Electro-hydraulic proportional navigation control valve capable of realizing full-automatic navigation and tractor
By designing an electro-hydraulic proportional navigation control valve, combined with manual and automatic mode switching and load compensation functions, the problem of space occupation by automatic steering technology in agricultural machinery is solved, and the high precision and rapid response of fully automatic navigation are achieved, thereby improving the driving experience.
Patent Information
- Application Number
- CN202423039618.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-10
- Publication Date
- 2025-09-19
- Estimated Expiration
- 2034-12-10
AI Technical Summary
Existing automatic steering technology for agricultural machinery takes up cab space, reduces the driving experience, and has insufficient control accuracy and response rate.
An electro-hydraulic proportional navigation control valve is designed, which includes a double-acting cylinder, a steering gear, a pump, multiple solenoid valves and valves. It has the function of switching between manual and automatic modes, and combines load compensation, throttling, filtering and other structures to achieve fully automatic navigation.
It realizes fully automatic navigation without taking up cab space, has fast switching response function, precise control, fast response rate, and improves the driving experience.
Smart Images
Figure CN223359553U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to an automatic navigation technology for a tractor, in particular to an electro-hydraulic proportional navigation control valve and a tractor capable of realizing full-automatic navigation. Background Art
[0002] In recent years, the application scope of agricultural machinery automatic navigation technology in my country has continued to expand. The use of automatic navigation technology can improve the accuracy of agricultural machinery's straight-line driving and operation, reduce overlap and line errors, and reduce driver fatigue.
[0003] At present, most agricultural machinery automatic steering technologies use electronic steering wheels. Their installation and use will occupy the original space in the cab, which will invisibly reduce the driver's driving experience.
[0004] Based on this, it is necessary to develop an electro-hydraulic proportional navigation control valve and a tractor that can realize fully automatic navigation to overcome the above technical problems. Utility Model Content
[0005] The technical problem to be solved by the utility model is to provide an electro-hydraulic proportional navigation control valve and a tractor capable of realizing full-automatic navigation, which effectively overcomes the defects of the prior art.
[0006] The technical solution of the utility model to solve the above technical problems is as follows:
[0007] An electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation, comprising a double-acting oil cylinder, a steering gear, a pump, a first valve, a second solenoid valve, a third valve, a fourth solenoid valve and a fifth solenoid valve, wherein the valve cavity of the first valve comprises a first cavity and a second cavity equipped with a spring at both ends, the first valve is provided with a first interface, a second interface, a third interface, a fourth interface, a fifth interface, a sixth interface, a seventh interface, an eighth interface and a ninth interface, the second solenoid valve is provided with a tenth interface and an eleventh interface, the valve cavity of the third valve comprises a third cavity and a fourth cavity equipped with springs respectively at both ends, the third valve is provided with a twelfth interface, a thirteenth interface, a fourteenth interface, a fifteenth interface and a sixteenth interface, the fourth solenoid valve is provided with a seventeenth interface, an eighteenth interface and a nineteenth interface Interface, the fifth solenoid valve is provided with a twentieth interface, a twenty-first interface and a twenty-second interface, the steering gear is provided with a first inlet, a first oil return port, a left steering oil port and a right steering oil port, the double-acting cylinder is provided with a left steering oil chamber and a right steering oil chamber, the outlet of the pump is connected to the fourth interface, the first chamber, the tenth interface, the seventeenth interface and the twentieth interface respectively through pipelines, the second interface is connected to the left steering oil port and the left steering oil chamber through a pipeline, the third interface is connected to the right steering oil port and the right steering oil chamber through a pipeline, the first inlet is connected to the sixth interface through a pipeline, the first oil return port is connected to the twelfth interface through a pipeline, the first interface is connected to the second chamber through a pipeline, and the seventh interface is connected to the upper The sixteenth interface, the eighth interface is connected to the fourteenth interface through a pipeline, the ninth interface is connected to the thirteenth interface through a pipeline, the fifteenth interface is connected to the second chamber through a pipeline, the nineteenth interface is connected to the third chamber through a pipeline, the twenty-second interface is connected to the fourth chamber through a pipeline, the first oil return port, the fifth interface, the eleventh interface, the seventeenth interface and the twenty-first interface are connected to the oil return pipeline respectively; the valve core of the first valve can be moved to the fourth interface and the sixth interface for communication, or moved to the second interface and the seventh interface, the third interface and the eighth interface for communication, the fourth interface and the ninth interface for communication respectively, or moved to the second interface and the seventh interface, the third interface and the eighth interface for communication The fourth interface and the sixth interface, and the fourth interface and the ninth interface are connected respectively; when the second solenoid valve is energized or de-energized, its valve core can be moved to connect or disconnect the tenth interface and the eleventh interface; the valve core of the third valve can be moved to connect the twelfth interface and the fourteenth interface, the thirteenth interface and the fifteenth interface, and the thirteenth interface and the sixteenth interface respectively, or to connect the twelfth interface and the fifteenth interface, or to connect the twelfth interface and the sixteenth interface, the thirteenth interface and the fourteenth interface, and the thirteenth interface and the fifteenth interface respectively; when the fourth solenoid valve is energized or de-energized, its valve core can be moved to connect either the seventeenth interface or the eighteenth interface with the nineteenth interface;When the fifth solenoid valve is energized or de-energized, its valve core can move to connect the 20th or 21st interface to the 22nd interface.
[0008] On the basis of the above technical solution, the present invention can also be improved as follows.
[0009] Furthermore, a first throttle valve is provided on the pipeline connecting the nineteenth interface and the third chamber.
[0010] Furthermore, a second throttle valve is provided on the pipeline connecting the 22nd interface and the fourth chamber.
[0011] Furthermore, a third throttle valve is provided on the pipeline connecting the outlet of the pump and the tenth interface.
[0012] Furthermore, a first filter is provided on the pipeline connecting the eighteenth interface and the oil return pipeline.
[0013] Furthermore, a second filter is provided on the pipeline connecting the twentieth interface and the oil return pipeline.
[0014] Furthermore, a pressure measuring point is provided at the first inlet.
[0015] Furthermore, the pipeline connecting the fifteenth interface and the second chamber is also connected to an overflow pipeline, an overflow valve is provided on the overflow pipeline, and the overflow pipeline is connected to the oil return pipeline.
[0016] Furthermore, the inlet and oil return pipeline of the pump are respectively connected to the oil tank.
[0017] The beneficial effects of the utility model are: reasonable structural design, fast switching response function between manual and automatic modes, manual priority, load compensation function, no extra space in the cab as a whole, precise control, and fast response rate.
[0018] A tractor is also provided, comprising an electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 This is a structural diagram of the electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to the present utility model.
[0020] In the accompanying drawings, the components represented by the reference numerals are as follows:
[0021] 1. Double-acting cylinder; 2. Steering gear; 3. Pump; 4. First valve; 5. Second solenoid valve; 6. Third valve; 7. Fourth solenoid valve; 8. Fifth solenoid valve. DETAILED DESCRIPTION
[0022] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.
[0023] Example 1
[0024] like Figure 1As shown, the electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation in this embodiment includes a double-acting oil cylinder 1, a steering gear 2, a pump 3, a first valve 4, a second solenoid valve 5, a third valve 6, a fourth solenoid valve 7 and a fifth solenoid valve 8. The two ends of the valve cavity of the above-mentioned first valve 4 constitute a first cavity and a second cavity equipped with a spring. The above-mentioned first valve 4 is provided with a first interface a, a second interface b, a third interface c, a fourth interface d, a fifth interface e, a sixth interface f, a seventh interface g, an eighth interface h, and a ninth interface i. The above-mentioned second solenoid valve 5 is provided with a tenth interface j and an eleventh interface k. The two ends of the valve cavity of the above-mentioned third valve 6 constitute a third cavity and a fourth cavity equipped with springs respectively. The above-mentioned third valve 6 is provided with a twelfth interface l, a thirteenth interface m, a fourteenth interface n, a fifteenth interface The port o and the sixteenth port p, the fourth solenoid valve 7 is provided with a seventeenth port q, an eighteenth port r and a nineteenth port s, the fifth solenoid valve 8 is provided with a twentieth port t, a twenty-first port u and a twenty-second port v, the steering gear 2 is provided with a first inlet, a first oil return port, a left steering oil port and a right steering oil port, the double-acting cylinder 1 is provided with a left steering oil chamber and a right steering oil chamber, the outlet of the pump 3 is connected to the fourth port, the first chamber, the tenth port, the seventeenth port and the twentieth port respectively through pipelines, the second port is connected to the left steering oil port and the left steering oil chamber through a pipeline, the third port is connected to the right steering oil port and the right steering oil chamber through a pipeline, the first inlet is connected to the sixth port through a pipeline, the first oil return port The twelfth interface is connected to the second cavity through a pipeline, the first interface is connected to the second cavity through a pipeline, the seventh interface is connected to the sixteenth interface through a pipeline, the eighth interface is connected to the fourteenth interface through a pipeline, the ninth interface is connected to the thirteenth interface through a pipeline, the fifteenth interface is connected to the second cavity through a pipeline, the nineteenth interface is connected to the third cavity through a pipeline, the twenty-second interface is connected to the fourth cavity through a pipeline, the first oil return port, the fifth interface, the eleventh interface, the seventeenth interface and the twenty-first interface are connected to the oil return pipeline respectively; the valve core of the first valve 4 can be moved to the fourth interface and the sixth interface for communication, or moved to the second interface and the seventh interface, the third interface and the eighth interface for communication, The fourth interface is connected to the ninth interface respectively, or moved to the second interface and the seventh interface, the third interface and the eighth interface, the fourth interface and the sixth interface, and the fourth interface and the ninth interface respectively; the second solenoid valve 5 is energized or de-energized, and its valve core can be moved to connect or disconnect the tenth interface and the eleventh interface; the valve core of the third valve 6 can be moved to connect to the twelfth interface and the fourteenth interface, the thirteenth interface and the fifteenth interface, and the thirteenth interface and the sixteenth interface respectively, or moved to connect to the twelfth interface and the fifteenth interface, or moved to connect to the twelfth interface and the sixteenth interface, the thirteenth interface and the fourteenth interface, and the thirteenth interface and the fifteenth interface respectively;When the fourth solenoid valve 7 is energized or de-energized, its valve core can be moved so that either the seventeenth or eighteenth interface is connected to the nineteenth interface; when the fifth solenoid valve 8 is energized or de-energized, its valve core can be moved so that either the twentieth or twenty-first interface is connected to the twenty-second interface.
[0025] The electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation in this embodiment can flexibly use both manual mode and automatic mode. The specific process is as follows:
[0026] 1) Manual steering mode
[0027] The second solenoid valve 5 is not energized (press Figure 1 As shown, the second solenoid valve 5 is in the lower position), the tenth interface of the second solenoid valve 5 is connected to the eleventh interface, the first chamber is connected to the tenth interface, the first valve 4 is in the left position (the fourth interface is connected to the sixth interface), the fourth solenoid valve 7 and the fifth solenoid valve 8 are not energized (according to Figure 1 As shown, the fourth solenoid valve 7 is in the right position, the eighteenth interface is not connected to the above-mentioned nineteenth interface, the fifth solenoid valve 8 is in the left position, and the twentieth interface is not connected to the twenty-second interface), the pump 3 pumps the oil into the first inlet of the steering gear 2 through the fourth interface and the sixth interface. When not steering, the first inlet and the first oil return port are connected, and the oil flows out through the first oil return port. When steering, the oil enters the left steering oil chamber or the right steering oil chamber of the double-acting cylinder 1 through the first inlet, the left steering oil port or the right steering oil port to achieve left or right turn.
[0028] 2) Automatic steering mode
[0029] The second solenoid valve 5 is energized (by pressing Figure 1 As shown, the second solenoid valve 5 is in the upper position), the tenth interface is disconnected from the eleventh interface, the pump 3 sends part of the oil into the first chamber, pushing the valve core of the first valve 4 to move, so that the first valve 4 is in the middle position / right position. At this time, the second interface is connected to the seventh interface, the third interface is connected to the eighth interface, and the fourth interface is connected to the ninth interface respectively (when in the right position, on this basis, the fourth interface is also connected to the sixth interface). When no steering is required, the third valve 6 is in the right position (the third chamber and the fourth chamber are equal in pressure). When steering is required, the fourth solenoid valve 7 or the fifth solenoid valve 8 is energized (according to Figure 1As shown, the fourth solenoid valve 7 is energized in the left position, the seventeenth interface and the nineteenth interface are connected, the fifth solenoid valve 8 is energized in the right position, the twenty-first interface and the twenty-second interface are connected), so that the oil enters the third chamber or the fourth chamber, and the valve core of the third valve 6 moves, so that the third valve 6 is in the left position or the right position. The oil finally enters the left steering oil port of the steering gear 2 through the sixteenth interface, the seventh interface, and the second interface, or enters the right steering oil port of the steering gear 2 through the fourteenth interface, the eighth interface, and the third interface, so as to realize the double-acting cylinder 1 driving the left turn or the right turn. In this process, whether it is turning left or right, a part of the oil will enter the second chamber through the fifteenth interface, and the pressure of the second chamber will be compared with the pressure of the P port of the pump 3. When the pressure difference is large, the first valve 4 switches from the middle position to the right position, and part of the oil will enter the first oil inlet of the steering gear 2 through the sixth interface and flow out from the first oil return port to relieve the pressure. When the pressure difference is small, the first valve 4 switches to the middle position.
[0030] When in automatic mode, if the steering gear 2 makes a steering action, the second solenoid valve 5 will be quickly de-energized (de-energized), and the first chamber of the first valve 4 will quickly release pressure through the second solenoid valve 5. The valve core of the first valve 4 will move to the right under the action of the spring of its second chamber, so that the first valve 4 will quickly switch to the left position, that is, quickly switch to the manual steering mode.
[0031] In this embodiment, a first throttle valve is provided on the pipeline connecting the nineteenth interface and the third chamber.
[0032] In this embodiment, a second throttle valve is provided on the pipeline connecting the twenty-second interface and the fourth chamber.
[0033] In this embodiment, a third throttle valve is provided on the pipeline connecting the outlet of the pump 3 and the tenth interface.
[0034] In this embodiment, a first filter is provided on the pipeline connecting the above-mentioned eighteenth interface and the above-mentioned return oil pipeline. The setting of the first filter ensures that the oil quality entering the fourth solenoid valve 7 is high, plays a protective role for the fourth solenoid valve 7, and extends its service life.
[0035] In this embodiment, a second filter is provided on the pipeline connecting the above-mentioned twentieth interface and the above-mentioned return oil pipeline. The setting of the second filter ensures that the oil quality entering the fifth solenoid valve 8 is higher, plays a protective role for the fifth solenoid valve 8, and extends its service life.
[0036] In this embodiment, a pressure measuring point is provided at the first inlet.
[0037] In this embodiment, the pipeline connecting the above-mentioned fifteenth interface and the second chamber is also connected to an overflow pipeline, and an overflow valve is provided on the above-mentioned overflow pipeline. The above-mentioned overflow pipeline is connected to the above-mentioned return oil pipeline. The setting of the overflow pipeline ensures that when the pressure of the second chamber is too high, the pressure is relieved, and the pressure difference between the first chamber and the second chamber can make the first valve 4 in the middle / right position in the automatic mode.
[0038] In this embodiment, the inlet and the oil return pipeline of the pump 3 are connected to the oil tank respectively.
[0039] Example 2
[0040] The tractor of this embodiment includes the electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation in Example 1.
[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present invention.
[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.
[0043] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.
[0044] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.
[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.
[0046] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.
Claims
1. An electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation, characterized by: The invention comprises a double-acting oil cylinder (1), a steering gear (2), a pump (3), a first valve (4), a second solenoid valve (5), a third valve (6), a fourth solenoid valve (7) and a fifth solenoid valve (8), wherein the two ends of the valve cavity of the first valve (4) constitute a first cavity and a second cavity equipped with a spring, the first valve (4) is provided with a first interface, a second interface, a third interface, a fourth interface, a fifth interface, a sixth interface, a seventh interface, an eighth interface and a ninth interface, the second solenoid valve (5) is provided with a tenth interface and an eleventh interface, the two ends of the valve cavity of the third valve (6) constitute a third cavity and a fourth cavity equipped with springs respectively, the third valve (6) is provided with a twelfth interface, a thirteenth interface, a fourteenth interface, a fifteenth interface and a sixteenth interface, the fourth solenoid valve (6) is provided with a The magnetic valve (7) is provided with a seventeenth interface, an eighteenth interface and a nineteenth interface, the fifth solenoid valve (8) is provided with a twentieth interface, a twenty-first interface and a twenty-second interface, the steering gear (2) is provided with a first inlet, a first oil return port, a left steering oil port and a right steering oil port, the double-acting oil cylinder (1) is provided with a left steering oil chamber and a right steering oil chamber, the outlet of the pump (3) is connected to the fourth interface, the first chamber, the tenth interface, the seventeenth interface and the twentieth interface respectively through pipelines, the second interface is connected to the left steering oil port and the left steering oil chamber through a pipeline, the third interface is connected to the right steering oil port and the right steering oil chamber through a pipeline, the first inlet is connected to the sixth interface through a pipeline, the first oil return port is connected to the third interface through a pipeline The first interface is connected to the second cavity through a pipeline, the seventh interface is connected to the sixteenth interface through a pipeline, the eighth interface is connected to the fourteenth interface through a pipeline, the ninth interface is connected to the thirteenth interface through a pipeline, the fifteenth interface is connected to the second cavity through a pipeline, the nineteenth interface is connected to the third cavity through a pipeline, the twenty-second interface is connected to the fourth cavity through a pipeline, the first oil return port, the fifth interface, the eleventh interface, the seventeenth interface and the twenty-first interface are connected to the oil return pipeline respectively; the valve core of the first valve (4) can be moved to the fourth interface and the sixth interface, or moved to the second interface and the seventh interface, the third interface and the eighth interface, the fourth interface The second solenoid valve (5) is energized or de-energized, and its valve core can be moved to connect or disconnect the tenth interface with the eleventh interface; the valve core of the third valve (6) can be moved to connect the twelfth interface with the fourteenth interface, the thirteenth interface with the fifteenth interface, the thirteenth interface with the sixteenth interface, or to connect the twelfth interface with the fifteenth interface, or to connect the twelfth interface with the fifteenth interface, or to connect the twelfth interface with the sixteenth interface, the thirteenth interface with the fourteenth interface, or to connect the thirteenth interface with the fifteenth interface;When the fourth solenoid valve (7) is energized or de-energized, its valve core can be moved to enable one of the seventeenth and eighteenth interfaces to be connected to the nineteenth interface; when the fifth solenoid valve (8) is energized or de-energized, its valve core can be moved to enable one of the twenty-first and twenty-first interfaces to be connected to the twenty-second interface.
2. The electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation according to claim 1, characterized in that: A first throttle valve is provided on the pipeline connecting the nineteenth interface and the third chamber.
3. The electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation according to claim 1, characterized in that: A second throttle valve is provided on the pipeline connecting the twenty-second interface and the fourth chamber.
4. The electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation according to claim 1, characterized in that: A third throttle valve is provided on the pipeline connecting the outlet of the pump (3) and the tenth interface.
5. The electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation according to claim 1, characterized in that: A first filter is provided on the pipeline connecting the eighteenth interface and the oil return pipeline.
6. The electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation according to claim 1, characterized in that: A second filter is provided on the pipeline connecting the 20th interface and the oil return pipeline.
7. The electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation according to claim 1, characterized in that: A pressure measuring point is provided at the first inlet.
8. The electro-hydraulic proportional navigation control valve capable of achieving fully automatic navigation according to claim 1, characterized in that: The pipeline connecting the fifteenth interface and the second chamber is also connected to an overflow pipeline, an overflow valve is provided on the overflow pipeline, and the overflow pipeline is connected to the oil return pipeline.
9. The electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation according to any one of claims 1 to 8, characterized in that: The inlet and the oil return pipeline of the pump (3) are respectively connected to the oil tank.
10. A tractor, characterized in that: It comprises the electro-hydraulic proportional navigation control valve capable of realizing fully automatic navigation as described in any one of claims 1 to 9.