Intelligent control system for hydraulic crawler chassis

Abstract

The utility model relates to an intelligent control system of a hydraulic crawler chassis, which comprises a control module and an adjusting module, the control module comprises a manual control unit, a control panel, a remote controller and a PLC (Programmable Logic Controller), the manual control unit comprises a Hall control lever and a manual control button; the manual operation unit, the operation panel and the remote controller are electrically connected with the PLC; the adjusting module comprises a hydraulic oil tank and a duplex hydraulic pump, the oil inlet end of the duplex hydraulic pump is communicated with the hydraulic oil tank, the duplex hydraulic pump comprises a large-flow pump and a small-flow pump, oil outlets of the large-flow pump and the small-flow pump are connected with hydraulic electromagnetic directional valves, and the hydraulic electromagnetic directional valves are electrically connected with the PLC. The utility model relates to the technical field of crawler chassis control. According to the utility model, a driver can quickly realize normal driving operation of the crawler chassis with less operation and more choices, so that the burden of the driver is reduced, and the safety of personnel and equipment under emergency conditions is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of crawler chassis manipulation, in particular to a hydraulic crawler chassis intelligent manipulation system. Background Art

[0002] The hydraulic crawler chassis is a power platform that integrates hydraulic transmission, electronic control, low-pressure travel mechanism and other technologies. It can achieve stable, efficient and reliable travel operations in the working field while carrying other functional agricultural machinery.

[0003] At present, most chassis still use mechanical control, which requires the arrangement of various control levers for steering, speed change, and braking. At the same time, the working environment is complex, and the driver needs to make frequent adjustments during operation, which is labor-intensive and affects the driving safety of agricultural equipment. For this reason, we propose a hydraulic crawler chassis intelligent control system. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an intelligent control system for a hydraulic crawler chassis so as to solve the technical problems mentioned in the above background technology.

[0005] The above technical objectives of the utility model are achieved through the following technical solutions:

[0006] A hydraulic crawler chassis intelligent control system, comprising a first hydraulic motor and a second hydraulic motor respectively connected to crawler tracks on both sides, characterized in that: it also comprises a control module and an adjustment module, the control module comprises a manual control unit, a control panel, a remote controller and a PLC controller, the manual control unit comprises a Hall control lever and a manual control button, and the manual control unit, the control panel and the remote controller are all electrically connected to the PLC controller;

[0007] The regulating module includes a hydraulic oil tank and a double hydraulic pump driven by an engine, the oil inlet end of the double hydraulic pump is connected to the hydraulic oil tank, the double hydraulic pump includes a large flow pump connected in series on the first oil circuit and a small flow pump connected in series on the second oil circuit, a first hydraulic solenoid reversing valve and a first diverter and collector valve are arranged downstream of the large flow pump on the first oil circuit, a second hydraulic solenoid reversing valve and a second diverter and collector valve are arranged downstream of the small flow pump on the second oil circuit, two oil outlets of the first diverter and collector valve are respectively connected to the first hydraulic motor and the second hydraulic motor, two oil outlets of the second diverter and collector valve are respectively connected to the first hydraulic motor and the second hydraulic motor, the first hydraulic solenoid reversing valve and the second hydraulic solenoid reversing valve are electrically connected to the PLC controller, a first motor speed regulating valve and a first motor solenoid reversing valve are connected to the oil circuit between the first diverter and collector valve and the first hydraulic motor; a second motor speed regulating valve and a second motor solenoid reversing valve are connected to the oil circuit between the second diverter and collector valve and the second hydraulic motor.

[0008] Furthermore, a first direct-acting overflow valve is connected to the oil circuit between the first hydraulic solenoid reversing valve and the first flow-dividing and collecting valve; and a second direct-acting overflow valve is connected to the oil circuit between the second hydraulic solenoid reversing valve and the second flow-dividing and collecting valve.

[0009] Furthermore, the first motor speed regulating valve, the second motor speed regulating valve, the first motor electromagnetic reversing valve and the second motor electromagnetic reversing valve are all electrically connected to the PLC controller.

[0010] Furthermore, filters are connected between the large flow pump, the small flow pump and the hydraulic oil tank.

[0011] Furthermore, the engine is equipped with an electric push rod, which is used to adjust the throttle opening of the engine, and the electric push rod is electrically connected to the PLC controller.

[0012] Furthermore, the control panel and the remote controller both include an emergency stop button, and the emergency stop button is electrically connected to the first hydraulic solenoid reversing valve and the second hydraulic solenoid reversing valve.

[0013] Furthermore, the intelligent control system also includes an angle sensor, which is used to detect the actual opening of the motor speed regulating valve, and the angle sensor is electrically connected to the PLC controller.

[0014] In summary, the present invention includes at least one of the following beneficial technical effects:

[0015] 1. This kind of intelligent control system for hydraulic crawler chassis, through the control panel, the driver can choose between manual control or remote control modes to meet the control requirements in different scenarios, and through the cooperation of components such as the controller, hydraulic solenoid reversing valve, motor speed regulating valve and motor solenoid reversing valve, the driver can quickly realize the normal driving operation of the crawler chassis with less operation and more choices, reducing the burden on the driver and ensuring the safety of personnel and equipment in emergency situations; the large and small in the large flow pump and small flow pump in this embodiment means that the hydraulic oil flow output by the large flow pump is greater than the hydraulic oil flow output by the small flow pump. When working, the large flow pump and the small flow pump pump the hydraulic oil out of the oil tank and flow to their corresponding hydraulic solenoid reversing valves respectively. When the first hydraulic solenoid reversing valve is energized, the second hydraulic solenoid reversing valve is energized, or both are not energized, they correspond to the low, medium and high speeds of the chassis respectively.

[0016] 2. This hydraulic crawler chassis intelligent control system adopts a motor speed control valve throttling speed control scheme to adjust the speed of the hydraulic motor. It has stable speed, good speed-load characteristics and low cost. At the same time, it uses a flexible combination of the motor speed control valve and the motor electromagnetic reversing valve to achieve stepless adjustment of the chassis steering radius. The structure is stable and reliable, which further reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 Schematic diagram of the hydraulic crawler chassis structure of this embodiment;

[0019] Figure 2 is the hydraulic circuit diagram of this embodiment;

[0020] Figure 3 is a system diagram of this embodiment;

[0021] Figure 4 It is the workflow diagram of this embodiment.

[0022] In the figure, 1, control panel; 2-1, large flow pump; 2-2, small flow pump; 3-1, first hydraulic solenoid reversing valve; 3-2, second hydraulic solenoid reversing valve; 4-1, first direct-acting overflow valve; 4-2, second direct-acting overflow valve; 5-1, first diverter and collector valve; 5-2, second diverter and collector valve; 6, filter; 7, hydraulic oil tank; 8, one-way valve; 9-1, first motor solenoid reversing valve; 9-2, second motor solenoid reversing valve; 10-1, first motor; 10-2, second motor; 11-1, first motor speed regulating valve; 11-2, second motor speed regulating valve. DETAILED DESCRIPTION

[0023] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0024] Example:

[0025] Reference Figures 1 to 4 The utility model discloses a hydraulic crawler chassis intelligent control system, including a control module and an adjustment module. The control module includes a manual control unit, a control panel 1, a remote controller and a PLC controller. The manual control unit includes a Hall control lever and a manual control button, and the manual control unit, the control panel 1 and the remote controller are all electrically connected to the PLC controller.

[0026] The regulating module includes a hydraulic oil tank 7 and a double hydraulic pump driven by an engine, the double hydraulic pump includes a large flow pump 2-1 and a small flow pump 2-2, the oil inlet ends of the large flow pump and the small flow pump are connected to the hydraulic oil tank 7, the large flow pump is connected in series to the first oil circuit, the small flow pump is connected in series to the second oil circuit, a first hydraulic solenoid reversing valve 3-1 is arranged downstream of the large flow pump on the first oil circuit, a second hydraulic solenoid reversing valve 3-2 is arranged downstream of the small flow pump on the second oil circuit, the first hydraulic solenoid reversing valve and the second hydraulic solenoid reversing valve are electrically connected to the PLC controller. The oil outlet of the hydraulic solenoid reversing valve is connected to a pressure control unit, and the oil outlet of the pressure control unit is connected to a direction control unit.

[0027] In this embodiment, the driver can select manual control or remote control through the control panel 1 to meet the control needs in different scenarios. In the manual control mode, the driver directly controls the driving and operation of the chassis through the Hall joystick or manual control button; in the remote control mode, the driver can remotely control through the remote control.

[0028] Furthermore, after the driver selects one of the manual or remote control modes, the other mode cannot be enabled to prevent misoperation or confusion in operating commands.

[0029] The PLC controller controls the operation of the first hydraulic solenoid reversing valve and the second hydraulic solenoid reversing valve. When the first hydraulic solenoid reversing valve connected to the oil outlet of the large flow pump is energized, the second hydraulic solenoid reversing valve connected to the oil outlet of the small flow pump is energized, or both are not energized, the three speeds of the chassis are low, medium, and high. When the hydraulic solenoid reversing valves at the oil outlets of the two pumps are energized, the hydraulic solenoid reversing valves are unloaded, the subsequent system does not work, and the chassis stops suddenly, thereby realizing the switching and emergency stop of the three speeds of the chassis, low, medium, and high.

[0030] In a further preferred embodiment of the present invention, Figure 2 As shown, in the first oil circuit, a first direct-acting overflow valve 4-1, a one-way valve and a first diverter-collector valve 5-1 are sequentially arranged downstream of the first hydraulic solenoid reversing valve 3-1; in the second oil circuit, a second direct-acting overflow valve 4-2, a one-way valve 8 and a second diverter-collector valve 5-2 are sequentially arranged downstream of the second solenoid reversing valve 3-2.

[0031] The oil circuit between the first diverter and collector valve 5-1 and the first hydraulic motor 10-1 is connected with the first motor speed regulating valve 11-1 and the first motor electromagnetic reversing valve 9-1; the oil circuit between the second diverter and collector valve 5-2 and the second hydraulic motor 10-2 is connected with the second motor speed regulating valve 11-2 and the second motor electromagnetic reversing valve 9-2.

[0032] In this embodiment, the flow dividing and collecting valve is connected in series with the corresponding hydraulic electromagnetic reversing valve to adjust and integrate the hydraulic oil flowing out of the large and small flow oil circuits so that the speeds of the two hydraulic motors are consistent. The direct-acting relief valve realizes the overload protection function, and the one-way valve prevents the hydraulic oil from flowing back.

[0033] In a further preferred embodiment of the present invention, Figure 2 As shown, the first motor speed regulating valve, the second motor speed regulating valve, the first motor electromagnetic reversing valve and the second motor electromagnetic reversing valve are all electrically connected to the PLC controller.

[0034] In this embodiment, during differential steering, the PLC controller controls the two motor electromagnetic reversing valves to make the two hydraulic motors rotate in the same direction. By adjusting the opening of the motor speed control valves, the flow of the hydraulic motors is controlled, and then the speed difference is adjusted to achieve stepless adjustment of the steering radius.

[0035] When moving forward or backward, the PLC controller controls the motor electromagnetic reversing valve to make the two hydraulic motors rotate in the same direction, and synchronously adjusts the opening of the two motor speed control valves to achieve stepless speed regulation.

[0036] When the motor speed regulating valve is set to the maximum opening, the PLC controller controls the two motor solenoid reversing valves to make the two hydraulic motors rotate in opposite directions, thus achieving on-the-spot steering of the chassis.

[0037] In a further preferred embodiment of the present invention, Figure 3 As shown, the intelligent control system also includes an engine, the output end of the engine is transmission-connected to the dual hydraulic pump, the engine is equipped with an electric push rod, the electric push rod is used to adjust the throttle opening of the engine, and the electric push rod is electrically connected to the PLC controller.

[0038] In this embodiment, when the engine is working, it drives the dual hydraulic pump to work, thereby pumping hydraulic oil out of the hydraulic oil tank 7. The throttle opening of the engine can be controlled by a pedal or an electric push rod, so in the remote control mode, the driver can control the movement of the electric push rod through the remote control to adjust the throttle opening of the engine.

[0039] In a further preferred embodiment of the present invention, the control panel 1 and the remote controller both include an emergency stop button, and the emergency stop button is electrically connected to the hydraulic electromagnetic reversing valve.

[0040] In this embodiment, since both the control panel 1 and the remote controller include an emergency stop button, the emergency stop function can be realized in both manual and remote control modes. When the emergency stop button is pressed, the hydraulic solenoid reversing valve stops working, the hydraulic system loses pressure and unloads, which greatly ensures the safety of personnel and equipment.

[0041] In a further preferred embodiment of the present invention, the intelligent operating system further comprises an angle sensor, the angle sensor is used to detect the actual opening of each motor speed regulating valve, and the angle sensor is electrically connected to the PLC controller.

[0042] In this embodiment, the angle sensor is used to detect the actual opening of the motor speed regulating valve and compare it with the set opening. If there is a deviation, the system will automatically adjust the opening of the motor speed regulating valve to reach the preset value. This ensures that the power chassis maintains stability and accuracy at different operating speeds, improving the operating performance and safety of the chassis.

[0043] Furthermore, each hydraulic solenoid reversing valve is a two-position three-way valve, and each motor solenoid reversing valve is a three-position four-way valve.

[0044] It also includes two speed sensors for monitoring the speed signals of the left and right tracks, comparing them with the manually input target speed, performing calculations in the main controller, and controlling the walking speed of the vehicle.

[0045] The control system of this embodiment adopts the CPU-ST30 series PLC, and combines the hydraulic solenoid reversing valve, motor speed regulating valve and motor solenoid reversing valve in the above-mentioned hydraulic transmission system, and adds electric push rods as actuators, which can flexibly realize functions such as control mode switching, emergency stop during driving, and adaptive adjustment of driving speed.

[0046] The CPU-ST30 series PLC has digital input and output interfaces. The digital input can be used to read the state of the joystick, and the digital output can be used to control the hydraulic solenoid reversing valve, the motor speed regulating valve and the motor solenoid reversing valve.

[0047] The digital input components of the above system mainly include remote control, manual emergency stop button, shift knob and other input components, and two three-speed control knobs, which respectively realize the selection of control mode and steering mode during manual control. The remote control wiring mainly includes power supply, forward, reverse, left turn on the spot, right turn on the spot, throttle plus, throttle minus, start-stop button. The control of the start-stop button mainly controls the on-off of the total power supply of the six buttons inside the receiver, connects its common end to the positive pole of the receiver power supply in parallel to the main power supply, and connects its main control end to the PLC as a sign of remote control start.

[0048] The SMC45 Hall joystick selected in this embodiment has an emergency stop button, but when it is closed, it is connected to the negative pole of the power supply. When it is directly connected to the input port of the PLC, it is at a low level, and the common end of the PLC is also connected to a low level, so the button cannot work. Therefore, the present invention connects an intermediate relay, and pressing the button transmits a high level to the PLC.

[0049] The present invention uses a two-wire electric push rod, and its lifting and lowering switching is mainly commutated by its positive and negative coils. Therefore, the present invention selects two intermediate relays to be used in combination to make it commutated. Its working principle is: when both relays are not powered on, the electric push rods are connected to the negative pole of the power supply, and the push rods remain motionless; when the relay that controls the electric push rod to rise is powered on, the coil of its relay is powered on, the common end of the relay is closed with the normally open contact, and disconnected with the normally closed contact, the positive pole of the power supply is connected to the positive pole of the electric push rod, and the negative pole of the power supply is connected to the negative pole of the electric push rod, and the electric push rod rises; when the relay that controls the electric push rod to fall is powered on, the positive pole of the power supply is connected to the negative pole of the electric push rod, and the negative pole of the power supply is connected to the positive pole of the electric push rod, and the electric push rod falls.

[0050] The implementation principle of this embodiment is:

[0051] The control system can realize stepless adjustment of the straight-line driving speed of the whole machine, automatic gear shifting during straight-line driving, stepless adjustment of differential steering radius, on-the-spot steering, throttle control and emergency stop control through remote control and manual operation.

[0052] Before the chassis control system starts working, the driver first selects manual control mode or remote control control mode by turning the knob on the control panel 1. If the manual mode is selected, differential steering or on-the-spot steering can be selected; if the remote control mode is selected, the chassis can only perform on-the-spot steering.

[0053] Then the control system will be initialized according to the selected mode, including the opening of the motor speed regulating valve 51 and various working parameters. Then the system determines whether the emergency stop button is pressed. If it is pressed, the whole machine is in the emergency stop state, and the control program continues to return to the self-check. If it is in the open state, the system continues to run, and the driver inputs the operation command to control the working state of each valve in the hydraulic transmission system, so that the chassis can travel according to the driver's wishes.

[0054] Two speed sensors detect the speed signals of the left and right tracks, and then perform calculations in the main controller based on the comparison with the manually input target speed to control the vehicle's travel speed. After the control process meets the requirements, the system detects whether it needs to stop. If it does not need to stop, it returns to run the main program from top to bottom again. If it stops, the program ends. During the working process, the main program mainly relies on calling various functional subroutines to realize the control function.

[0055] The embodiments of this specific implementation method are all preferred embodiments of the utility model, and are not intended to limit the protection scope of the utility model. Therefore, all equivalent changes made based on the structure, shape, and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A hydraulic crawler chassis intelligent control system, comprising a hydraulic oil tank and a first hydraulic motor and a second hydraulic motor respectively connected to crawler tracks on both sides, characterized in that: It also includes a control module and an adjustment module, wherein the control module includes a manual operating unit, an operating panel, a remote controller and a PLC controller, wherein the manual operating unit includes a Hall operating rod and a manual control button, and the manual operating unit, the operating panel and the remote controller are all electrically connected to the PLC controller; The regulating module includes a double hydraulic pump driven by an engine, the oil inlet end of the double hydraulic pump is connected to the hydraulic oil tank, the double hydraulic pump includes a large flow pump connected in series on the first oil circuit and a small flow pump connected in series on the second oil circuit, a first hydraulic solenoid reversing valve and a first flow dividing and collecting valve are arranged downstream of the large flow pump on the first oil circuit, a second hydraulic solenoid reversing valve and a second flow dividing and collecting valve are arranged downstream of the small flow pump on the second oil circuit, two oil outlets of the first flow dividing and collecting valve are connected to the first hydraulic motor and the second hydraulic motor respectively, and two oil outlets of the second flow dividing and collecting valve are connected to the first hydraulic motor and the second hydraulic motor respectively. The ports are respectively connected to the first hydraulic motor and the second hydraulic motor, the first hydraulic solenoid reversing valve and the second hydraulic solenoid reversing valve are electrically connected to the PLC controller, the first motor speed regulating valve and the first motor solenoid reversing valve are connected to the oil circuit between the first diverter and collector valve and the first hydraulic motor; the second motor speed regulating valve and the second motor solenoid reversing valve are connected to the oil circuit between the second diverter and collector valve and the second hydraulic motor, the first motor speed regulating valve, the second motor speed regulating valve, the first motor solenoid reversing valve and the second motor solenoid reversing valve are all electrically connected to the PLC controller.

2. The intelligent control system for a hydraulic crawler chassis according to claim 1, characterized in that: A first direct-acting overflow valve is connected to the oil circuit between the first hydraulic solenoid reversing valve and the first flow-dividing and collecting valve; a second direct-acting overflow valve is connected to the oil circuit between the second hydraulic solenoid reversing valve and the second flow-dividing and collecting valve.

3. The intelligent control system for a hydraulic crawler chassis according to claim 1, characterized in that: Filters are connected between the large flow pump, the small flow pump and the hydraulic oil tank.

4. The intelligent control system for a hydraulic crawler chassis according to claim 1, characterized in that: The engine is equipped with an electric push rod, which is used to adjust the throttle opening of the engine, and the electric push rod is electrically connected to the PLC controller.

5. The intelligent control system for a hydraulic crawler chassis according to claim 4, characterized in that: The control panel and the remote controller both include an emergency stop button, and the emergency stop button is electrically connected to the first hydraulic solenoid reversing valve and the second hydraulic solenoid reversing valve.

6. The intelligent control system for a hydraulic crawler chassis according to claim 5, characterized in that: The intelligent control system further comprises an angle sensor, which is used to detect the actual opening of the motor speed regulating valve, and the angle sensor is electrically connected to the PLC controller.

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