CN107856750B - Multi-oil-cylinder-driven crawler-type low-speed heavy-load equipment travelling mechanism - Google Patents
Multi-oil-cylinder-driven crawler-type low-speed heavy-load equipment travelling mechanism Download PDFInfo
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- CN107856750B CN107856750B CN201711011240.1A CN201711011240A CN107856750B CN 107856750 B CN107856750 B CN 107856750B CN 201711011240 A CN201711011240 A CN 201711011240A CN 107856750 B CN107856750 B CN 107856750B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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Abstract
The invention provides a crawler-type low-speed heavy-load equipment travelling mechanism driven by multiple oil cylinders, which comprises a control unit, a sensor for detecting the position of a crawler tooth, and a forward driving system and a backward driving system which are arranged in each crawler frame and used for driving the crawler tooth, wherein the forward driving system and the backward driving system respectively comprise two groups of driving devices with complementary strokes, and each group of driving devices comprises at least one driving unit; each driving unit comprises a driving head for driving the crawler teeth, a pressing oil cylinder for controlling the driving head to move up and down, a driving oil cylinder for controlling the driving head to move back and forth to push the crawler teeth, and travel switches for detecting the positions of piston rods of the pressing oil cylinder and the driving oil cylinder; the pressing oil cylinder and the driving oil cylinder are connected to the control unit through electromagnetic valves, and a sensor for detecting the position of the crawler teeth and a travel switch are connected to the control unit. The invention cancels structures such as a walking hydraulic motor, a walking speed reducer, a driving wheel and the like, and directly uses the oil cylinder to drive the crawler teeth of the crawler plate, thereby realizing the functions of walking forwards and backwards, turning, grinding and the like.
Description
Technical Field
The invention belongs to a travelling mechanism of engineering machinery, and particularly relates to a travelling mechanism of a crawler-type low-speed heavy-load device driven by multiple oil cylinders, which can be applied to the crane industry.
Background
The traveling mechanism of the crawler crane usually adopts a hydraulic motor to drive a planetary reducer, and a toothed driving wheel drives a crawler belt to realize the functions of traveling forwards and backwards, turning, grinding and the like. Firstly, the cost is high, and motor and speed reducer are expensive, and secondly the maintenance is comparatively difficult, and thirdly most crawler crane is for the industrial installation design, and the work standard is not applicable to the walking on long distance walking and the great slope, walks under these operating modes by force, can cause the early damage of walking speed reducer. There is a need for a solution that is relatively inexpensive to manufacture and relatively easy to maintain.
Disclosure of Invention
The invention provides a crawler-type low-speed heavy-load equipment travelling mechanism driven by multiple oil cylinders, and aims to solve the problems that a crawler-type engineering machinery travelling mechanism is driven by a hydraulic motor and a driving wheel drives a crawler, so that the crawler-type engineering machinery travelling mechanism is high in manufacturing cost, difficult to maintain and not suitable for long-distance travelling and travelling on a large slope.
In order to solve the technical problems, the technical scheme is as follows:
a crawler-type low-speed heavy-load equipment travelling mechanism driven by multiple oil cylinders comprises a control unit, sensors for detecting the positions of crawler teeth, a forward driving system and a backward driving system, wherein the forward driving system and the backward driving system are arranged in each crawler frame and used for driving the crawler teeth; each driving unit comprises a driving head for driving the crawler teeth, a pressing oil cylinder for controlling the driving head to move up and down, a driving oil cylinder for controlling the driving head to move back and forth to push the crawler teeth, and travel switches for detecting the positions of piston rods of the pressing oil cylinder and the driving oil cylinder; the pressing oil cylinder and the driving oil cylinder are connected to the control unit through electromagnetic valves, and the sensor for detecting the position of the crawler teeth and the travel switch are connected to the control unit.
According to the crawler-type low-speed heavy-load equipment travelling mechanism driven by the multiple oil cylinders, two driving units are arranged in each group of driving devices.
According to the crawler-type low-speed heavy-load equipment travelling mechanism driven by the multiple oil cylinders, the buffer spring is connected between the piston rod of the pressing oil cylinder and the driving head.
According to the crawler-type low-speed and heavy-load equipment travelling mechanism driven by the multiple oil cylinders, the oil passages of the oil cylinders are provided with the pressure detection units.
According to the crawler-type low-speed heavy-load equipment travelling mechanism driven by the multiple oil cylinders, the rod cavities and the rodless cavities of the oil cylinders are internally provided with the pressure detection units.
The driving oil cylinder is arranged along the center line of the crawler frame and directly pushes the crawler teeth. The pressing oil cylinder plays a role in conveying a driving head on a piston rod of the driving oil cylinder to or away from the crawler teeth. The middle of the crawler plate is provided with crawler teeth, a mark is arranged at the concave part of the crawler tooth tip, the position of the mark is indicated by a sensor, the tooth tip moves to a proper position to trigger a control unit to send an electric signal to control an electromagnetic valve, so that a pressing cylinder starts to press down to push a driving head to move downwards, the pressing cylinder presses down to a certain stroke to automatically stop, the driving cylinder starts to extend, the driving head on the extended driving cylinder rod touches the crawler teeth to start driving, the driving cylinder automatically stops extending to the certain stroke, and the driving cylinder starts to enter an idle stroke (the pressing cylinder retracts to finish lifting action and simultaneously retracts).
The invention cancels structures such as a walking hydraulic motor, a walking speed reducer, a driving wheel and the like, and directly uses a plurality of oil cylinders to drive the crawler teeth of the crawler plate, thereby realizing the functions of walking forwards and backwards, turning, grinding and the like.
The invention adopts the oil cylinder driving reason:
1. walking is low-speed movement, which provides possibility for direct driving by an oil cylinder;
2. the oil cylinder drive has the advantage of large thrust;
3. the oil cylinder group adopts a valve group and a plurality of sensors (a pressure sensor and a travel switch) to form a driving mechanism with coordinated action;
4. the oil cylinder is simple in structure and convenient to maintain.
The innovation points of the invention are as follows:
1. the traveling mechanism uses the oil cylinder to replace a motor, a speed reducer and a driving wheel, so that the structure is simplified, and the cost is reduced;
2. the oil cylinder drive has the advantage of large thrust; the oil cylinder has a simple structure and is convenient to maintain;
3. the traveling mechanism driven by the oil cylinder can be suitable for long-distance traveling and traveling with larger gradient;
4. the motion relation of each oil cylinder is similar to that of a building block combination, and along with the improvement of a control part (a sensor and an electric control), the performance tends to be intelligent.
Drawings
FIG. 1 is a schematic structural diagram of a multi-cylinder driven crawler-type low-speed heavy-duty equipment traveling mechanism according to an exemplary embodiment.
FIG. 2 is a schematic diagram of the drive oil circuit of a multi-cylinder driven crawler-type low-speed heavy-duty equipment traveling mechanism according to an exemplary embodiment.
FIG. 3 is a control schematic diagram illustrating a multi-cylinder driven crawler type low speed and heavy duty equipment undercarriage according to an exemplary embodiment.
In the figure: 1-a press-down cylinder, 2-an upper point travel switch (a first travel switch) of the press-down cylinder, 3-a lower point travel switch (a second travel switch) of the press-down cylinder, 4-a buffer spring, 5-a driving head, 6-a first electromagnetic valve for controlling the press-down cylinder, 7-a second electromagnetic valve for controlling the driving cylinder, 8-the driving cylinder, 9-a tooth tip position sensor, 10-teeth, 11-a contraction point travel switch (a third travel switch) of the driving cylinder, 12-an extension point travel switch (a fourth travel switch) of the driving cylinder, 13-a track shoe, 14-a track frame, 15-a right track frame traveling driving oil path, 16-a right track frame forward driving unit, 17-a right track frame backward driving unit, 18-a left track frame oil path traveling driving oil path, 19-a left track frame forward driving unit and 20-a left track frame backward driving unit.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A crawler-type low-speed heavy-load equipment travelling mechanism driven by multiple oil cylinders comprises a control unit, sensors for detecting the positions of crawler teeth, a forward driving system and a backward driving system, wherein the forward driving system and the backward driving system are arranged in each crawler frame and used for driving the crawler teeth; each driving unit comprises a driving head for driving the crawler teeth, a pressing oil cylinder for controlling the driving head to move up and down, a driving oil cylinder for controlling the driving head to move back and forth to push the crawler teeth, and travel switches for detecting the positions of piston rods of the pressing oil cylinder and the driving oil cylinder; the pressing oil cylinder and the driving oil cylinder are connected to the control unit through electromagnetic valves, and the sensor for detecting the position of the crawler teeth and the travel switch are connected to the control unit.
As shown in fig. 1, the driving cylinder 8 directly pushes the crawler tooth 10 through the driving head 5, and the push-down cylinder 1 functions to feed the driving head 5 on the piston rod of the driving cylinder 8 to or away from the crawler tooth 10. The pressing cylinder 1 and the driving cylinder 8 are both arranged inside a track frame 14, and contact and drive teeth 10 of a track shoe 13 below the track frame (the track shoe 13 where the teeth 10 are located directly contacts the ground or a road base plate).
The forward driving system and the backward driving system respectively comprise two groups of driving devices with complementary strokes, namely, one group is in an idle stroke when directly driving the working stroke of output force, and the operation is repeated in such a way, so that the driving action is continuous.
In a preferred mode, each group of driving devices comprises two driving units, two driving oil cylinders are guaranteed to drive the track plate teeth at the same time at every moment, and the phenomenon that some track plate teeth break off to cause the driving to be 'pedaled to the air' is avoided. Of course, there may be only one driving unit in each group of driving devices, or more than two driving units, and this is not a limitation.
In the embodiment shown in fig. 2, when each set of driving device adopts two driving units, eight units of oil cylinders are arranged in each track frame, and four units are respectively arranged for advancing and retreating. And the left crawler frame and the right crawler frame are driven by eight units of oil cylinders in each forward or backward direction. The oil cylinders are orderly combined and move coordinately, and the functions of advancing, retreating, turning, grinding and the like of walking are realized.
As shown in fig. 1, four travel switches are provided in each drive unit, and include a first travel switch 2 for detecting whether the piston rod of the push-down cylinder 1 is pushed up to a higher position (upper point), a second travel switch 3 for detecting whether the piston rod of the push-down cylinder 1 is pushed down to a lower position (lower point), a third travel switch 11 for detecting whether the piston rod of the drive cylinder 8 is retracted to a shorter position (retraction point), and a fourth travel switch 12 for detecting whether the piston rod of the drive cylinder is extended to a longer position (extension point). The lower point, the upper point, the contraction point and the extension point are only relative spatial positions of the piston rod, and can be determined according to corresponding design specifications such as the installation position of the oil cylinder, the position of the driving head away from the crawler teeth and the like. For example, the lower point may be a position where the piston rod of the push-down cylinder is pushed down to the lowest point, the upper point may be a position where the piston rod of the push-down cylinder is pushed up to the highest point, the contraction point may be a position where the piston rod of the drive cylinder is contracted to the shortest point, and the extension point may be a position where the piston rod of the drive cylinder is extended to the longest point.
A drive oil cylinder and a press-down oil cylinder form a unit, and the coordination relationship of the actions in the unit is as follows: firstly, the lower pressure oil cylinder is at the upper point, and the driving oil cylinder is at the contraction point. The pressing oil cylinder is firstly pressed to a lower point, and then the driving oil cylinder starts to do an extending action. When the driving oil cylinder extends to an extension point, the lower pressing oil cylinder starts to lift up to an upper point, and meanwhile, the driving oil cylinder retracts to a retraction point. There is also the problem of coordination of the units, synchronization of one unit with another and complementation. These rely on the travel switch and the control unit of each hydro-cylinder to coordinate control. The control unit can adopt a PLC, a sensor for detecting the position of the crawler teeth can adopt a photoelectric sensor, signals detected by each stroke switch and the photoelectric sensor are transmitted to the PLC, and the PLC sends out instructions to control the action of each electromagnetic valve through comparison operation.
As shown in fig. 1 to 3, the working principle of the present invention is as follows: taking the front drive unit as an example, the pressing cylinder 1 is at the upper point, and the driving cylinder 8 is at the contraction point. A sensor 9 which is arranged on a track frame 14 and is used for detecting the position of a track tooth 10 (mainly a tooth tip) senses the position of the track tooth 10, a driver sends a walking forward signal to control the reversing of a first electromagnetic valve 6 of a pressing oil cylinder 1 to press the pressing oil cylinder 1 downwards, a first travel switch 2 and a second travel switch 3 detect the position of a piston rod of the pressing oil cylinder 1 so as to participate in the control of the first electromagnetic valve 6, and a spring 4 with a buffering function is connected between the piston rod of the pressing oil cylinder 1 and a driving head 5 so that the connection between the pressing oil cylinder 1 and the driving head 5 is flexible; when the pressing oil cylinder 1 is pressed (extended) to a certain degree, the second travel switch 3 at the lower point of the pressing oil cylinder 1 sends a signal, the second electromagnetic valve 7 of the driving oil cylinder 8 is driven and controlled to start reversing, the driving oil cylinder 8 starts to extend, the driving oil cylinder 8 extends to a certain degree, the fourth travel switch 12 at the extending point of the driving oil cylinder sends a signal, and at the moment, the first electromagnetic valve 6 and the second electromagnetic valve 7 are simultaneously reversed. The first electromagnetic valve 6 is reversed to lift (retract) the lower oil cylinder 1 until the first travel switch 2 sends a signal to enable the first electromagnetic valve 6 to be in a middle position; the second electromagnetic valve 7 is reversed to enable the driving oil cylinder 8 to retreat (retract) until the third travel switch 11 sends out a signal to enable the second electromagnetic valve 7 to return to the middle position. The process is continuously circulated, and the walking forward motion is formed.
The working process of the rear drive unit is the same as the principle of the front drive unit, and the description is omitted here.
The oil circuit of each oil cylinder is provided with a pressure detection unit, for example, the oil circuit is arranged in a rod cavity and a rodless cavity, pressure signals are detected in real time, and when pressure is found to be abnormal, a corresponding alarm signal is sent out through a PLC control unit to remind an operator, if the crawler teeth are broken, the pressure can not rise all the time in the driving process of the corresponding driving oil cylinder.
The speed regulation (fast and slow) mode of each group of oil cylinders is as follows: because the coordination relationship among the oil cylinders is coordinated by the control box, the speed regulation of each oil cylinder depends on the flow of an oil path supplied to the track frame, which is determined by the flow of the corresponding walking pump of the hydraulic system of the upper vehicle, and the speed regulation of the walking oil cylinders can be realized by regulating the rotating speed of the engine and the discharge capacity of the walking pump.
Claims (5)
1. A crawler-type low-speed heavy-load equipment travelling mechanism driven by multiple oil cylinders is characterized by comprising a control unit, a sensor for detecting the position of a crawler tooth, a forward driving system and a backward driving system which are arranged in each crawler frame and used for driving the crawler tooth, wherein the forward driving system and the backward driving system respectively comprise two groups of driving devices with complementary strokes, one group of driving devices is in idle stroke when directly driving the working stroke of output force, and each group of driving devices comprises at least one driving unit; each driving unit comprises a driving head for driving the crawler teeth, a pressing oil cylinder for controlling the driving head to move up and down, a driving oil cylinder for controlling the driving head to move back and forth to push the crawler teeth, and travel switches for detecting the positions of piston rods of the pressing oil cylinder and the driving oil cylinder; the pressing oil cylinder and the driving oil cylinder are connected to the control unit through electromagnetic valves, and the sensor for detecting the position of the crawler teeth and the travel switch are connected to the control unit.
2. The multi-cylinder driven tracked low-speed and heavy-duty vehicle undercarriage of claim 1 wherein there are two drive units per set of drives.
3. The running mechanism of a crawler-type low-speed and heavy-duty device driven by multiple oil cylinders according to claim 1, wherein a buffer spring is connected between a piston rod of the pressing oil cylinder and the driving head.
4. A multi-cylinder driven crawler-type low-speed and heavy-duty equipment traveling mechanism according to any one of claims 1 to 3, wherein a pressure detecting unit is disposed in an oil passage of the cylinders.
5. The running gear of multi-cylinder driven crawler-type low-speed and heavy-duty equipment according to claim 4, wherein pressure detecting units are arranged in the rod cavity and the rodless cavity of the cylinders.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711011240.1A CN107856750B (en) | 2017-10-26 | 2017-10-26 | Multi-oil-cylinder-driven crawler-type low-speed heavy-load equipment travelling mechanism |
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| CN201711011240.1A CN107856750B (en) | 2017-10-26 | 2017-10-26 | Multi-oil-cylinder-driven crawler-type low-speed heavy-load equipment travelling mechanism |
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| CN107856750A CN107856750A (en) | 2018-03-30 |
| CN107856750B true CN107856750B (en) | 2020-05-01 |
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| CN201711011240.1A Active CN107856750B (en) | 2017-10-26 | 2017-10-26 | Multi-oil-cylinder-driven crawler-type low-speed heavy-load equipment travelling mechanism |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08216941A (en) * | 1995-02-09 | 1996-08-27 | Atex Co Ltd | Sprocket for crawler unit |
| CN201934403U (en) * | 2011-01-27 | 2011-08-17 | 徐州海伦哲专用车辆股份有限公司 | Intelligent stepping driving mechanism |
| CN202594313U (en) * | 2012-06-01 | 2012-12-12 | 东风汽车电气有限公司 | Conveyor special for armature parts of motor production line |
| CN104060870B (en) * | 2014-06-10 | 2016-04-13 | 杭州西子石川岛停车设备有限公司 | A kind of manipulator Transport Vehicle handling equipment |
| CN206156376U (en) * | 2016-08-31 | 2017-05-10 | 中冶华天工程技术有限公司 | High -speed palletizing system of tape row journey compensation |
| CN106697985A (en) * | 2017-02-09 | 2017-05-24 | 中江县凯讯电子有限公司 | Automatic feeding mechanism with function of preventing blocking of network transformers |
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