hydraulic control system for a mobile machine according to claim 1, characterized in that: The electromagnetic reversing valve includes a first working position, and when the first difference is greater than the first preset threshold, controlling the electromagnetic reversing valve to communicate with the one-way valve includes: When the first difference is greater than the first preset threshold and there is no hydraulic oil in the rodless chamber of the first hydraulic cylinder and / or the rodless chamber of the second hydraulic cylinder, the first working position is controlled to open to connect the solenoid reversing valve with the one-way valve, and at the same time, the hydraulic oil in the rod chamber of the second hydraulic cylinder returns to the hydraulic oil tank through the solenoid reversing valve.

3. The hydraulic control system for a mobile machine according to claim 1, characterized in that: The hydraulic control system further includes a steering valve, which is connected to the rod chambers of the first hydraulic cylinder and the second hydraulic cylinder and the hydraulic oil tank respectively. When the first difference is greater than the first preset threshold, controlling the electromagnetic reversing valve to communicate with the one-way valve includes: When the first difference is greater than the first preset threshold and hydraulic oil exists in the rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder, controlling the electromagnetic reversing valve to communicate with the one-way valve; The hydraulic oil in the rod chamber of the first hydraulic cylinder or the rod chamber of the second hydraulic cylinder is controlled to return to the hydraulic oil tank through the steering valve.

4. The hydraulic control system for a mobile machine according to claim 3, characterized in that: The electromagnetic reversing valve includes a second working position, and when the first difference is greater than the first preset threshold value and hydraulic oil exists in both the rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder, controlling the electromagnetic reversing valve to communicate with the one-way valve includes: When the first difference is greater than the first preset threshold and hydraulic oil exists in both the rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder, the second working position is controlled to open to connect the electromagnetic reversing valve with the one-way valve.

5. The hydraulic control system for a mobile machine according to claim 1, characterized in that: The hydraulic control system further comprises: A first displacement sensor is installed on the first hydraulic cylinder, and the first displacement sensor is used to detect the stroke of the first hydraulic cylinder; The second displacement sensor is installed on the second hydraulic cylinder, and the second displacement sensor is used to detect the stroke of the second hydraulic cylinder.

6. The hydraulic control system for a mobile machine according to claim 1, characterized in that: The hydraulic control system further includes a steering valve, the steering valve is connected to the hydraulic oil tank, the steering valve includes a first working oil port and a second working oil port, the first working oil port is connected to the rod chamber of the first hydraulic cylinder, the second working oil port is connected to the rod chamber of the second hydraulic cylinder, the steering control signal includes a left turn control signal and a right turn control signal, and the controller is further configured as follows: When receiving the left turn control signal, controlling the first working oil port to open so that the hydraulic oil in the hydraulic oil tank enters the rod chamber of the first hydraulic oil cylinder; When the right turn control signal is received, the second working oil port is controlled to open so that the hydraulic oil in the hydraulic oil tank enters the rod chamber of the second hydraulic oil cylinder.

7. The hydraulic control system for a mobile machine according to claim 6, characterized in that: The steering valve also includes: a first relief valve, installed at the first working oil port, the first relief valve being used to limit the pressure of the hydraulic oil flowing through the first working oil port; a second relief valve, installed at the second working oil port, the second relief valve being used to limit the pressure of the hydraulic oil flowing through the second working oil port; The third overflow valve is installed on the valve core of the steering valve, and the third overflow valve is used to limit the pressure of the hydraulic oil in the valve core of the steering valve.

8. The hydraulic control system for a mobile machine according to claim 6, characterized in that: The hydraulic control system further comprises: The priority valve is connected to the steering valve, the electromagnetic reversing valve and the hydraulic oil tank respectively, and is used to adjust the flow rate of the hydraulic oil from the hydraulic oil tank to the steering valve and the electromagnetic reversing valve.

9. The hydraulic control system for a mobile machine according to claim 1, characterized in that: The hydraulic control system further comprises: The pressure reducing valve is connected to the one-way valve and the electromagnetic reversing valve respectively, and is used to adjust the pressure of the hydraulic oil flowing from the electromagnetic reversing valve into the one-way valve so as to flow into the rodless chambers of the first hydraulic cylinder and the second hydraulic cylinder.

10. A walking machine, characterized in that: It comprises a hydraulic control system for a mobile machine according to any one of claims 1 to 9.

Images