Hydraulic control system for a mobile machine and mobile machine

Abstract

The application discloses a hydraulic control system for a walking machine and the walking machine. A rodless cavity of a first hydraulic cylinder and a rodless cavity of a second hydraulic cylinder of the hydraulic control system are communicated and connected with a one-way valve. The one-way valve is connected with an electromagnetic reversing valve. The electromagnetic reversing valve is connected with a hydraulic oil tank and a controller respectively. The electromagnetic reversing valve is usually in an off state. The controller is configured to: in the case that a steering control signal for the 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 value; in the case that the first difference is greater than the first preset threshold value, control the electromagnetic reversing valve to be communicated with the one-way valve, so that hydraulic oil of the hydraulic oil tank enters the rodless cavity 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 value. The above scheme can reduce manual errors and improve the steering accuracy of the equipment.

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] Currently, wheel-driven sugarcane harvesters typically use front-wheel steering. This involves operating the hydraulic steering gear to control the left and right steering cylinders to swing the front wheels to different angles for steering. Due to structural and layout limitations such as feeding, undercutting, and conveying channels, a rigid connecting rod cannot maintain consistent steering angles between the two steering wheels of a sugarcane harvester. Excessive steering angle deviation between the two steering wheels significantly impacts the overall steering reliability, stability, and operator comfort. Therefore, controlling the steering accuracy of both steering wheels is crucial. However, manual adjustment is prone to errors, and internal cylinder leakage can 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 for solving the technical problem in the prior art that the accuracy of the equipment's travel and steering is difficult to control due to manual adjustment errors and internal leakage of the oil cylinder.

[0004] To achieve the above-mentioned objectives, the present application provides, in a first aspect, a hydraulic control system for a walking machine. The hydraulic control system includes a hydraulic oil tank, a first hydraulic cylinder, a second hydraulic cylinder, a one-way valve, an electromagnetic reversing valve, and a controller. The rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder are in communication 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. The electromagnetic reversing valve is usually in a disconnected state. 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 electromagnetic reversing valve includes a first working position, and when the first difference is greater than the first preset threshold value, controlling the electromagnetic 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 so that the electromagnetic reversing valve is connected 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 electromagnetic 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 and the hydraulic oil tank of the first hydraulic cylinder and the second hydraulic cylinder. When the first difference is greater than the first preset threshold, controlling the electromagnetic reversing valve and the one-way valve to be connected 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 electromagnetic 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 electromagnetic 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 electromagnetic 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 open to connect the electromagnetic 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, and 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, and 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 further 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 flowing 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 electromagnetic reversing valve, and is used to adjust the pressure of the hydraulic oil flowing from the electromagnetic 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] The above technical solution provides a hydraulic control system for a walking machine and the walking machine, the hydraulic control system comprising a hydraulic oil tank, a first hydraulic cylinder, a second hydraulic cylinder, a one-way valve, an electromagnetic reversing valve, and a controller. The rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic 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 normally in an off state. The controller is configured to: upon receiving a steering control signal for the walking machine, detect 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; if the first difference is greater than the first preset threshold, control the electromagnetic reversing valve to communicate with the one-way valve, allowing hydraulic oil from the hydraulic oil tank to enter 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. The above solution reduces human error, controls and improves the accuracy of the equipment's travel and steering, and improves the reliability, stability, and operating comfort of the steering.

[0017] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. 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 detailed description, 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 1A structural schematic diagram of a hydraulic control system for a walking machine is shown schematically according to an embodiment of the present application.

[0020] Figure 2 A flowchart of a hydraulic control method for a walking machine is shown schematically according to an embodiment of the present application.

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

[0022] Legend of reference signs

[0023] 10 hydraulic oil tank 61 first overflow valve

[0024] 20 first hydraulic cylinder 62 second overflow valve

[0025] 21 rod cavity of first hydraulic cylinder 63 third overflow valve

[0026] 22 rodless cavity of first hydraulic cylinder L first working oil port

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

[0028] 31 rod cavity of second hydraulic cylinder 70 priority valve

[0029] 32 rodless cavity of first hydraulic cylinder CF first oil port of priority valve

[0030] 40 one-way valve LS load-sensitive oil port

[0031] 50 electromagnetic directional 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] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain and illustrate 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 those of ordinary skill in the art without creative work fall within the scope of protection of the present 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, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications 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 for descriptive purposes and cannot be understood as indicating or implying their 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 such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a 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 cylinder 20, a second hydraulic cylinder 30, a one-way valve 40, an electromagnetic reversing valve 50 and a controller. The rodless chambers between the first hydraulic cylinder 20 and the second hydraulic cylinder 30 are in communication and are both 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 connected to the hydraulic oil tank 10 and the controller respectively, and the electromagnetic reversing valve 50 is usually in a disconnected state. 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 cavity 22 of the first hydraulic cylinder 20 is connected to the rodless cavity 32 of the second hydraulic cylinder 30, or that the rod cavity 21 of the first hydraulic cylinder 20 is connected to the rod cavity 31 of the second hydraulic cylinder 30, or that the rodless cavity 22 of the first hydraulic cylinder 20 is connected to the rod cavity 31 of the second hydraulic cylinder 30, etc. There is essentially no difference in the connection method between the rod cavity and the rodless cavity 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 center position, the two steering wheels will also be in an "outward-facing" position, and the steering operation cannot be completed effectively. Then, it is necessary to control the electromagnetic reversing valve 50 to open and connect it to the one-way valve 40, so that the hydraulic oil in the hydraulic oil tank 10 enters the rodless cavity 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 opposite direction, the rodless cavities of the two cylinders are one-way closed cavities in series, and the elastic modulus of the hydraulic oil is very large and almost incompressible. Therefore, the stroke of one cylinder extending and the stroke of the other cylinder retracting can basically be consistent. In this way, there is no need to manually fill the rodless cavities of the two steering 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 travel and steering, and improve the reliability, stability and operating comfort of the steering. The first preset threshold refers to the 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 equipment assembly and commissioning, after adjusting the center position of the left and right steering wheels, turn the steering wheel to the left. The controller receives the steering control signal for the walking machine, and the hydraulic oil in the hydraulic oil tank 10 enters the rod chamber 21 of the first hydraulic cylinder, causing the piston rod of the rod chamber 21 of the first hydraulic cylinder to extend and retract. However, since the rodless chambers of both hydraulic cylinders are empty of hydraulic oil at this time, the second hydraulic cylinder 30 does not move, that is, the second hydraulic cylinder 30 is not actuated. Therefore, the first difference at this time is greater than the first preset threshold, and the controller can control the solenoid reversing valve 50 to switch from the disconnected state to the first working position of the solenoid reversing valve 50, which is open. Through the first working position, the solenoid reversing valve 50 is connected to the one-way valve 40. Then, the hydraulic oil in the hydraulic oil tank 10 enters the rodless chamber 22 of the first hydraulic cylinder and the rodless chamber 32 of the second hydraulic cylinder through the one-way valve 40. At the same time, opening the first working position DT1 also allows the rod chamber 31 of the second hydraulic cylinder to communicate with the hydraulic oil tank 10. Then, the hydraulic oil in the rod chamber 31 of the second hydraulic 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 from the hydraulic oil tank 10 to enter the rod chamber 21 of the first hydraulic cylinder is not limited to a left signal, but can also be a right signal.

[0045] As can be understood, due to the presence of the check 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 cannot flow back into the hydraulic tank 10 through the oil path connected by the check valve 40 and the solenoid reversing valve 50. Therefore, the rodless chambers of the first and second hydraulic cylinders 20 and 30 form a one-way, closed chamber that prevents hydraulic oil from flowing back. As can be understood, turning the steering wheel to the right causes hydraulic oil from the hydraulic tank 10 to enter the rod chamber 31 of the second hydraulic cylinder 30. The same principle applies to turning the steering wheel to the left. Furthermore, the continued flow of hydraulic oil into the rodless chambers causes the inactive hydraulic cylinder to begin actuating, while simultaneously accelerating the hydraulic cylinder with the smaller stroke, either the rod chamber 21 of the first hydraulic cylinder or the rodless chamber 32 of the second hydraulic cylinder. This ensures 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 a first preset threshold, thereby completing the steering maneuver. 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 basically be kept 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 electromagnetic 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 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 with the one-way valve 40 includes: when the first difference is greater than the first preset threshold value and hydraulic oil exists in 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 open so that the electromagnetic reversing valve 50 is connected 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 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 is 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 direction of oil flow in a hydraulic system, also known as a directional control valve or directional valve. It is primarily used to control the direction of oil flow, 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 is 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 in response to different steering control signals, allowing hydraulic oil from the hydraulic oil tank 10 to enter the hydraulic cylinder connected to the open working oil port. The steering valve 60 can be connected to a controller. Upon receiving a left-turn control signal, it controls the opening of the first working oil port L, allowing hydraulic oil from the hydraulic oil tank 10 to enter the rod chamber 21 of the first hydraulic cylinder. Upon receiving a right-turn control signal, it controls the opening of the second working oil port R, allowing hydraulic oil from the hydraulic oil tank 10 to enter the rod chamber 31 of the second hydraulic cylinder. When the first difference is greater than a first preset threshold and hydraulic oil is present 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 solenoid reversing valve 50 is controlled to open, connecting the solenoid reversing valve 50 to the check valve 40. However, since the second working position DT2 is open, the rod chamber 32 of the second hydraulic cylinder is disconnected from the hydraulic oil tank 10. Consequently, 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 without returning through the solenoid 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 steering accuracy meets 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, for limiting 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, for limiting the pressure of the hydraulic oil flowing through the second working oil port R; and a third relief valve 63, installed at the valve core of the steering valve 60, for limiting the pressure of the hydraulic oil within 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, returning the hydraulic oil from the relief valves to the hydraulic oil tank 10. This can resolve the problem of excessive hydraulic oil pressure in a certain area of ​​the steering valve 60 and protect the steering valve 60.

[0051] refer to Figure 1 In one embodiment, the hydraulic control system further 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 via a one-way valve 40 and a solenoid reversing valve 50. The second oil circuit: The rod chamber 31 of the second hydraulic cylinder 30 is also connected to the hydraulic oil tank 10 via the solenoid 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 via a steering valve 60. The solenoid reversing valve 50 includes a first working position DT1 and a second working position DT2. When the first working position DT1 is open, the first oil circuit is connected for oil inflow and the second oil circuit is connected for oil return. When the second working position DT2 is open, the first oil circuit is connected for oil inflow, the second oil circuit is disconnected, and oil is returned through the third oil circuit. Specifically, when a steering control signal for the mobile machine is received and the rodless chambers of the first hydraulic cylinder and / or the second hydraulic cylinder are depleted of hydraulic oil, the first difference between the strokes of the first and second hydraulic cylinders is greater than a first preset threshold. Then, the first working position DT1 is controlled to be open 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] Upon receiving a steering control signal for the mobile machine and hydraulic oil being present 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 a first preset threshold, the second working position DT2 is controlled to open, thereby connecting the solenoid reversing valve 50 to the one-way valve 40 for oil replenishment. The opening of the second working position DT2 also disconnects the second oil circuit, allowing the third oil circuit to 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. Furthermore, the hydraulic cylinder with the smaller stroke, either the rod chamber 21 of the first hydraulic cylinder 20 or the rodless chamber 32 of the second hydraulic cylinder 30, can be driven to accelerate, thereby driving the mobile machine to complete the steering movement. The hydraulic control system also includes: a first displacement sensor A, mounted on the first hydraulic cylinder 20, for detecting the stroke of the first rod chamber 21; and a second displacement sensor B, mounted on the second hydraulic cylinder 30, for detecting the stroke of the rod chamber 31 of the second hydraulic cylinder 30. Therefore, during subsequent steering operations, it is possible to detect in real time whether the first difference is greater than a first preset threshold. This reduces steering errors caused by internal leakage in the left and right steering cylinders due to wear and aging of cylinder seals, enabling automatic detection and correction of steering stroke, thereby improving steering accuracy and meeting operational requirements.

[0054] In this embodiment of the present application, the hydraulic control system further includes a priority valve 70, connected to the reversing valve and hydraulic oil tank 10, respectively, to regulate the flow of hydraulic oil from the hydraulic oil tank 10 to the steering valve 60 and the solenoid reversing valve 50. The priority valve 70 is also connected to other circuits, allowing the hydraulic oil in the hydraulic oil tank 10 to flow into other circuits. A hydraulic pump 90 is required between the priority valve 70 and the hydraulic oil tank 10.

[0055] refer to Figure 1 In one embodiment, the hydraulic control system further 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 following schematically shows a flow chart of a hydraulic control method for a walking machine according to an embodiment of the present application. 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 includes the following steps.

[0057] S202 : Upon 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.

[0058] S204, when the first difference is greater than the first preset threshold, the electromagnetic reversing valve is controlled to be connected to 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 electromagnetic reversing valve includes a first working position, and when the first difference is greater than the first preset threshold value, controlling the electromagnetic 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 so that the electromagnetic reversing valve is connected 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 electromagnetic 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 electromagnetic reversing valve and the one-way valve to be connected 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 electromagnetic 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 electromagnetic 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 electromagnetic 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 open to connect the electromagnetic 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, and 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, and the second displacement sensor is used to detect the stroke of the second hydraulic cylinder.

[0063] In the embodiment of the present application, the hydraulic control system further comprises a steering valve connected with the hydraulic oil tank, the steering valve comprising a first working oil port and a second working oil port, the first working oil port being connected with the rod cavity of the first hydraulic cylinder, the second working oil port being connected with the rod cavity of the second hydraulic cylinder, the steering control signal comprising a left-turn control signal and a right-turn control signal, the controller being further configured to: in the case of receiving the left-turn control signal, control the first working oil port to open, so that the hydraulic oil of the hydraulic oil tank enters the rod cavity of the first hydraulic cylinder; in the case of receiving the right-turn control signal, control the second working oil port to open, so that the hydraulic oil of the hydraulic oil tank enters the rod cavity of the second hydraulic cylinder.

[0064] In the embodiment of the present application, the steering valve further comprises: a first overflow valve installed at the first working oil port, the first overflow valve being 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 being used to limit the pressure of the hydraulic oil flowing through the second working oil port; and a third overflow valve installed at the spool of the steering valve, the third overflow valve being used to limit the pressure of the hydraulic oil in the spool of the steering valve.

[0065] In the embodiment of the present application, the hydraulic control system further comprises: a priority valve connected with the steering valve, the electromagnetic reversing valve and the hydraulic oil tank respectively, and used to adjust the flow of the hydraulic oil of the hydraulic oil tank flowing into the steering valve and the electromagnetic reversing valve.

[0066] In the embodiment of the present application, the hydraulic control system further comprises: a pressure reducing valve connected with the one-way valve and the electromagnetic reversing valve respectively, and used to adjust the pressure of the hydraulic oil of the electromagnetic reversing valve flowing into the one-way valve and flowing into the rodless cavities of the first hydraulic cylinder and the second hydraulic cylinder.

[0067] Figure 2 A flowchart of a hydraulic control method for a walking machine in an embodiment. It should be understood that, although the steps in the flowchart are shown in a certain order following the arrows, the steps are not necessarily executed in the order following the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in order, and the steps can be executed in other orders. Moreover, Figure 2 At least some of the steps in the flowchart can comprise multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the sub-steps or stages is not necessarily sequential, but can be alternated or alternated with at least part of other steps or sub-steps or stages of other steps. Figure 2

[0068] ​An embodiment of the present application further provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-mentioned hydraulic control method for a walking machine.

[0069] The present application also provides a walking machine, which may include the above-mentioned hydraulic control system for the walking machine. The walking machine may be agricultural machinery, 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 via 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 shown in the figure, or combine certain components, or have a different component arrangement.

[0072] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0076] In a typical configuration, a computing device includes one or more processors (CPUs), 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 includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0079] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0080] The above are merely 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 modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all 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 includes a hydraulic oil tank, a first hydraulic cylinder, a second hydraulic cylinder, a one-way valve, an electromagnetic reversing valve, and a controller. The rodless chamber of the first hydraulic cylinder and the rodless chamber of the second hydraulic cylinder are in communication and are both 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 an off state. The controller is configured as follows: Upon 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 walking 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 electromagnetic 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 electromagnetic reversing valve.

3. The hydraulic control system for a walking 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, wherein 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, mounted on the first hydraulic cylinder, and configured to detect a stroke of the first hydraulic cylinder; The second displacement sensor is installed on the second hydraulic cylinder, and 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 connected to the hydraulic oil tank, the steering valve including a first working oil port and a second working oil port, the first working oil port being connected to a rod chamber of the first hydraulic cylinder, and the second working oil port being connected to a rod chamber of the second hydraulic cylinder, the steering control signal including a left turn control signal and a right turn control signal, and the controller is further configured to: When the left turn control signal is received, the first working oil port is controlled to open so that the hydraulic oil in the hydraulic oil tank enters the rod chamber of the first hydraulic 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 cylinder.

7. The hydraulic control system for a mobile machine according to claim 6, characterized in that: The steering valve further comprises: 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; A third relief valve is installed on the valve core of the steering valve, and the third relief 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 flowing 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 to flow into the rodless chamber 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 walking machine according to any one of claims 1 to 9.

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