A harvester hydraulic control system, method, and harvester

Abstract

The application provides a harvester hydraulic control system, method and harvester. The harvester hydraulic control system comprises a walking HST, a steering valve for realizing fine steering, differential steering, single-side braking and spot steering, a gearbox, a control valve, a working device, a working pump, an engine, a controller and a hydraulic oil tank. The working device comprises a left chassis lifting oil cylinder and a right chassis lifting oil cylinder. The engine is in driving connection with the walking HST and the working pump respectively. The working pump, the walking HST and the control valve are connected with the hydraulic oil tank. The control valve is connected with the working pump. The left chassis lifting oil cylinder and the right chassis lifting oil cylinder are connected with the control valve. The walking HST and the steering valve are mounted on the gearbox. The walking HST is connected with the gearbox. The gearbox is in driving connection with the walking HST. The controller is connected with the walking HST, the steering valve and the control valve respectively.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harvester hydraulic system, and particularly relates to a harvester hydraulic control system and method and a harvester. BACKGROUND

[0002] At present, a single-side braking steering gearbox is generally used in a tracked harvester, steering load is large, steering is not smooth, and flexibility is poor; a small part of models use a wheel-side hydraulic motor or a hydraulic motor + speed reducer drive tracked scheme, cost is high, and pipelines are many; a rigid chassis is used in the chassis, and adaptability to slope operation, deep mud foot field operation and smoothness of passing through a ridge is poor; especially with the increase of labor cost, agricultural machinery cooperatives, large-scale farmers and major farms have higher demands on the tracked harvester in terms of operation efficiency and intelligence and labor saving. The traditional tracked harvester needs to be improved in terms of operation comfort, walking and steering stability, and it is difficult to meet the needs of different users and different conditions, and it is difficult to realize true lightweight, high adaptability and high cost performance.

[0003] The tracked harvester in the prior art generally uses a single-side braking steering gearbox, the tracked machine without a driver uses a wheel-side hydraulic motor or a hydraulic motor + speed reducer drive tracked scheme, and a rigid chassis is used in the chassis, and the tracked machine without a driver is matched with navigation and vehicle speed to adapt to the unmanned driving system. The single-side braking steering gearbox has large steering load, poor steering smoothness and poor flexibility; the wheel-side hydraulic motor or the hydraulic motor + speed reducer drive tracked scheme has heavy weight, high cost and many pipelines; and the rigid chassis has poor adaptability to slope operation, deep mud foot field operation and smoothness of passing through a ridge. SUMMARY

[0004] The present application solves the technical problems in the prior art and provides a harvester hydraulic control system, method and harvester.

[0005] The technical scheme for solving the above technical problems is as follows: a harvester hydraulic control system, comprising: a walking HST, a steering valve for realizing fine steering, differential steering, single-side braking and in-place steering, a gearbox, a control valve, a working device, a working pump, an engine, a controller and a hydraulic oil tank, the working device comprising: a left chassis lifting oil cylinder and a right chassis lifting oil cylinder, the engine being in driving connection with the walking HST and the working pump respectively, the working pump, the walking HST and the control valve being connected with the hydraulic oil tank through pipelines, the control valve being connected with the working pump through a pipeline, the left chassis lifting oil cylinder and the right chassis lifting oil cylinder being connected with the control valve through pipelines, the walking HST and the steering valve being installed on the gearbox, the walking HST being connected with the gearbox through a pipeline, the gearbox being in driving connection with the walking HST, and the controller being connected with the walking HST, the steering valve and the control valve respectively.

[0006] The beneficial effects of the technical scheme are as follows: the walking HST+steering valve mode is adopted to reduce weight, load and cost. The chassis can be lifted or height-adjusted and can steer in place with a small turning radius, so that the adaptability to slope operation, deep-mud field operation and smoothness of passing through a ridge is good. The problems of large steering load, poor flexibility, heavy weight and high cost in the prior art are solved, and the problems of poor adaptability to slope operation, deep-mud field operation and smoothness of passing through a ridge are solved.

[0007] Further, the controller is connected with a first pressure sensor for detecting forward pressure of the walking HST, a second pressure sensor for detecting reverse pressure of the walking HST, a first angle sensor for detecting a left chassis angle, a second angle sensor for detecting a right chassis angle, a vehicle body posture sensor for detecting a vehicle body posture, a temperature sensor for detecting oil temperature, a Beidou navigation and a rotational speed sensor for detecting vehicle speed, and the first pressure sensor and the second pressure sensor are connected with pressure measuring openings of the walking HST through pipelines respectively.

[0008] The beneficial effects of the further technical scheme are as follows: through real-time matching of the chassis lifting angle sensor and the vehicle body posture sensor, and real-time matching of the vehicle speed and the Beidou navigation, the working quality and efficiency are improved, the user's operation comfort, stable walking and steering, high cost performance and high adaptability are met, the mechanical structure is simple, the energy consumption is low, and the weight is light. The controller reads the vehicle speed through the speed sensor, reads the walking pressure through the first pressure sensor and the second pressure sensor, controls the displacement of the walking pump and the walking motor of the walking HST through the walking control strategy, switches the small displacement of the walking motor when the pressure is low, and vice versa. When the speed is low, the large displacement of the walking pump is switched, and vice versa. The vehicle speed is automatically controlled. When the short-distance transfer is performed, the small displacement of the walking motor can be automatically or manually switched, the working efficiency is improved, and the energy consumption is saved. Through the Beidou navigation and the steering valve, automatic control of unmanned driving is realized. The controller controls the left and right chassis lifting cylinders through reading the vehicle body posture sensor signal, and realizes automatic leveling closed-loop control of the chassis lifting through reading the first and second angle sensor signals. In special working conditions, manual control can be performed to improve the working comfort and passability. The controller reads the oil temperature through the temperature sensor and sends it to the ECU. When the set temperature value is reached, the Y17 of the fan back blowing valve is powered on to execute the fan back blowing command. When the oil temperature does not reach the set value, the back blowing action is executed according to the set time interval. When the oil temperature is lower than a certain set value, the fan back blowing valve does not work and does not execute the reversing action.

[0009] Further, the walking HST comprises a walking pump, an oil supplement overflow valve, a first high-pressure overflow valve, a second high-pressure overflow valve, an oil supplement pump, a steering pump, a walking motor, a variable motor control valve and a variable pump control valve. The walking pump is in transmission connection with the engine. The walking pump is in transmission connection with the oil supplement pump and the steering pump. The oil supplement overflow valve is connected with the variable motor control valve and the variable pump control valve respectively. The first high-pressure overflow valve and the second high-pressure overflow valve are connected with the walking pump, the hydraulic oil tank, the steering pump and the walking motor through pipelines respectively. The steering pump is connected with the gearbox and the steering valve through pipelines respectively. The walking motor is in transmission connection with the gearbox. The variable motor control valve is connected with the walking motor and the variable pump control valve through pipelines respectively. The variable pump control valve is connected with the walking pump through a pipeline.

[0010] The beneficial effects of the further technical scheme are as follows: when the walking and steering system is working, the walking HST is a closed system, a supplemental oil pump and a steering pump are connected in series on a pump shaft of the walking HST, the supplemental oil pump sucks oil from the hydraulic oil tank through a second oil suction filter, and the oil enters the walking HST to complete a control action and supplement leakage; the steering pump sucks oil from a housing of the gearbox through a steering oil suction filter and a steering radiator, and the oil enters a steering valve through a steering filter. The walking pump can realize stepless control of displacement through a variable pump control valve, and the walking motor can realize stepless or multi-point control of displacement through a variable motor control valve. The controller reads vehicle speed through a speed sensor, reads walking pressure through first and second pressure sensors, controls the displacement of the walking pump and the walking motor of the walking HST through a walking control strategy, switches the walking motor to a small displacement when the pressure is low, and vice versa; switches the walking pump to a large displacement when the speed is low, and vice versa, to realize automatic control of vehicle speed, automatically or manually switch the walking motor to a small displacement during short-distance transfer, improve work efficiency, and save energy and reduce consumption; and realize automatic control of unmanned driving through joint Beidou navigation and the steering valve.

[0011] Further, the supplemental oil pump is connected with a fan backflush valve or a proportional electromagnetic valve through a pipeline, the fan backflush valve or the proportional electromagnetic valve is connected with a hydraulic reversing fan for cooling the engine and an ECU, the hydraulic reversing fan is located at an end of the engine, the ECU is connected with the controller, and the supplemental oil overflow valve is connected with the fan backflush valve or the proportional electromagnetic valve through a pipeline.

[0012] The beneficial effects of the further technical scheme are as follows: when the walking and steering system is working, the walking HST is a closed system, a supplemental oil pump and a steering pump are connected in series on a pump shaft of the walking HST, the supplemental oil pump sucks oil from the hydraulic oil tank through a second oil suction filter, and the oil enters the walking HST to complete a control action and supplement leakage; the steering pump sucks oil from a housing of the gearbox through a steering oil suction filter and a steering radiator, and the oil enters a steering valve through a steering filter. The controller reads vehicle speed through a speed sensor, reads walking pressure through first and second pressure sensors, controls the displacement of the walking pump and the walking motor of the walking HST through a walking control strategy, switches the walking motor to a small displacement when the pressure is low, and vice versa; switches the walking pump to a large displacement when the speed is low, and vice versa, to realize automatic control of vehicle speed, automatically or manually switch the walking motor to a small displacement during short-distance transfer, improve work efficiency, and save energy and reduce consumption; and realize automatic control of unmanned driving through joint Beidou navigation and the steering valve.

[0013] Further, the steering valve comprises an overflow valve, an unloading valve, a right clutch solenoid valve, a left clutch solenoid valve, a proportional pressure reducing valve and a steering switch valve, the gearbox comprises a housing, a left clutch, a right clutch, a steering clutch and a soft clutch, the overflow valve is connected with the housing, the traveling HST, the unloading valve and the right clutch solenoid valve through pipelines respectively, the unloading valve is connected with the housing, the traveling HST and the right clutch solenoid valve through pipelines respectively, the right clutch solenoid valve is connected with the left clutch solenoid valve, the steering switch valve, the housing and the right clutch through pipelines respectively, the left clutch solenoid valve is connected with the housing and the left clutch through pipelines respectively, the proportional pressure reducing valve is connected with the housing, the steering switch valve, the left clutch and the right clutch through pipelines respectively, and the steering switch valve is connected with the housing, the steering clutch and the soft clutch through pipelines respectively.

[0014] The beneficial effects of the above further technical solutions are as follows: when not steering, Y1 of the unloading valve is powered on; when fine-tuning steering, Y3 of the right clutch solenoid valve or Y2 of the left clutch solenoid valve is powered on; when differential steering, Y4 of the proportional pressure reducing valve and Y2 of the left clutch solenoid valve or Y3 of the right clutch solenoid valve are powered on; when single-side braking and spot steering, Y4 of the proportional pressure reducing valve, Y5 of the steering switch valve and Y2 of the left clutch solenoid valve or Y3 of the right clutch solenoid valve are powered on; when single-side braking, the steering clutch pressure is low, and there is no power output.

[0015] Further, the traveling HST is an electrically controlled stepless speed regulating type traveling HST, and the steering valve is an electrically controlled steering valve.

[0016] The beneficial effects of the above further technical solutions are as follows: the steering valve is electrically controlled, and through cooperation with the gearbox, fine-tuning steering, differential steering, single-side braking and spot steering four steering modes can be realized, the spot steering function is realized, and various operation conditions are adapted. The traveling HST is an electrically controlled stepless speed regulating type, the traveling pump can realize stepless control of displacement through a variable pump control valve, and the traveling motor can realize stepless or multi-point control of displacement through a variable motor control valve.

[0017] Further, the control valve comprises a main overflow valve, an enable valve, a header priority valve, a header overflow valve, a header up proportional valve, a pressure compensator, a header down proportional valve, a right chassis lift proportional valve, a plurality of hydraulic locks, a left chassis lift proportional valve, a reel control valve and a grain unloading control valve, two ends of the main overflow valve and two ends of the enable valve are connected with the working pump and the hydraulic oil tank through pipelines respectively, a 1 port of the header priority valve is connected with the working pump through a pipeline, a 2 port of the header priority valve is connected with the header up proportional valve through a pipeline, a 3 port of the header priority valve is connected with the right chassis lift proportional valve, the left chassis lift proportional valve, the reel control valve and the grain unloading control valve through pipelines respectively, two ends of the header overflow valve are connected with the header priority valve and the hydraulic oil tank through pipelines respectively, the header down proportional valve is connected with the hydraulic oil tank through the pressure compensator; the working device comprises a grain unloading oil cylinder, a reel oil cylinder and a header oil cylinder, the grain unloading control valve is connected with the grain unloading oil cylinder through the hydraulic lock, the reel control valve is connected with the reel oil cylinder through the hydraulic lock, the left chassis lift proportional valve is connected with the left chassis lift oil cylinder through the hydraulic lock, the right chassis lift proportional valve is connected with the right chassis lift oil cylinder through the hydraulic lock, the header up proportional valve and the header down proportional valve are connected with the header oil cylinder through pipelines.

[0018] The beneficial effects of the further technical scheme are: when the working device works, the working pump sucks oil from the hydraulic oil tank through the first oil suction filter, and then enters the P port of the control valve through the first filter; when the working device does not work, the oil is returned to the hydraulic oil tank from the T port through the enable valve; when the working device works, the enable valve is powered to switch the function; when the header is lifted, the oil is distributed according to the opening of the header lifting proportional valve through the header priority valve; the flow of the 2 port of the header priority valve is preferentially passed through the header lifting proportional valve to enter the header cylinder, so that the header is lifted; the rest of the flow is passed through the 3 port of the header priority valve to enter the subsequent working valve, and the header cylinder can realize compound action with the right chassis lifting cylinder, the left chassis lifting cylinder, the reel cylinder and the unloading cylinder; when the header is lowered, the header lowering proportional valve is powered to control the lowering speed by controlling the valve opening through the current; the oil is returned to the tank from the T port through the header lowering proportional valve and the pressure compensator, and the pressure compensator keeps the pressure difference before and after the header lowering proportional valve constant, thereby improving the stability of the header lowering speed; when other working devices work and the header does not work, the oil is passed through the 3 port of the header priority valve to enter the corresponding executing element to complete the corresponding action through the right chassis lifting proportional valve or the left chassis lifting proportional valve or the reel control valve or the unloading control valve. The controller controls the left chassis lifting cylinder and the right chassis lifting cylinder by reading the vehicle body posture sensor signal, and realizes closed-loop control of automatic leveling of the chassis lifting by reading the first angle sensor signal and the second angle sensor signal; in special working conditions, manual control can be realized to improve the operation comfort and passability. Hydraulic locks are arranged on the control valve oil paths corresponding to the right chassis lifting cylinder, the left chassis lifting cylinder, the reel cylinder and the unloading cylinder to prevent static settlement from exceeding the standard.

[0019] Further, a first filter is arranged on the pipeline between the control valve and the working pump, a first oil suction filter is arranged on the pipeline between the working pump and the hydraulic oil tank, a first radiator, a second oil suction filter, a steering oil suction filter and a steering radiator are arranged on the pipeline between the traveling HST and the hydraulic oil tank, a hydraulic oil tank breather is arranged on the hydraulic oil tank, a transmission breather is arranged on the transmission, and a steering filter is arranged on the pipeline between the traveling HST and the steering valve.

[0020] The beneficial effects of the further technical scheme are: the filter and the oil suction filter are used to filter impurities in the oil to prevent impurities from entering the system and improve the stability and reliability of the system. The radiator is used for oil heat dissipation to prevent the oil from overheating. The breather is used for the oil tank and the transmission to ventilate with the outside.

[0021] In addition, the present application also provides a harvester comprising the above-mentioned hydraulic control system.

[0022] In addition, the application also provides a harvester hydraulic control method based on the above-mentioned harvester hydraulic control system, the harvester hydraulic control method comprising: when the working device is working, the working pump is driven by the engine to suck oil from the hydraulic oil tank and deliver to the control valve, the controller controls the control valve to distribute the oil to the working device, so that the working device works; when the walking and steering, the walking HST is driven by the engine to suck oil from the gearbox and deliver to the steering valve, the controller controls the steering valve to distribute the oil to the gearbox, to realize fine steering, differential steering, single side braking and spot steering work.

[0023] Advantages of the additional aspects of the application will be in part apparent from the following description, will in part be apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained from these drawings without creative labor.

[0025] Figure 1 The structure schematic diagram of the harvester hydraulic control system provided by the embodiment of the application is shown.

[0026] Figure 2 The structure schematic diagram of the harvester hydraulic control system provided by the embodiment of the application is shown.

[0027] Figure 3 The structure schematic diagram of the harvester hydraulic control system provided by the embodiment of the application is shown.

[0028] Figure 4 The structure schematic diagram of the harvester hydraulic control system provided by the embodiment of the application is shown.

[0029] Figure 5 The steering control action schematic diagram of the harvester hydraulic control system provided by the embodiment of the application is shown.

[0030] Figure 6 The steering control action schematic diagram of the harvester hydraulic control system provided by the embodiment of the application is shown.

[0031] Figure 7 The steering control action schematic diagram of the harvester hydraulic control system provided by the embodiment of the application is shown.

[0032] Figure 8 The steering control action schematic diagram of the harvester hydraulic control system provided by the embodiment of the application is shown.

[0033] BRIEF DESCRIPTION OF DRAWINGS 1, walking HST; 2, steering valve; 3, gearbox; 4, control valve; 5, unloading cylinder; 6, reel cylinder; 7, first angle sensor; 8, left chassis lifting cylinder; 9, vehicle body posture sensor; 10, second angle sensor; 11, right chassis lifting cylinder; 12, header cylinder; 13, hydraulic reversing fan; 14, fan backflush valve; 15, first filter; 16, working pump; 17, first oil suction filter; 18, engine; 19, ECU; 20, controller; 21, temperature sensor; 22, Beidou navigation; 23, first radiator; 24, hydraulic oil tank; 25, hydraulic oil tank breather; 26, second oil suction filter; 27, steering oil suction filter; 28, steering radiator; 29, gearbox breather; 30, steering filter; 31, speed sensor. 1-1, walking pump; 1-2, oil supplement overflow valve; 1-3, first high pressure overflow valve; 1-4, second high pressure overflow valve; 1-5, oil supplement pump; 1-6, steering pump; 1-7, walking motor; 1-8, variable motor control valve; 1-9, variable pump control valve; 1-10, first pressure sensor; 1-11, second pressure sensor; 2-1, overflow valve; 2-2, unloading valve; 2-3, right clutch solenoid valve; 2-4, left clutch solenoid valve; 2-5, proportional pressure reducing valve; 2-6, steering switching valve; 3-1, housing; 3-2, left clutch; 3-3, right clutch; 3-4, steering clutch; 3-5, soft clutch; 4-1, main overflow valve; 4-2, enable valve; 4-3, header priority valve; 4-4, header overflow valve; 4-5, header lifting proportional valve; 4-6, pressure compensator; 4-7, header lowering proportional valve; 4-8, right chassis lifting proportional valve; 4-9, hydraulic lock; 4-10, left chassis lifting proportional valve; 4-11, reel control valve; 4-12, unloading control valve. DETAILED DESCRIPTION

[0034] The principles and features of the present application are described below in conjunction with the accompanying drawings, in which the embodiments are shown for the purpose of explanation only and are not intended to limit the scope of the present application.

[0035] In order 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 in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings herein can be arranged and designed in various different configurations.

[0036] The following detailed description of embodiments of the application in the drawings provided is not intended to limit the scope of the application claimed, but merely represents selected embodiments of the application. Based upon the embodiments of the application, all other embodiments obtained by those of ordinary skill in the art without having to make creative efforts fall within the scope of the application.

[0037] It should be noted that similar reference numbers and letters refer to similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0038] In the description of the embodiments of the application, it should be noted that if the terms "upper", "lower", "horizontal", "inner" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, and are only used to facilitate the description of the application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0039] In the description of the embodiments of the application, it should also be noted that unless otherwise explicitly specified and limited, if the terms "set", "mount", "connected", "connected" appear, they should be understood in a broad sense, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium; can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0040] As Figures 1 to 4As shown, this embodiment of the invention provides a hydraulic control system for a harvester, including: a travel HST1, a steering valve 2 for fine-tuning steering, differential steering, single-sided braking, and stationary steering, a gearbox 3, a control valve 4, a working device, a working pump 16, an engine 18, a controller 20, and a hydraulic oil tank 24. The working device includes: a left chassis lifting cylinder 8 and a right chassis lifting cylinder 11. The engine 18 is connected to the travel HST1 and the working pump 16 respectively. The working pump 16, the travel HST1, and the... Control valve 4 is connected to the hydraulic oil tank 24 via pipelines. Control valve 4 is connected to the working pump 16 via pipelines. The left chassis lifting cylinder 8 and the right chassis lifting cylinder 11 are both connected to control valve 4 via pipelines. The travel HST1 and the steering valve 2 are both mounted on the gearbox 3. The travel HST1 is connected to the gearbox 3 via pipelines. The gearbox 3 is connected to the travel HST1 via transmission. The controller 20 is connected to the travel HST1, the steering valve 2, and the control valve 4 respectively.

[0041] The beneficial effects of adopting the technical solution of this invention are: by using the HST (Hardware Steering) system with a steering valve, weight, load, and cost are reduced. The chassis can be raised or lowered, and can turn on the spot with a small turning radius, thus providing better adaptability for operations on slopes, in deep muddy fields, and for smooth crossing of embankments. This solves the problems of high steering load, poor flexibility, heavy weight, and high cost associated with existing technologies, while also addressing the poor adaptability for operations on slopes, in deep muddy fields, and for smooth crossing of embankments.

[0042] The steering valve 2 is installed on the gearbox 3 and controls the engagement and disengagement of the various clutches in the gearbox 3 through the oil passage on the mounting surface.

[0043] The steering valve 2 can be connected to the travel HST1 via a pipeline. Specifically, the steering valve 2 is installed on one side of the gearbox 3, and the travel HST1 is installed on the other side. A steering pump is connected in series with the travel HST1, and the steering pump is connected to the steering valve 2 via a pipeline to supply oil to the steering valve 2.

[0044] like Figures 1 to 4As shown, further, the controller 20 is connected with a first pressure sensor 1-10 for detecting the forward pressure of the walking HST 1, a second pressure sensor 1-11 for detecting the reverse pressure of the walking HST 1, a first angle sensor 7 for detecting the left chassis angle, a second angle sensor 10 for detecting the right chassis angle, a vehicle body posture sensor 9 for detecting the vehicle body posture, a temperature sensor 21 for detecting the oil temperature, a Beidou navigation 22, and a rotation speed sensor 31 for detecting the vehicle speed, the first pressure sensor 1-10 and the second pressure sensor 1-11 are connected with the pressure measuring ports of the walking HST 1 through pipelines respectively.

[0045] The beneficial effects of the above further technical solutions are: through real-time matching of the chassis lifting angle sensor and the vehicle body posture sensor, real-time matching of the vehicle speed and the Beidou navigation, the working quality and the working efficiency are improved, the user's operation comfort, walking steering stability, high cost performance and high adaptability are met, the mechanical structure is simple, the energy consumption is low, and the weight is light. The controller reads the vehicle speed through the rotation speed sensor, reads the walking pressure through the first pressure sensor and the second pressure sensor, controls the displacement of the walking pump and the walking motor of the walking HST through the walking control strategy, switches the small displacement of the walking motor when the pressure is low, and vice versa. Switch the large displacement, switch the large displacement of the walking pump when the rotation speed is low, and vice versa. Realize automatic control of vehicle speed, when short distance transfer, can automatically or manually switch the small displacement of the walking motor, improve the working efficiency, save energy and reduce consumption; through the combination of Beidou navigation and steering valve, realize unmanned automatic control. The controller controls the left and right chassis lifting cylinders by reading the vehicle body posture sensor signal, realizes the closed-loop control of automatic leveling of the chassis lifting by reading the first angle sensor and the second angle sensor signal; manual control can be realized in special working conditions, improve the operation comfort and passability. The controller reads the oil temperature through the temperature sensor and sends it to the ECU. When the set temperature value is reached, Y17 of the fan back blowing valve 14 is powered on to execute the fan back blowing command; when the oil temperature does not reach the set value, the back blowing action is executed according to the set time interval; when the oil temperature is lower than a certain set value, the fan back blowing valve 14 does not work and does not execute the reversing action.

[0046] Among them, the Beidou navigation 22 is used for navigation, and the role of navigation is to provide the input of trajectory for unmanned driving. The Beidou navigation 22 is installed on the outside of the roof of the cab. The navigation input trajectory, such as wanting to walk in a straight line, the navigation prompts deviation, then the steering valve 2 can act to correct the driving trajectory. Automatic control method: according to the user's preset trajectory planning route, the navigation as input, the steering valve 2 adjusts the whole vehicle steering in real time according to the input to match the driving trajectory.

[0047] As shown in the figure, the controller 20 is connected with a first pressure sensor 1-10 for detecting the forward pressure of the walking HST 1, a second pressure sensor 1-11 for detecting the reverse pressure of the walking HST 1, a first angle sensor 7 for detecting the left chassis angle, a second angle sensor 10 for detecting the right chassis angle, a vehicle body posture sensor 9 for detecting the vehicle body posture, a temperature sensor 21 for detecting the oil temperature, a Beidou navigation 22, and a rotation speed sensor 31 for detecting the vehicle speed, the first pressure sensor 1-10 and the second pressure sensor 1-11 are connected with the pressure measuring ports of the walking HST 1 through pipelines respectively. Figures 1 to 4As shown, further, the traveling HST 1 comprises a traveling pump 1-1, an oil supplement overflow valve 1-2, a first high-pressure overflow valve 1-3, a second high-pressure overflow valve 1-4, an oil supplement pump 1-5, a steering pump 1-6, a traveling motor 1-7, a variable motor control valve 1-8, and a variable pump control valve 1-9, the traveling pump 1-1 is in driving connection with the engine 18, the traveling pump 1-1 is in driving connection with the oil supplement pump 1-5 and the steering pump 1-6, the oil supplement overflow valve 1-2 is connected with the variable motor control valve 1-8 and the variable pump control valve 1-9 respectively, the first high-pressure overflow valve 1-3 and the second high-pressure overflow valve 1-4 are both connected with the traveling pump 1-1, the hydraulic oil tank 24, the steering pump 1-6 and the traveling motor 1-7 through pipelines respectively, the steering pump 1-6 is connected with the gearbox 3 and the steering valve 2 through pipelines respectively, the traveling motor 1-7 is in driving connection with the gearbox 3, the variable motor control valve 1-8 is connected with the traveling motor 1-7 and the variable pump control valve 1-9 through pipelines respectively, and the variable pump control valve 1-9 is connected with the traveling pump 1-1 through a pipeline.

[0048] The beneficial effects of the above further technical solutions are: when the traveling and steering system is working, the traveling HST is a closed system, the pump shaft of the traveling HST is connected in series with the oil supplement pump and the steering pump, the oil supplement pump absorbs oil from the hydraulic oil tank through the second oil suction filter, and then the oil enters the traveling HST to complete the control action and supplement the leakage; the steering pump absorbs oil from the housing of the gearbox through the steering oil suction filter and the steering radiator, and then the oil enters the steering valve through the steering filter. The traveling pump can realize stepless control of displacement through the variable pump control valve, and the traveling motor can realize stepless or multi-point control of displacement through the variable motor control valve. The controller reads the vehicle speed through the speed sensor, reads the traveling pressure through the first and second pressure sensors, controls the displacement of the traveling pump and the traveling motor of the traveling HST through the traveling control strategy, switches the small displacement of the traveling motor when the pressure is low, and vice versa; switches the large displacement when the speed is low, and vice versa, to realize automatic control of vehicle speed, and automatically or manually switch the small displacement of the traveling motor during short-distance transfer to improve work efficiency and save energy.

[0049] As shown in Figures 1 to 4 Further, the oil supplement pump 1-5 is connected with a fan backflush valve 14 or a proportional electromagnetic valve through a pipeline, the fan backflush valve 14 or the proportional electromagnetic valve is connected with a hydraulic reversing fan 13 for cooling the engine 18 and an ECU 19, the hydraulic reversing fan 13 is located at the end of the engine 18, the ECU 19 is connected with the controller 20, and the oil supplement overflow valve 1-2 is connected with the fan backflush valve 14 or the proportional electromagnetic valve through a pipeline.

[0050] The beneficial effects of the further technical solutions are: when the walking steering system is working, the walking HST is a closed system, the pump shaft of the walking HST is connected in series with the oil supplement pump and the steering pump, the oil supplement pump absorbs oil from the hydraulic oil tank through the second oil suction filter, part of the oil enters the walking HST to complete the control action and supplement the leakage, and the other part of the oil enters the hydraulic reversing fan through the fan back blowing valve 14 to realize the reversing of the hydraulic reversing fan and complete the back blowing action; the steering pump absorbs oil from the housing of the gearbox through the steering oil suction filter and the steering radiator, and enters the steering valve through the steering filter. The controller reads the oil temperature through the temperature sensor and sends it to the ECU. When the set temperature value is reached, the Y17 of the fan back blowing valve 14 is powered on to execute the fan back blowing command; when the oil temperature does not reach the set value, the back blowing action is executed according to the set time interval; when the oil temperature is lower than a certain set value, the fan back blowing valve 14 does not work and the reversing action is not executed. The fan back blowing valve 14 can be replaced with a proportional electromagnetic valve, and a flow meter is added behind the valve to collect the output flow signal, so as to realize stepless speed control of the hydraulic reversing fan by controlling the output flow, thereby saving energy and reducing consumption.

[0051] Among them, the first pressure sensor 1-10 and the second pressure sensor 1-11 respectively detect the walking pressure of the walking HST1 forward and backward, and are installed on the pressure measuring port of the walking HST1. When the pressure is low, the small displacement of the walking motor 1-7 is switched, and vice versa. When the speed is low, the large displacement of the walking pump 1-1 is switched, and vice versa. When the short distance is transferred, the small 1-7 displacement of the walking motor can be automatically or manually switched. The size of the motor displacement is the internal structure, and the industry has a consensus. As for how big and how small, it is determined by pressure and speed. The hydraulic reversing fan 13 is the cooling fan of the engine, which is at the end of the engine to cool the engine.

[0052] As Figures 1 to 4As shown, further, the steering valve 2 includes: an overflow valve 2-1, an unloading valve 2-2, a right clutch solenoid valve 2-3, a left clutch solenoid valve 2-4, a proportional pressure reducing valve 2-5, and a steering switch valve 2-6, the gearbox 3 includes: a housing 3-1, a left clutch 3-2, a right clutch 3-3, a steering clutch 3-4, and a soft clutch 3-5, the overflow valve 2-1 is connected with the housing 3-1, the walking HST, the unloading valve 2-2, and the right clutch solenoid valve 2-3 through pipelines respectively, the unloading valve 2-2 is connected with the housing 3-1, the walking HST1, and the right clutch solenoid valve 2-3 through pipelines respectively, the right clutch solenoid valve 2-3 is connected with the left clutch solenoid valve 2-4, the steering switch valve 2-6, the housing 3-1, and the right clutch 3-3 through pipelines respectively, the left clutch solenoid valve 2-4 is connected with the housing 3-1 and the left clutch 3-2 through pipelines respectively, the proportional pressure reducing valve 2-5 is connected with the housing 3-1, the steering switch valve 2-6, the left clutch 3-2, and the right clutch 3-3 through pipelines respectively, and the steering switch valve 2-6 is connected with the housing 3-1, the steering clutch 3-4, and the soft clutch 3-5 through pipelines respectively.

[0053] The beneficial effects of the above further technical solutions are: when not steering, Y1 of the unloading valve is powered on; when fine tuning steering, Y3 of the right clutch solenoid valve or Y2 of the left clutch solenoid valve is powered on; when differential steering, Y4 of the proportional pressure reducing valve and Y2 of the left clutch solenoid valve or Y3 of the right clutch solenoid valve are powered on; when single-side braking and spot steering, Y4 of the proportional pressure reducing valve, Y5 of the steering switch valve, and Y2 of the left clutch solenoid valve or Y3 of the right clutch solenoid valve are powered on; when single-side braking, the steering clutch pressure is low, and there is no power output. Among them, the transmission shaft corresponding to the steering clutch 3-4, the power is input from the walking HST1, the output end is the transmission shaft, and finally corresponds to the track drive wheel.

[0054] Among them, the steering clutch and the soft clutch are also clutches inside the gearbox. The soft clutch is combined, which can weaken the speed of the outside (such as left turn, or right side) transmission shaft through the transmission shaft, to realize slow steering; the steering clutch is combined, which can weaken the speed of the outside or reverse the direction of the transmission shaft (the pressure increases to realize it), to realize single-side braking or spot steering.

[0055] The unloading valve 2-2 is powered on, there is no steering action, and the oil is returned directly. The right clutch solenoid valve 2-3 or the left clutch solenoid valve 2-4 is powered on, the separation of the left and right clutches (the right clutch 3-3 and the left clutch 3-2) of the gearbox is realized, and at the same time, the left side or the right side loses power, to realize fine tuning steering.

[0056] When the proportional pressure reducing valve 2-5, the right clutch solenoid valve 2-3 or the left clutch solenoid valve 2-4 is powered, the left side or the right side loses power, the soft clutch 3-5 is combined, and the speed of the transmission shaft on the outside (for example, the left side or the right side) can be weakened to realize slow (differential) steering.

[0057] When the proportional pressure reducing valve 2-5, the steering switch valve 2-6, the right clutch solenoid valve 2-3 or the left clutch solenoid valve 2-4 is powered, the left side or the right side loses power, the steering clutch 3-4 is combined, and the speed of the transmission shaft on the outside can be weakened or the direction of the transmission shaft is opposite (the pressure is increased to realize), thereby realizing one-sided braking or spot steering.

[0058] Further, the walking HST 1 is an electrically controlled stepless speed regulation type walking HST, and the steering valve 2 is an electrically controlled steering valve.

[0059] The beneficial effects of the above further technical solutions are that the steering valve is electrically controlled, and through cooperation with the gearbox, four steering modes of fine-tuning steering, differential steering, one-sided braking and spot steering can be realized, the spot steering function is realized, and various operation conditions are adapted. The walking HST is an electrically controlled stepless speed regulation type, the walking pump can realize stepless control of the displacement through the variable pump control valve, and the walking motor can realize stepless or multi-point control of the displacement through the variable motor control valve.

[0060] As Figures 1 to 4As shown, further, the control valve 4 includes: a main overflow valve 4-1, an enable valve 4-2, a header priority valve 4-3, a header overflow valve 4-4, a header raise proportional valve 4-5, a pressure compensator 4-6, a header lower proportional valve 4-7, a right chassis lift proportional valve 4-8, a plurality of hydraulic locks 4-9, a left chassis lift proportional valve 4-10, a reel control valve 4-11, and a grain tank control valve 4-12, both ends of the main overflow valve 4-1 and both ends of the enable valve 4-2 are connected with the working pump 16 and the hydraulic oil tank 24 through pipelines respectively, the 1 port of the header priority valve 4-3 is connected with the working pump 16 through a pipeline, the 2 port of the header priority valve 4-3 is connected with the header raise proportional valve 4-5 through a pipeline, the 3 port of the header priority valve 4-3 is connected with the right chassis lift proportional valve 4-8, the left chassis lift proportional valve 4-10, the reel control valve 4-11, and the grain tank control valve 4-12 through pipelines respectively, both ends of the header overflow valve 4-4 are connected with the header priority valve 4-3 and the hydraulic oil tank 24 through pipelines respectively, the header lower proportional valve 4-7 is connected with the hydraulic oil tank 24 through the pressure compensator 4-6; the working device includes: a grain tank oil cylinder 5, a reel oil cylinder 6, and a header oil cylinder 12, the grain tank control valve 4-12 is connected with the grain tank oil cylinder 5 through the hydraulic lock 4-9, the reel control valve 4-11 is connected with the reel oil cylinder 6 through the hydraulic lock 4-9, the left chassis lift proportional valve 4-10 is connected with the left chassis lift oil cylinder 8 through the hydraulic lock 4-9, the right chassis lift proportional valve 4-8 is connected with the right chassis lift oil cylinder 11 through the hydraulic lock 4-9, the header raise proportional valve 4-5 and the header lower proportional valve 4-7 are connected with the header oil cylinder 12 through pipelines.

[0061] The beneficial effects of the further technical scheme are: when the working device works, the working pump sucks oil from the hydraulic oil tank through the first oil suction filter, and then enters the P port of the control valve through the first filter; when the working device does not work, the oil is returned to the hydraulic oil tank from the T port through the enable valve; when the working device works, the enable valve is powered to switch the function; when the header is lifted, the oil is distributed according to the opening of the header lifting proportional valve through the header priority valve; the flow of the 2 port of the header priority valve is preferentially passed through the header lifting proportional valve to enter the header cylinder, so that the header is lifted; the rest of the flow is passed through the 3 port of the header priority valve to enter the subsequent working valve, and the header cylinder can realize compound action with the right chassis lifting cylinder, the left chassis lifting cylinder, the reel cylinder and the unloading cylinder; when the header is lowered, the header lowering proportional valve is powered to control the lowering speed by controlling the valve opening through the current; the oil is returned to the tank from the T port through the header lowering proportional valve and the pressure compensator, and the pressure compensator keeps the pressure difference before and after the header lowering proportional valve constant, thereby improving the stability of the header lowering speed; when other working devices work and the header does not work, the oil is passed through the 3 port of the header priority valve to enter the corresponding executing element to complete the corresponding action through the right chassis lifting proportional valve or the left chassis lifting proportional valve or the reel control valve or the unloading control valve. The controller controls the left chassis lifting cylinder and the right chassis lifting cylinder by reading the vehicle body posture sensor signal, controls the bottom plate lifting automatic leveling closed-loop control by reading the first angle sensor signal and the second angle sensor signal, and manually controls in special working conditions to improve the operation comfort and passability. Hydraulic locks are arranged on the control valve oil paths corresponding to the right chassis lifting cylinder, the left chassis lifting cylinder, the reel cylinder and the unloading cylinder to prevent static settlement from exceeding the standard.

[0062] As shown in Figures 1 to 4 Further, a first filter 15 is installed on the pipeline between the control valve 4 and the working pump 16, and a first oil suction filter 17 is installed on the pipeline between the working pump 16 and the hydraulic oil tank 24; a first radiator 23, a second oil suction filter 26, a steering oil suction filter 27 and a steering radiator 28 are installed on the pipeline between the traveling HST 1 and the hydraulic oil tank 24; a hydraulic oil tank breather 25 is installed on the hydraulic oil tank 24; a transmission breather 29 is installed on the transmission 3; and a steering filter 30 is installed on the pipeline between the traveling HST 1 and the steering valve 2.

[0063] The beneficial effects of the further technical scheme are: the filter and the oil suction filter are used to filter impurities in the oil to prevent impurities from entering the system and improve the stability and reliability of the system. The radiator is used for oil heat dissipation to prevent the oil from overheating. The breather is used for the oil tank and the transmission to ventilate with the outside.

[0064] The hydraulic control system of the harvesting machine provided by the embodiment of the application can be a hydraulic control system of an unmanned line control chassis tracked harvesting machine, Figures 1 to 4The system shown mainly consists of walking HST1, steering valve 2, gearbox 3, control valve 4, unloading cylinder 5, reel cylinder 6, first angle sensor 7, left chassis lifting cylinder 8, vehicle body posture sensor 9, second angle sensor 10, right chassis lifting cylinder 11, header cylinder 12, hydraulic reversing fan 13, fan blowback valve 14, first filter 15, working pump 16, first oil suction filter 17, engine 18, ECU 19, controller 20, temperature sensor 21, Beidou navigation 22, first radiator 23, hydraulic oil tank 24, hydraulic oil tank breather 25, second oil suction filter 26, steering oil suction filter 27, steering radiator 28, gearbox breather 29, steering filter 30 and speed sensor 31. Walking HST1 includes walking pump 1-1, oil supplement overflow valve 1-2, first high pressure overflow valve 1-3, second high pressure overflow valve 1-4, oil supplement pump 1-5, steering pump 1-6, walking motor 1-7, variable motor control valve 1-8, variable pump control valve 1-9, first pressure sensor 1-10 and second pressure sensor 1-11; Steering valve 2 includes overflow valve 2-1, unloading valve 2-2, right clutch solenoid valve 2-3, left clutch solenoid valve 2-4, proportional pressure reducing valve 2-5 and steering switch valve 2-6; Gearbox 3 mainly includes shell 3-1, left clutch 3-2 (left clutch L in the figure), right clutch 3-3 (right clutch R in the figure), steering clutch 3-4 (steering clutch Z in the figure) and soft clutch 3-5 (soft clutch S in the figure); Control valve 4 includes main overflow valve 4-1, enable valve 4-2, header priority valve 4-3, header overflow valve 4-4, header lifting proportional valve 4-5, pressure compensator 4-6, header lowering proportional valve 4-7, right chassis lifting proportional valve 4-8, hydraulic lock 4-9 (the number can be 4), left chassis lifting proportional valve 4-10, reel control valve 4-11 and unloading control valve 4-12; The specific working principle is:

[0065] Walking HST1 and working pump 16 of unmanned line control chassis tracked machine are driven by engine 18, working pump 16 is connected with hydraulic oil tank 24 and control valve 4 through pipeline; Unloading cylinder 5, reel cylinder 6, left chassis lifting cylinder 8, right chassis lifting cylinder 11 and header cylinder 12 are connected with control valve 4 through pipeline; Steering valve 2 is bolted on gearbox 3, and steering control is realized through internal oil way; Walking HST1 is bolted on gearbox 3, and power is transmitted to gearbox 3 through walking motor 1-7; ECU 19 is connected with engine 18 and fan blowback valve 14; Controller 20 is connected with ECU 19, Beidou navigation 22, temperature sensor 21, speed sensor 31, first angle sensor 7, second angle sensor 10, vehicle body posture sensor 9, walking HST1, steering valve 2 and control valve 4.

[0066] The in-place turning can be realized, and the weight is light, so the load is small; the walking HST1+turning valve 2 scheme is adopted, so the weight is light and the cost is low. Because the chassis can be lifted or the height is automatically adjusted, and the in-place turning can be realized, the turning radius is small, so the slope operation, the deep mud foot field block operation and the smoothness of passing the ridge are good.

[0067] In addition, the application further provides a harvester comprising the above-mentioned harvester hydraulic control system.

[0068] In addition, the application further provides a harvester hydraulic control method based on the above-mentioned harvester hydraulic control system, the harvester hydraulic control method comprising: when the working device works, the working pump 16 is driven by the engine 18 to suck oil from the hydraulic oil tank 24 and deliver to the control valve 4, and the controller 20 controls the control valve 4 to distribute the oil to the working device, so that the working device works; when walking and turning, the walking HST1 is driven by the engine 18 to suck oil from the gearbox 3 and deliver to the turning valve 2, and the controller 20 controls the turning valve 2 to distribute the oil to the gearbox 3, so as to realize fine turning, differential turning, single-side braking and in-place turning.

[0069] The unmanned controlled chassis crawler machine can be divided into a working device system and a walking and steering system. When the working device works, the working pump 16 sucks oil from the hydraulic oil tank 24 through the first oil suction filter 17, and then enters the P port of the control valve 4 through the first filter 15. When the working device does not work, the oil is returned to the hydraulic oil tank 24 from the T port through the enable valve 4-2. When the working device works, the enable valve 4-2 is powered to switch the function. When the header is lifted, the oil is distributed according to the opening of the header lifting proportional valve 4-5 through the header priority valve 4-3. The flow of the 2 port of the header priority valve 4-3 is preferentially passed through the header lifting proportional valve 4-5 into the header oil cylinder 12 to realize the lifting of the header. The rest of the flow is passed through the 3 port of the header priority valve 4-3 into the subsequent associated working valve. The header oil cylinder 12 can realize compound action with the right side chassis lifting oil cylinder 11, the left side chassis lifting oil cylinder 8, the reel oil cylinder 6 and the unloading oil cylinder 5. When the header is lowered, the header lowering proportional valve 4-7 is powered to realize the control of the lowering speed through the current control valve opening. The oil is returned to the tank from the T port through the header lowering proportional valve 4-7 and the pressure compensator 4-6. The pressure compensator 4-6 keeps the pressure difference before and after the header lowering proportional valve 4-7 constant to improve the stability of the header lowering speed. When other working devices work and the header does not work, the oil is passed through the 3 port of the header priority valve 4-3 into the corresponding executing element to complete the corresponding action through the right side chassis lifting proportional valve 4-8 or the left side chassis lifting proportional valve 4-10 or the reel control valve 4-11 or the unloading control valve 4-12. When the walking and steering system works, the walking HST 1 is a closed system. The pump shaft of the walking HST 1 is connected in series with the oil supplement pump 1-5 and the steering pump 1-6. The oil supplement pump 1-5 sucks oil from the hydraulic oil tank 24 through the second oil suction filter 26. Part of the oil is used to complete the control action and supplement the leakage. The other part of the oil is passed through the fan back flushing valve 14 into the hydraulic reversing fan 13 to realize the reversing of the hydraulic reversing fan 13 and complete the back flushing action. The steering pump 1-6 sucks oil from the housing 3-1 of the gearbox 3 through the steering oil suction filter 27 and the steering radiator 28, and enters the steering valve 2 through the steering filter 30. When not steering, the Y1 of the unloading valve 2-2 is powered. When fine tuning steering, the Y3 of the right clutch electromagnetic valve 2-3 or the Y2 of the left clutch electromagnetic valve 2-4 is powered. When differential steering, the Y4 of the proportional pressure reducing valve 2-5 and the Y2 of the left clutch electromagnetic valve 2-4 or the Y3 of the right clutch electromagnetic valve 2-3 is powered. When single side braking and spot steering, the Y4 of the proportional pressure reducing valve 2-5, the Y5 of the steering switch valve 2-6 and the Y2 of the left clutch electromagnetic valve 2-4 or the Y3 of the right clutch electromagnetic valve 2-3 is powered. When single side braking, the steering clutch 3-4 has low pressure and no power output (see steering control action in the figure) Figure 5 and Figure 8 ).

[0070] As Figure 1 and Figure 3As shown, the unloading valve 2-2, the left clutch solenoid valve 2-4, the right clutch solenoid valve 2-3, the proportional pressure reducing valve 2-5 and the steering switching valve 2-6 are all provided with two switching positions, the unloading valve 2-2 is connected at both ends of the pipeline in the Y1 position, and is disconnected in the other position. The left clutch solenoid valve 2-4 is connected at both ends of the pipeline in the Y2 position, and is disconnected in the other position. The right clutch solenoid valve 2-3 is connected at both ends of the pipeline in the Y3 position, and is disconnected in the other position. The proportional pressure reducing valve 2-5 is connected at both ends of the pipeline in the Y4 position, and is disconnected in the other position. The steering switching valve 2-6 is connected at both ends of the pipeline in the Y5 position, and is disconnected in the other position.

[0071] Figure 8 The steering valve group control action execution table is shown, Figure 5 The system control action execution summary table is shown. Among them, when the neutral is not steering, the unloading valve 2-2 is powered and in the Y1 position, the left clutch solenoid valve 2-4 is not powered and not in the Y2 position, the right clutch solenoid valve 2-3 is not powered and not in the Y3 position, the proportional pressure reducing valve 2-5 is not powered and not in the Y4 position, and the steering switching valve 2-6 is not powered and not in the Y5 position. The unloading valve 2-2 is powered and in the Y1 position can be, the unloading valve 2-2 is powered, and the electromagnet of the unloading valve 2-2 attracts the spool to the Y1 position.

[0072] When fine steering-left, the unloading valve 2-2 is not powered and not in the Y1 position, the left clutch solenoid valve 2-4 is powered and in the Y2 position, the right clutch solenoid valve 2-3 is not powered and not in the Y3 position, the proportional pressure reducing valve 2-5 is not powered and not in the Y4 position, and the steering switching valve 2-6 is not powered and not in the Y5 position.

[0073] When fine steering-right, the unloading valve 2-2 is not powered and not in the Y1 position, the left clutch solenoid valve 2-4 is not powered and not in the Y2 position, the right clutch solenoid valve 2-3 is powered and in the Y3 position, the proportional pressure reducing valve 2-5 is not powered and not in the Y4 position, and the steering switching valve 2-6 is not powered and not in the Y5 position.

[0074] When differential steering-left, the unloading valve 2-2 is not powered and not in the Y1 position, the left clutch solenoid valve 2-4 is powered and in the Y2 position, the right clutch solenoid valve 2-3 is not powered and not in the Y3 position, the proportional pressure reducing valve 2-5 is powered and in the Y4 position, and the steering switching valve 2-6 is not powered and not in the Y5 position.

[0075] When differential steering-right, the unloading valve 2-2 is not powered and not in the Y1 position, the left clutch solenoid valve 2-4 is not powered and not in the Y2 position, the right clutch solenoid valve 2-3 is powered and in the Y3 position, the proportional pressure reducing valve 2-5 is powered and in the Y4 position, and the steering switching valve 2-6 is not powered and not in the Y5 position.

[0076] When braking on one side to the left, unloading valve 2-2 is not energized and is not in position Y1, left clutch solenoid valve 2-4 is energized and is in position Y2, right clutch solenoid valve 2-3 is not energized and is not in position Y3, proportional pressure reducing valve 2-5 is energized and is in position Y4, and steering switching valve 2-6 is energized and is in position Y5.

[0077] When braking on one side to the right, unloading valve 2-2 is not energized and is not in position Y1, left clutch solenoid valve 2-4 is not energized and is not in position Y2, right clutch solenoid valve 2-3 is energized and is in position Y3, proportional pressure reducing valve 2-5 is energized and is in position Y4, and steering switching valve 2-6 is energized and is in position Y5.

[0078] When turning left from a stationary position, unloading valve 2-2 is not energized and is not in position Y1, left clutch solenoid valve 2-4 is energized and is in position Y2, right clutch solenoid valve 2-3 is not energized and is not in position Y3, proportional pressure reducing valve 2-5 is energized and is in position Y4, and steering switching valve 2-6 is energized and is in position Y5.

[0079] When turning right from a stationary position, unloading valve 2-2 is not energized and is not in position Y1, left clutch solenoid valve 2-4 is not energized and is not in position Y2, right clutch solenoid valve 2-3 is energized and is in position Y3, proportional pressure reducing valve 2-5 is energized and is in position Y4, and steering switching valve 2-6 is energized and is in position Y5.

[0080] like Figure 1 and Figure 4As shown, when the enabling valve 4-2 is in position Y16, the two ends of the pipeline are connected, and a check valve is installed between the two ends of the pipeline to prevent backflow. In the other position, the two ends of the pipeline are directly connected. When the header lifting proportional valve 4-5 is in position Y15, the two ends of the pipeline are connected, and a first check valve is installed between the two ends of the pipeline, allowing the oil in the system to enter the header cylinder 12 in one direction, causing the header cylinder 12 to extend. In the other position, the two ends of the pipeline are connected, and a second check valve is installed between the two ends of the pipeline, allowing the oil in the header cylinder 12 to enter the system in one direction. When the header lowering proportional valve 4-7 is in position Y14, the two ends of the pipeline are connected, and a third check valve is installed between the two ends of the pipeline, allowing the oil in the header cylinder 12 to enter the system in one direction, causing the header cylinder 12 to retract. In the other position, the two ends of the pipeline are connected, and a fourth check valve is installed between the two ends of the pipeline, allowing the oil in the system to enter the header cylinder 12 in one direction. When the right chassis lifting proportional valve 4-8 is in position Y13, the pair of pipes at both ends are directly connected. When the right chassis lifting proportional valve 4-8 is in position Y12, the pair of pipes at both ends are connected after reversing. When the left chassis lifting proportional valve 4-10 is in position Y11, the pair of pipes at both ends are directly connected. When the left chassis lifting proportional valve 4-10 is in position Y10, the pair of pipes at both ends are connected after reversing. When the reel control valve 4-11 is in position Y9, the pair of pipes at both ends are directly connected. When the reel control valve 4-11 is in position Y8, the pair of pipes at both ends are connected after reversing. When the unloading control valve 4-12 is in position Y7, the pair of pipes at both ends are directly connected. When the unloading control valve 4-12 is in position Y6, the pair of pipes at both ends are connected after reversing. When the fan backflush valve 14 is in position Y17, the pipes at both ends are connected, and the system oil enters the hydraulic reversing fan 13.

[0081] Figure 6 The table showing the control actions of the working valve group is provided. Figure 5 The system control action execution table is shown. Specifically, when the header rises, enable valve 4-2 is energized and in position Y16; header rise proportional valve 4-5 is energized and in position Y15; header fall proportional valve 4-7 is de-energized and not in position Y14; right chassis lift proportional valve 4-8 is de-energized and not in positions Y13 and Y12; left chassis lift proportional valve 4-10 is de-energized and not in positions Y11 and Y10; reel control valve 4-11 is de-energized and not in positions Y9 and Y8; and unloading control valve 4-12 is de-energized and not in positions Y7 and Y6.

[0082] When the header lowers, enable valve 4-2 is energized and in position Y16; header lifting proportional valve 4-5 is de-energized and not in position Y15; header lowering proportional valve 4-7 is energized and in position Y14; right chassis lifting proportional valve 4-8 is de-energized and not in positions Y13 and Y12; left chassis lifting proportional valve 4-10 is de-energized and not in positions Y11 and Y10; reel control valve 4-11 is de-energized and not in positions Y9 and Y8; and unloading control valve 4-12 is de-energized and not in positions Y7 and Y6.

[0083] It should be noted that the header lifting (header raising or lowering) can be synchronized with the subsequent chassis lifting, reel lifting, and unloading hopper lifting in any combination. The header priority valve 4-3 prioritizes the header lifting, and the remaining system flow is used for the actions of the subsequent devices (chassis lifting, reel lifting, and unloading hopper lifting). Therefore, the header action can work simultaneously with other actions to achieve compound actions. When there is no requirement for simultaneous action, the above description applies.

[0084] When the chassis rises to the left, the enabling valve 4-2 is energized and is in position Y16; the header lifting proportional valve 4-5 is de-energized and is not in position Y15; the header lowering proportional valve 4-7 is de-energized and is not in position Y14; the right chassis lifting proportional valve 4-8 is de-energized and is not in positions Y13 and Y12; the left chassis lifting proportional valve 4-10 is energized and is in position Y11, but not in position Y10; the reel control valve 4-11 is de-energized and is not in positions Y9 and Y8; and the unloading control valve 4-12 is de-energized and is not in positions Y7 and Y6.

[0085] When the chassis lowers to the left, the enabling valve 4-2 is energized and is in position Y16; the header lifting proportional valve 4-5 is de-energized and is not in position Y15; the header lowering proportional valve 4-7 is de-energized and is not in position Y14; the right chassis lifting proportional valve 4-8 is de-energized and is not in positions Y13 and Y12; the left chassis lifting proportional valve 4-10 is energized and is not in position Y11, but in position Y10; the reel control valve 4-11 is de-energized and is not in positions Y9 and Y8; and the unloading control valve 4-12 is de-energized and is not in positions Y7 and Y6.

[0086] When the chassis rises to the right, the enabling valve 4-2 is energized and is in position Y16; the header lifting proportional valve 4-5 is de-energized and is not in position Y15; the header lowering proportional valve 4-7 is de-energized and is not in position Y14; the right chassis lifting proportional valve 4-8 is energized and is in position Y13, not in position Y12; the left chassis lifting proportional valve 4-10 is de-energized and is not in positions Y11 and Y10; the reel control valve 4-11 is de-energized and is not in positions Y9 and Y8; and the unloading control valve 4-12 is de-energized and is not in positions Y7 and Y6.

[0087] When the chassis descends to the right, the enabling valve 4-2 is energized and is in position Y16; the header lifting proportional valve 4-5 is de-energized and is not in position Y15; the header lowering proportional valve 4-7 is de-energized and is not in position Y14; the right chassis lifting proportional valve 4-8 is energized and is not in position Y13, but in position Y12; the left chassis lifting proportional valve 4-10 is de-energized and is not in positions Y11 and Y10; the reel control valve 4-11 is de-energized and is not in positions Y9 and Y8; and the unloading control valve 4-12 is de-energized and is not in positions Y7 and Y6.

[0088] It should be noted that the left-side lifting (left-side lifting and left-side lowering) and right-side lifting (right-side lifting and right-side lowering) of the chassis can both operate individually or simultaneously. When there is no requirement for simultaneous operation, the above description applies.

[0089] When the reel rises, the enabling valve 4-2 is energized and is in position Y16; the header raising proportional valve 4-5 is de-energized and is not in position Y15; the header lowering proportional valve 4-7 is de-energized and is not in position Y14; the right chassis lifting proportional valve 4-8 is de-energized and is not in positions Y13 and Y12; the left chassis lifting proportional valve 4-10 is de-energized and is not in positions Y11 and Y12; the reel control valve 4-11 is energized and is in position Y9, not in position Y8; and the unloading control valve 4-12 is de-energized and is not in positions Y7 and Y6.

[0090] When the reel descends, the enabling valve 4-2 is energized and is in position Y16; the header raising proportional valve 4-5 is de-energized and is not in position Y15; the header lowering proportional valve 4-7 is de-energized and is not in position Y14; the right chassis lifting proportional valve 4-8 is de-energized and is not in positions Y13 and Y12; the left chassis lifting proportional valve 4-10 is de-energized and is not in positions Y11 and Y10; the reel control valve 4-11 is energized and is not in position Y9, but in position Y8; and the unloading control valve 4-12 is de-energized and is not in positions Y7 and Y6.

[0091] When the grain is unloaded and raised, the enabling valve 4-2 is energized and is in position Y16; the header raising proportional valve 4-5 is energized and is in position Y15; the header lowering proportional valve 4-7 is de-energized and is not in position Y14; the right chassis lifting proportional valve 4-8 is de-energized and is not in positions Y13 and Y12; the left chassis lifting proportional valve 4-10 is de-energized and is not in positions Y11 and Y10; the reel control valve 4-11 is de-energized and is not in positions Y9 and Y8; and the unloading control valve 4-12 is energized and is in position Y7, not in position Y6.

[0092] When the grain unloading is lowered, the enabling valve 4-2 is energized and is in position Y16; the header lifting proportional valve 4-5 is de-energized and is not in position Y15; the header lowering proportional valve 4-7 is de-energized and is not in position Y14; the right chassis lifting proportional valve 4-8 is de-energized and is not in positions Y13 and Y12; the left chassis lifting proportional valve 4-10 is de-energized and is not in positions Y11 and Y10; the reel control valve 4-11 is de-energized and is not in positions Y9 and Y8; and the grain unloading control valve 4-12 is energized and is not in position Y7, but in position Y6.

[0093] When the hydraulic fan is blowing back, the fan backflush valve 14 is energized and in position Y17.

[0094] like Figure 1 and Figure 2 As shown, when the variable pump control valve 1-9 is in position Y18, the hydraulic fluid is connected to the reversing line of the travel pump 1-1. When the variable pump control valve 1-9 is in position Y19, the hydraulic fluid is connected to the forward line of the travel pump 1-1. When the variable motor control valve 1-8 is in position Y20, the two ends of the pair of pipes are directly connected, and the hydraulic fluid enters the small chamber of the variable cylinder of the travel motor 1-7, pushing the motor's variable swashplate, thus reducing the motor's displacement and achieving the motor's small displacement function. When the variable motor control valve 1-8 is not in position Y20, the two ends of the pair of pipes are reversed and connected, and the hydraulic fluid enters the large chamber of the variable cylinder of the travel motor 1-7, pushing the motor's variable swashplate, thus increasing the motor's displacement and achieving the motor's large displacement function.

[0095] Figure 7 The control action execution table for the travel valve assembly is shown. Figure 5 The system control action execution summary table is shown. Specifically, during forward movement, variable pump control valves 1-9 are energized and not in position Y18; when in position Y19, variable motor control valves 1-8 are de-energized and not in position Y20.

[0096] When moving forward or backward, the variable pump control valve 1-9 is energized and in position Y18, but not in position Y19; the variable motor control valve 1-8 is de-energized and not in position Y20.

[0097] It should be noted that the above-mentioned variable motor control valves 1-8 being de-energized and not in the Y20 position is only one implementation method. When moving forward or backward, the motor displacement can be selected according to the working conditions. That is, when moving forward or backward, the variable motor control valves 1-8 can be energized and in the Y20 position.

[0098] When the motor has a large displacement, the variable pump control valves 1-9 should not be energized and should not be in position Y18 or Y19. The variable motor control valves 1-8 should not be energized and should not be in position Y20.

[0099] When the motor has a small displacement, the variable pump control valves 1-9 are not energized and are not in position Y18 or Y19, while the variable motor control valves 1-8 are energized and are in position Y20.

[0100] It should be noted that the above statement that the variable pump control valves 1-9 are not energized and are not in position Y18 or Y19 is only one implementation method. When moving forward or backward, the motor displacement can be selected according to the operating conditions. That is, when the motor has a large displacement, or when the motor has a small displacement, the variable pump control valves 1-9 are energized and in position Y18, not in position Y19, or the variable pump control valves 1-9 are energized and not in position Y18, but in position Y19.

[0101] In the diagram, P is the oil inlet, and T, T1, and T2 are the oil return ports, which are connected to the oil tank via pipelines. The GYRO sensor is a device used to measure angular velocity, also known as a gyroscope sensor, i.e., the vehicle attitude sensor 9. P0, P1, P2, P3, P4, and P5 can all be pressure sensors. In the diagram, n is the speed sensor 31. In the diagram, t° can be the temperature sensor 21. M is the engine 18. P6 is the first pressure sensor 1-10, and P7 is the second pressure sensor 1-11. The M and A ports on the fan backflush valve 14 are connected to the oil inlet P and the hydraulic reversing fan 13 via pipelines, respectively. ML and MR, which are connected to the left clutch solenoid valve 2-4 and the right clutch solenoid valve 2-3, are the left expansion interface and the right expansion interface, respectively.

[0102] Furthermore, the steering valve 2 is electronically controlled, and in conjunction with the gearbox 3, it can realize four steering modes: fine-tuning steering, differential steering, single-sided braking, and stationary steering, thus achieving the stationary steering function and adapting to various working conditions.

[0103] Furthermore, the HST1 is equipped with an electronically controlled stepless speed regulation system. The displacement of the travel pump 1-1 can be steplessly controlled via the variable pump control valve 1-9, and the displacement of the travel motor 1-7 can be steplessly or multi-point controlled via the variable motor control valve 1-8. The controller 20 reads the vehicle speed through the speed sensor 31 and the travel pressure through the first pressure sensor 1-10 and the second pressure sensor 1-11. Through the travel control strategy, the displacement of the travel pump 1-1 and the travel motor 1-7 of the HST1 is controlled. When the pressure is low, the travel motor 1-7 switches to a smaller displacement, and vice versa. When the speed is low, the travel pump 1-1 switches to a larger displacement, and vice versa, thus achieving automatic speed control. During short-distance relocation, the travel motor 1-7 can be automatically or manually switched to a smaller displacement to improve work efficiency and save energy. By combining with the Beidou navigation system 22 and the steering valve 2, unmanned automatic control is achieved.

[0104] Furthermore, the controller 20 controls the left chassis lifting cylinder 8 and the right chassis lifting cylinder 11 by reading the signal from the vehicle body posture sensor 9, and realizes automatic leveling closed-loop control of chassis lifting by reading the signals from the first angle sensor 7 and the second angle sensor 10; manual control is possible under special working conditions to improve work comfort and passability.

[0105] Furthermore, the controller 20 reads the oil temperature through the temperature sensor 21 and sends it to the ECU 19. When the set temperature value is reached, the Y17 of the fan backflush valve 14 is energized and the fan backflush command is executed. When the oil temperature does not reach the set value, the backflush action is executed according to the set time interval. When the oil temperature is lower than a certain set value, the fan backflush valve 14 does not work and does not perform the reversing action.

[0106] Furthermore, the fan backflush valve 14 can be replaced with a proportional solenoid valve, and a flow meter can be added after the valve to collect the output flow signal. By controlling the output flow, the stepless speed regulation control of the hydraulic reversing fan 13 can be realized, thereby saving energy and reducing consumption.

[0107] Furthermore, the steering pumps 1-6 can be connected in series with the HST or installed externally, and the steering suction filter 27 and steering filter 30 can be freely combined.

[0108] Furthermore, hydraulic locks 4-9 are installed on the control valves 4 corresponding to the right chassis lifting cylinder 11, the left chassis lifting cylinder 8, the reel cylinder 6, and the unloading cylinder 5 to prevent excessive static settling.

[0109] It is applicable to tracked machines, including but not limited to tracked harvesters and unmanned drive-by-wire chassis tracked machines, solving the problems of high steering load, poor flexibility, heavy weight, and high cost of existing technologies. At the same time, it solves the problems of poor adaptability in slope operation, deep muddy fields, and ridge crossing. Through real-time matching of chassis lifting angle sensor and vehicle posture sensor, and real-time matching of vehicle speed and Beidou navigation, it improves operation quality and efficiency, meets the user's needs for comfortable operation, smooth walking and steering, high cost performance and high adaptability. The mechanical structure is simple, energy consumption is low and weight is light.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A harvester hydraulic control system, characterized by, Comprise: The walking HST (1), the steering valve (2) for realizing fine steering, differential steering, single-side braking and spot steering, the gearbox (3), the control valve (4), the working device, the working pump (16), the engine (18), the controller (20) and the hydraulic oil tank (24), the working device comprises: the left chassis lifting oil cylinder (8) and the right chassis lifting oil cylinder (11), the engine (18) is respectively connected with the walking HST (1) and the working pump (16), the working pump (16), the walking HST (1) and the control valve (4) are all connected with the hydraulic oil tank (24) through pipelines, the control valve (4) is connected with the working pump (16) through a pipeline, the left chassis lifting oil cylinder (8) and the right chassis lifting oil cylinder (11) are both connected with the control valve (4) through pipelines, the walking HST (1) and the steering valve (2) are both installed on the gearbox (3), the walking HST (1) is connected with the gearbox (3) through a pipeline, the gearbox (3) is connected with the walking HST (1) in transmission, the controller (20) is connected with the walking HST (1), the steering valve (2) and the control valve (4) respectively; the walking HST (1) comprises: a walking pump (1-1), an oil supplement overflow valve (1-2), a first high-pressure overflow valve (1-3), a second high-pressure overflow valve (1-4), an oil supplement pump (1-5), a steering pump (1-6), a walking motor (1-7), a variable motor control valve (1-8) and a variable pump control valve (1-9), the walking pump (1-1) is connected with the engine (18) in transmission, the walking pump (1-1) is connected with the oil supplement pump (1-5) and the steering pump (1-6) in transmission, the oil supplement overflow valve (1-2) is connected with the variable motor control valve (1-8) and the variable pump control valve (1-9) respectively, the first high-pressure overflow valve (1-3) and the second high-pressure overflow valve (1-4) are both connected with the walking pump (1-1), the hydraulic oil tank (24), the steering pump (1-6) and the walking motor (1-7) through pipelines respectively, the steering pump (1-6) is connected with the gearbox (3) and the steering valve (2) through pipelines respectively, the walking motor (1-7) is connected with the gearbox (3) in transmission, the variable motor control valve (1-8) is connected with the walking motor (1-7) and the variable pump control valve (1-9) through pipelines respectively, the variable pump control valve (1-9) is connected with the walking pump (1-1) through a pipeline.The steering valve (2) comprises: an overflow valve (2-1), an unloading valve (2-2), a right clutch electromagnetic valve (2-3), a left clutch electromagnetic valve (2-4), a proportional pressure reducing valve (2-5) and a steering switching valve (2-6), the gearbox (3) comprises: a housing (3-1), a left clutch (3-2), a right clutch (3-3), a steering clutch (3-4) and a soft clutch (3-5), the overflow valve (2-1) is connected with the housing (3-1), the walking HST (1), the unloading valve (2-2) and the right clutch electromagnetic valve (2-3) through pipelines respectively, the unloading valve (2-2) is connected with the housing (3-1), the walking HST (1) and the right clutch electromagnetic valve (2-3) through pipelines respectively, the right clutch electromagnetic valve (2-3) is connected with the left clutch electromagnetic valve (2-4), the steering switching valve (2-6), the housing (3-1) and the right clutch (3-3) through pipelines respectively, the left clutch electromagnetic valve (2-4) is connected with the housing (3-1) and the left clutch (3-2) through pipelines respectively, the proportional pressure reducing valve (2-5) is connected with the housing (3-1), the steering switching valve (2-6), the left clutch (3-2) and the right clutch (3-3) through pipelines respectively, and the steering switching valve (2-6) is connected with the housing (3-1), the steering clutch (3-4) and the soft clutch (3-5) through pipelines respectively.

2. A harvester hydraulic control system according to claim 1, wherein, The controller (20) is connected with a first pressure sensor (1-10) for detecting the forward pressure of the walking HST (1), a second pressure sensor (1-11) for detecting the reverse pressure of the walking HST (1), a first angle sensor (7) for detecting the left chassis angle, a second angle sensor (10) for detecting the right chassis angle, a vehicle body posture sensor (9) for detecting the vehicle body posture, a temperature sensor (21) for detecting the oil temperature, a Beidou navigation (22), and a speed sensor (31) for detecting the vehicle speed, the first pressure sensor (1-10) and the second pressure sensor (1-11) are connected with the pressure measuring port of the walking HST (1) through the pipeline respectively.

3. A harvester hydraulic control system according to claim 1 wherein, The oil supplement pump (1-5) is connected with a fan back blowing valve (14) or a proportional electromagnetic valve through the pipeline, the fan back blowing valve (14) or the proportional electromagnetic valve is connected with a hydraulic reversing fan (13) for cooling the engine (18) and an ECU (19), the hydraulic reversing fan (13) is located at the end of the engine (18), the ECU (19) is connected with the controller (20), and the oil supplement overflow valve (1-2) is connected with the fan back blowing valve (14) or the proportional electromagnetic valve through the pipeline.

4. A harvester hydraulic control system according to claim 1 wherein, The walking HST (1) is an electric control stepless speed regulating walking HST, and the steering valve (2) is an electric control steering valve.

5. A harvester hydraulic control system according to claim 1 wherein, The control valve (4) comprises a main overflow valve (4-1), an enable valve (4-2), a header priority valve (4-3), a header overflow valve (4-4), a header up proportional valve (4-5), a pressure compensator (4-6), a header down proportional valve (4-7), a right chassis lift proportional valve (4-8), a plurality of hydraulic locks (4-9), a left chassis lift proportional valve (4-10), a reel control valve (4-11) and a unloading control valve (4-12), both ends of the main overflow valve (4-1) and both ends of the enable valve (4-2) are connected with the working pump (16) and the hydraulic oil tank (24) respectively through pipelines, one port of the header priority valve (4-3) is connected with the working pump (16) through a pipeline, the second port of the header priority valve (4-3) is connected with the header up proportional valve (4-5) through a pipeline, the third port of the header priority valve (4-3) is connected with the right chassis lift proportional valve (4-8), the left chassis lift proportional valve (4-10), the reel control valve (4-11) and the unloading control valve (4-12) respectively through pipelines, both ends of the header overflow valve (4-4) are connected with the header priority valve (4-3) and the hydraulic oil tank (24) respectively through pipelines, the header down proportional valve (4-7) is connected with the hydraulic oil tank (24) through the pressure compensator (4-6); the working device comprises an unloading oil cylinder (5), a reel oil cylinder (6) and a header oil cylinder (12), the unloading control valve (4-12) is connected with the unloading oil cylinder (5) through the hydraulic lock (4-9), the reel control valve (4-11) is connected with the reel oil cylinder (6) through the hydraulic lock (4-9), the left chassis lift proportional valve (4-10) is connected with the left chassis lift oil cylinder (8) through the hydraulic lock (4-9), the right chassis lift proportional valve (4-8) is connected with the right chassis lift oil cylinder (11) through the hydraulic lock (4-9), the header up proportional valve (4-5) and the header down proportional valve (4-7) are connected with the header oil cylinder (12) through pipelines.

6. A harvester hydraulic control system according to claim 1 wherein, A first filter (15) is installed on the pipeline between the control valve (4) and the working pump (16), and a first oil suction filter (17) is installed on the pipeline between the working pump (16) and the hydraulic oil tank (24); a first radiator (23), a second oil suction filter (26), a steering oil suction filter (27) and a steering radiator (28) are installed on the pipeline between the traveling HST (1) and the hydraulic oil tank (24); a hydraulic oil tank breather (25) is installed on the hydraulic oil tank (24); a gearbox breather (29) is installed on the gearbox (3); a steering filter (30) is installed on the pipeline between the traveling HST (1) and the steering valve (2).

7. A harvester characterized by The hydraulic control system of the harvester comprises any one of the hydraulic control systems of the harvester according to any one of the preceding claims 1 to 6.

8. A method of hydraulic control of a harvester, characterized in that The harvesting machine hydraulic control system and method according to any one of claims 1 to 6, the harvesting machine hydraulic control method comprising: When the working device is working, the engine (18) drives the working pump (16) to suck oil from the hydraulic oil tank (24) and deliver it to the control valve (4), and the controller (20) controls the control valve (4) to distribute the oil to the working device, so that the working device works; When the walking and steering, the engine (18) drives the walking HST (1) to suck oil from the gearbox (3) and deliver it to the steering valve (2), and the controller (20) controls the steering valve (2) to distribute the oil to the gearbox (3), so as to realize fine steering, differential steering, single side braking and steering in place.

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