CN111946681A

CN111946681A - Anti-sliding method for traveling device and anti-sliding hydraulic control system

Info

Publication number: CN111946681A
Application number: CN202010806189.9A
Authority: CN
Inventors: 武小伟; 白永安; 杨述庆; 刘佳; 刘鑫; 张建; 胡德利; 刘媛媛; 张义顺
Original assignee: Lovol Heavy Industry Co Ltd
Current assignee: Lovol Heavy Industry Co Ltd
Priority date: 2020-08-12
Filing date: 2020-08-12
Publication date: 2020-11-17

Abstract

The invention discloses a method for preventing a walking device from sliding and a hydraulic control system for preventing the walking device from sliding, and belongs to the technical field of hydraulic control systems. The anti-sliding method of the walking device comprises the following steps: the walking device is provided with a hydraulic control system, the hydraulic control system comprises a hydraulic main oil way, a bidirectional variable hydraulic pump, a bidirectional hydraulic motor, an electric control unit and a planetary gear transmission mechanism, the planetary gear transmission mechanism comprises a gear ring, a sun gear, a planetary gear and a planetary carrier, and the gear ring, the sun gear and the planetary carrier are coaxially and rotatably arranged; when the traveling device stops, the electronic control unit acquires the rotating speed of the bidirectional hydraulic motor and the rotating speed of the gear ring and automatically calculates the output rotating speed of the planet carrier, and if the output rotating speed of the planet carrier is not zero, the electronic control unit sends a control signal to the bidirectional variable hydraulic pump to change the displacement of the bidirectional variable hydraulic pump until the output rotating speed of the planet carrier is zero. The method for preventing the running gear from sliding can accurately control the mechanical zero point and effectively prevent the running gear from sliding.

Description

Anti-sliding method for traveling device and anti-sliding hydraulic control system

Technical Field

The invention relates to the technical field of hydraulic control systems, in particular to a method for preventing a walking device from sliding and a hydraulic control system for preventing the walking device from sliding.

Background

The harvester is important equipment in agricultural production, mainly uses the reaping of crops such as wheat, corn, rice, wherein, the harvester driven through the hydraulic system can realize stepless speed regulation, obtains extensive application, in addition, when the whole harvester keeps the standstill state, the output rotational speed that needs to make the planet carrier at this moment is zero, then the sun gear needs to output a specific rotational speed to balance the rotational speed of ring gear, specifically the plunger pump drives the sun gear and rotates with the rotational speed opposite to the direction of rotation of ring gear, sun gear and ring gear interact make the planet carrier output rotational speed zero, the plunger pump needs to operate with a specific discharge capacity at this moment, this specific discharge capacity is called "mechanical zero point". However, as the plunger pump and the plunger motor in the hydraulic system of the existing harvester are accumulated along with use, the volumetric efficiency of the plunger pump and the plunger motor can be changed correspondingly in different service life periods and different rotating speeds of the prime mover, the displacement of the plunger pump is controlled by the existing plunger pump through manual adjustment, and the accuracy of manually adjusting the displacement of the plunger pump to a specific displacement is poor, so that the existing harvester is difficult to accurately reach a mechanical zero point, the phenomenon of rolling of the harvester occurs in different service life periods and different rotating speeds of the prime mover, and the potential safety hazard exists, and in addition, other walking devices controlled by hydraulic drive also have the same technical problems. Therefore, there is a need for a method and a system for preventing a traveling apparatus from slipping, which can accurately control a machine zero point and effectively prevent the traveling apparatus from slipping.

Disclosure of Invention

The invention aims to overcome at least one defect of the prior art and provides a method for preventing the running of the running gear, which can accurately control a mechanical zero point and effectively prevent the running gear from running; in addition, still provide a running gear and prevent swift current car hydraulic control system.

The technical scheme for solving the technical problems is as follows: an anti-rolling method for a walking device comprises the following steps:

the traveling device is provided with a hydraulic control system for driving and controlling the traveling device, the hydraulic control system comprises a main hydraulic oil path, a bidirectional variable hydraulic pump and a bidirectional hydraulic motor which are connected to the main hydraulic oil path, an electric control unit and a planetary gear transmission mechanism, the bidirectional variable hydraulic pump is connected with a prime mover, the planetary gear transmission mechanism comprises a gear ring, a sun gear, a planetary gear and a planetary carrier, the gear ring, the sun gear and the planetary carrier are coaxially and rotatably arranged, the gear ring is connected with another prime mover, the sun gear is connected with an output shaft of the bidirectional hydraulic motor, the planetary gear is meshed with the sun gear and the gear ring, the planetary carrier is connected with the planetary gear, and a driving wheel on the traveling device can be connected with an output end of the planetary carrier;

setting the displacement of the bidirectional variable hydraulic pump as a first displacement when the traveling device stops, taking the first displacement as an initial displacement when the bidirectional variable hydraulic pump is not powered on, acquiring the rotating speed of the bidirectional hydraulic motor and the rotating speed of the gear ring and automatically calculating the output rotating speed of the planet carrier by the electronic control unit when the traveling device stops, calculating the rotating speed required by the bidirectional hydraulic motor corresponding to the zero output rotating speed of the planet carrier by the electronic control unit when the output rotating speed of the planet carrier is not zero, giving the bidirectional hydraulic motor a corresponding displacement control signal capable of controlling the displacement of the bidirectional variable hydraulic pump according to the rotating speed required by the bidirectional hydraulic motor corresponding to the zero output rotating speed of the planet carrier, and changing the displacement of the bidirectional variable hydraulic pump into a second displacement after the bidirectional hydraulic motor obtains the displacement control signal, the two-way hydraulic motor changes the rotating speed into a second rotating speed under the action of a second displacement, the rotating speed of the gear ring is unchanged, the electronic control unit collects the second rotating speed of the two-way hydraulic motor and then calculates the second output rotating speed of the planet carrier, and if the second output rotating speed of the planet carrier is zero, the two-way variable hydraulic pump keeps the second displacement to operate;

if the output rotating speed two of the planet carrier is not zero, the electric control unit calculates a correction control signal which correspondingly corrects the displacement of the bidirectional variable hydraulic pump to the bidirectional variable hydraulic pump, the bidirectional variable hydraulic pump corrects the displacement to be three after obtaining the correction control signal, the bidirectional hydraulic motor changes the rotating speed to be three under the action of the displacement to be three, the electric control unit collects the rotating speed three of the bidirectional hydraulic motor and calculates the output rotating speed three of the planet carrier, and if the output rotating speed three of the planet carrier is zero, the bidirectional variable hydraulic pump keeps the displacement to be three in operation;

if the output rotating speed III of the planet carrier is not zero, the electronic control unit repeatedly gives a corresponding displacement control signal capable of controlling the displacement of the bidirectional variable hydraulic pump and a corresponding correction control signal for correcting the displacement of the bidirectional variable hydraulic pump to the bidirectional variable hydraulic pump, the bidirectional variable hydraulic pump correspondingly changes and corrects the displacement, and the process is circulated until the output rotating speed III of the planet carrier is zero.

The invention has the beneficial effects that: the anti-rolling method of the traveling device comprises the steps that the rotation speed of a bidirectional hydraulic motor and the rotation speed of a gear ring are collected through an electric control unit, when the traveling device stops, when the rotation speed of a planet carrier is not zero, the electric control unit collects the rotation speed of the bidirectional hydraulic motor and the rotation speed of the gear ring, a control signal used for adjusting the displacement of the bidirectional variable hydraulic pump is sent to the bidirectional variable hydraulic pump according to the collected rotation speed of the bidirectional hydraulic motor and the collected rotation speed of the gear ring so as to control a sun gear to output a specific rotation speed to balance the rotation speed of the gear ring, the rotation speed of the planet carrier is zero, the bidirectional variable hydraulic pump receives the control signal and changes the displacement of the bidirectional variable hydraulic pump, the displacement of the hydraulic motor is changed along with the displacement of the bidirectional variable hydraulic pump, the rotation speed of the bidirectional hydraulic motor is changed, and the sun gear outputs the, so that the rotational speed of the planet carrier is zero. In addition, the electric control unit can also calculate a correction control signal for correspondingly correcting the displacement of the bidirectional variable hydraulic pump for the electro-hydraulic proportional control valve, so that the output rotating speed of the planet carrier can be further corrected, the output rotating speed of the planet carrier is further ensured to be zero, and the mechanical zero point is accurately controlled. Therefore, the method for preventing the running device from sliding can accurately control the mechanical zero point, effectively prevent the running device from sliding due to the change of the volumetric efficiency of the hydraulic pump and the hydraulic motor in different service life periods and different rotating speeds of the prime motor, and has high safety.

In addition, on the basis of the above technical solution, the present invention may be further improved as follows, and may further have the following additional technical features.

According to one embodiment of the present invention, the running gear anti-rolling method further comprises:

the hydraulic control system of the walking device is internally provided with an electro-hydraulic proportional control valve and a servo device, the electro-hydraulic proportional control valve is used for receiving a displacement control signal and a correction control signal and proportionally controlling the amount of hydraulic oil passing through the electro-hydraulic proportional control valve to drive the servo device, and the servo device is used for controlling the displacement of the bidirectional variable hydraulic pump.

The embodiment utilizes the electro-hydraulic proportional control valve to receive the displacement control signal and the correction control signal and proportionally control the hydraulic oil quantity passing through the electro-hydraulic proportional control valve to drive the servo device by arranging the electro-hydraulic proportional control valve and the servo device, and then controls the displacement of the bidirectional variable hydraulic pump by the servo device, so that the control of the displacement of the bidirectional variable hydraulic pump is facilitated, and the increase of the production cost of the bidirectional variable hydraulic pump due to the complicated structure of the bidirectional variable hydraulic pump is also avoided.

According to one embodiment of the invention, the method for controlling the displacement of the bidirectional variable hydraulic pump by the servo device comprises the following steps of receiving a displacement control signal and a correction control signal by using an electro-hydraulic proportional control valve, proportionally controlling the amount of hydraulic oil passing through the electro-hydraulic proportional control valve to drive the servo device, and controlling the displacement of the bidirectional variable hydraulic pump by the servo device:

when a proportional electromagnet in the electro-hydraulic proportional control valve is not electrified, the initial displacement of the bidirectional variable hydraulic pump is realized, when the walking device stops, the electric control unit acquires the rotating speed of the bidirectional hydraulic motor and the rotating speed of the gear ring and automatically calculates the output rotating speed of the planet carrier, when the output rotating speed of the planet carrier is not zero, the electric control unit calculates the rotating speed required by the bidirectional hydraulic motor corresponding to the zero output rotating speed of the planet carrier, the electric control unit gives a corresponding displacement control signal capable of controlling the displacement of the bidirectional variable hydraulic pump to the electro-hydraulic proportional control valve according to the rotating speed required by the bidirectional hydraulic motor corresponding to the zero output rotating speed of the planet carrier, and the electro-hydraulic proportional control valve controls the servo device to drive the bidirectional variable hydraulic pump to change the displacement into the second displacement by the servo device after obtaining the displacement control signal, the two-way hydraulic motor changes the rotating speed into a second rotating speed under the action of a second displacement, the rotating speed of the gear ring is unchanged, the electronic control unit collects the second rotating speed of the two-way hydraulic motor and then calculates the second output rotating speed of the planet carrier, and if the second output rotating speed of the planet carrier is zero, the two-way variable hydraulic pump keeps the second displacement to operate; if the output rotating speed two of the planet carrier is not zero, the electric control unit calculates a correction control signal which correspondingly corrects the displacement of the bidirectional variable hydraulic pump to the electro-hydraulic proportional control valve, the electro-hydraulic proportional control valve controls the servo device to drive the bidirectional hydraulic motor to correct the displacement to be three after obtaining the correction control signal, the bidirectional hydraulic motor changes the rotating speed to be three under the action of the displacement to be three, the electric control unit collects the rotating speed to be three of the bidirectional hydraulic motor and then calculates the output rotating speed to be three of the planet carrier, and if the output rotating speed to be three of the planet carrier is zero, the bidirectional variable hydraulic pump keeps the displacement to be three in operation; if the output rotating speed III of the planet carrier is not zero, the electric control unit repeatedly gives a corresponding displacement control signal capable of controlling the displacement of the bidirectional variable hydraulic pump and a corresponding correction control signal for correcting the displacement of the bidirectional variable hydraulic pump to the electro-hydraulic proportional control valve, the bidirectional variable hydraulic pump correspondingly changes and corrects the displacement, and the process is circulated until the output rotating speed III of the planet carrier is zero.

The electro-hydraulic proportional control valve in the embodiment receives the displacement control signal and the correction control signal, proportionally controls the amount of hydraulic oil passing through the electro-hydraulic proportional control valve to drive the servo device, and controls the displacement of the bidirectional variable hydraulic pump through the servo device, so that the rotating speed of the planet carrier is zero, the mechanical zero point can be accurately controlled, the phenomenon that the traveling device slides due to the change of the volumetric efficiency of the hydraulic pump and the hydraulic motor in different service life periods and different rotating speeds of the prime motor is effectively prevented, and the safety is high; in addition, the control of the discharge capacity of the bidirectional variable hydraulic pump is facilitated, and the increase of the production cost of the bidirectional variable hydraulic pump due to the complicated structure of the bidirectional variable hydraulic pump is avoided.

According to one embodiment of the present invention, the hydraulic control system for driving and controlling the traveling device is provided on the traveling device, and specifically includes:

an oil tank for storing hydraulic oil is arranged in a hydraulic control system of the walking device, two main hydraulic oil ways are arranged, the two main hydraulic oil ways are arranged in parallel, a bidirectional variable hydraulic pump and a bidirectional hydraulic motor are arranged between the two main hydraulic oil ways, the bidirectional variable hydraulic pump and the bidirectional hydraulic motor are respectively arranged at two ends of the main hydraulic oil ways, an input shaft on the bidirectional variable hydraulic pump is connected with a prime motor, and an output end of the bidirectional hydraulic motor is connected with an output shaft;

an oil supplementing oil way is arranged in a hydraulic control system of the walking device and comprises an oil supplementing main oil way, an oil supplementing branch line I and an oil supplementing branch line II, one end of the oil supplementing main oil way is connected with the oil tank, an oil supplementing hydraulic pump and a filter are sequentially connected to the oil supplementing oil way, one ends of the oil supplementing branch line I and the oil supplementing branch line II are respectively connected with the oil supplementing oil way and are connected to the rear ends of the oil supplementing hydraulic pump and the filter, a one-way sequence valve I is connected to the oil supplementing branch line I, the other end of the oil supplementing branch line I is connected with one hydraulic main oil way, a one-way sequence valve II is connected to the oil supplementing branch line II, and the other end of the oil supplementing branch line II is connected with the other hydraulic main oil way;

a variable control oil branch is arranged in a hydraulic control system of the walking device, and one end of the variable control oil branch is connected with the oil supplementing oil way and is connected with the oil supplementing hydraulic pump and the rear end of the filter;

an electro-hydraulic proportional control valve is arranged in a hydraulic control system of the walking device and connected to the variable control oil branch, and the electro-hydraulic proportional control valve is used for receiving a control signal and proportionally controlling the amount of hydraulic oil passing through the electro-hydraulic proportional control valve;

a servo device is arranged in a hydraulic control system of the walking device, the servo device is connected to the variable control oil branch and is positioned at the rear end of the electro-hydraulic proportional control valve, a pushing mechanism which is driven by hydraulic pressure and used for pushing a displacement adjusting part arranged on the bidirectional variable hydraulic pump is arranged on the servo device, the pushing mechanism is connected with the displacement adjusting part on the bidirectional variable hydraulic pump, and under the action of the oil quantity of hydraulic oil flowing through the electro-hydraulic proportional control valve, the pushing mechanism pushes the variable control part and controls the displacement of the bidirectional variable hydraulic pump;

the electric control unit is connected with a first rotating speed sensor used for collecting the rotating speed of the bidirectional hydraulic motor and a second rotating speed sensor used for collecting the rotating speed of the gear ring, the bidirectional hydraulic motor is electrically connected with the electric control unit, the electric control unit is electrically connected with the electro-hydraulic proportional control valve, the rotating speed of the bidirectional hydraulic motor and the rotating speed of the gear ring are collected through the electric control unit, and the rotating speed of the bidirectional hydraulic motor and the rotating speed of the gear ring are sent to the electro-hydraulic proportional control valve to be used for adjusting the displacement of the bidirectional variable hydraulic pump so as to control the sun wheel to output a specific rotating speed to balance the rotating speed of the gear ring to enable the rotating speed of the planet carrier to be zero, so that closed-loop control is realized on the displacement of the bidirectional variable hydraulic pump.

The hydraulic control system in this embodiment realizes closed-loop control of the displacement of the bidirectional variable hydraulic pump, realizes adjustment of the displacement of the bidirectional variable hydraulic pump, and further realizes control of the sun gear to output a specific rotating speed to balance the rotating speed of the gear ring so that the rotating speed of the planet carrier is zero, thereby accurately controlling a mechanical zero point, effectively preventing a traveling device from slipping due to changes in volumetric efficiency of the hydraulic pump and the hydraulic motor in different service life periods and at different rotating speeds of the prime mover, and having high safety.

and a sequence valve is arranged in a hydraulic control system of the walking device, and is connected to the oil supplementing oil path and connected with the filter in parallel.

This embodiment is through being equipped with the sequence valve, and the sequence valve is connected on the oil supply oil circuit and with the filter is parallelly connected in the filter when impurity is more or the jam appears in the filter, the filter can produce a great pressure drop, and the sequence valve is opened this moment, and the hydraulic oil of mending oil hydraulic pump input passes through the sequence valve and directly carries the electric liquid proportional control valve to guarantee that the filter in have more impurity or hydraulic oil can follow the sequence valve and pass through when blockking up, ensure the normal work of electric liquid proportional control valve.

and an oil supplementing overflow valve is arranged in a hydraulic control system of the traveling device, is connected to the oil supplementing oil path and is connected with the first one-way sequence valve and the second one-way sequence valve in parallel.

In the embodiment, the oil supplementing overflow valve is arranged and connected to the oil supplementing oil path and connected with the first one-way sequence valve and the second one-way sequence valve in parallel, and the oil supplementing overflow valve can limit the pressure of the oil supplementing hydraulic pump, so that the overlarge pressure of the oil supplementing oil path is avoided.

In addition, the car hydraulic control system is prevented swift current by running gear that this embodiment provided includes:

the oil tank is used for storing hydraulic oil;

the two main hydraulic oil ways are arranged in parallel, a bidirectional variable hydraulic pump and a bidirectional hydraulic motor are arranged between the two main hydraulic oil ways, the bidirectional variable hydraulic pump and the bidirectional hydraulic motor are respectively positioned at two ends of the main hydraulic oil ways, an input shaft on the bidirectional variable hydraulic pump is connected with a prime motor, and an output shaft is connected with an output end of the bidirectional hydraulic motor;

the oil supplementing oil circuit comprises an oil supplementing main oil circuit, an oil supplementing branch circuit I and an oil supplementing branch circuit II, one end of the oil supplementing main oil circuit is connected with the oil tank, an oil supplementing hydraulic pump and a filter are sequentially connected onto the oil supplementing oil circuit, one ends of the oil supplementing branch circuit I and the oil supplementing branch circuit II are respectively connected with the oil supplementing oil circuit and are connected to the rear ends of the oil supplementing hydraulic pump and the filter, the oil supplementing branch circuit I is connected with a one-way sequence valve I, the other end of the oil supplementing branch circuit I is connected with one hydraulic main oil circuit, the oil supplementing branch circuit II is connected with a one-way sequence valve II, and the other end of the oil supplementing branch circuit II is connected with the other hydraulic main oil circuit;

one end of the variable control oil branch is connected with the oil supplementing oil way and is connected with the oil supplementing hydraulic pump and the rear end of the filter;

the planetary gear transmission mechanism comprises a gear ring, a sun gear, a planetary gear and a planetary carrier, wherein the gear ring, the sun gear and the planetary carrier are coaxially and rotatably arranged, the gear ring is connected with another prime mover, the sun gear is connected with the output shaft, the planetary gear is meshed with the sun gear and the gear ring, the planetary carrier is connected with the planetary gear, and a driving wheel on the traveling gear can be connected with the output end of the planetary carrier;

the electro-hydraulic proportional control valve is connected to the variable control oil branch and used for receiving a control signal and proportionally controlling the amount of hydraulic oil passing through the electro-hydraulic proportional control valve;

the servo device is connected to the variable control oil branch and positioned at the rear end of the electro-hydraulic proportional control valve, a pushing mechanism which is driven by hydraulic pressure and used for pushing a displacement adjusting part arranged on the bidirectional variable hydraulic pump is arranged on the servo device, the pushing mechanism is connected with the displacement adjusting part on the bidirectional variable hydraulic pump, and under the action of the oil quantity of hydraulic oil flowing through the electro-hydraulic proportional control valve, the pushing mechanism pushes the variable control part and controls the displacement of the bidirectional variable hydraulic pump;

the automatic control device comprises an electric control unit, wherein a first rotating speed sensor used for collecting the rotating speed of a bidirectional hydraulic motor and a second rotating speed sensor used for collecting the rotating speed of a gear ring are connected to the electric control unit, the bidirectional hydraulic motor is electrically connected with the electric control unit, the electric control unit is electrically connected with an electro-hydraulic proportional control valve, the electric control unit can collect the rotating speed of the bidirectional hydraulic motor and the rotating speed of the gear ring, and the two rotating speeds of the bidirectional hydraulic motor and the rotating speed of the gear ring are used for adjusting the displacement of the bidirectional variable hydraulic pump so as to control the sun gear to output a specific rotating speed to balance the rotating speed of the gear ring to enable the rotating speed of the planet carrier to be a zero control signal.

In the embodiment, the rotation speed of a bidirectional hydraulic motor is acquired through a first rotation speed sensor in an electric control unit, the rotation speed of a gear ring is acquired through a second rotation speed sensor in the electric control unit, when a walking device stops, when the rotation speed of a planet carrier is not zero, the electric control unit acquires the rotation speed of the bidirectional hydraulic motor and the rotation speed of the gear ring, and sends a control signal for adjusting the displacement of a bidirectional variable hydraulic pump to an electro-hydraulic proportional control valve according to the acquired rotation speed of the bidirectional hydraulic motor and the rotation speed of the gear ring so as to control a sun gear to output a specific rotation speed to balance the rotation speed of the gear ring to enable the rotation speed of the planet carrier to be zero, the electro-hydraulic proportional control valve receives the control signal and drives a servo device, and a pushing mechanism on the servo device pushes an adjusting part with the displacement arranged on the bidirectional, and then the displacement of the bidirectional variable hydraulic pump is changed, the displacement of the hydraulic motor is changed along with the displacement of the bidirectional variable hydraulic pump, so that the rotating speed of the bidirectional hydraulic motor is changed, the sun gear outputs a specific rotating speed to balance the rotating speed of the gear ring, and the rotating speed of the planet carrier is zero. Therefore, the method for preventing the running device from sliding can accurately control the mechanical zero point, effectively prevent the running device from sliding due to the change of the volumetric efficiency of the hydraulic pump and the hydraulic motor in different service life periods and different rotating speeds of the prime motor, and has high safety.

According to one embodiment of the invention, the electro-hydraulic proportional control valve is a three-position four-way proportional valve. The electro-hydraulic proportional control valve is a three-position four-way proportional valve, and is favorable for reliable driving of the electro-hydraulic proportional control valve.

According to one embodiment of the invention, the servo device is a double-piston-rod cylinder, and the pushing mechanism comprises two piston rods which are respectively connected with a displacement adjusting component on the bidirectional variable hydraulic pump. The servo device in the embodiment is a double-piston-rod cylinder, and is beneficial to controlling the displacement of the bidirectional variable hydraulic pump.

According to an embodiment of the present invention, the running gear anti-roll hydraulic control system further includes:

the sequence valve is connected to the oil supplementing oil circuit and is connected with the filter in parallel;

and the oil supplementing overflow valve is connected to the oil supplementing oil path and is connected with the first one-way sequence valve and the second one-way sequence valve in parallel.

This embodiment is through being equipped with the sequence valve, and the sequence valve is connected on the oil supply oil circuit and with the filter is parallelly connected in the filter when impurity is more or the jam appears in the filter, the filter can produce a great pressure drop, and the sequence valve is opened this moment, and the hydraulic oil of mending oil hydraulic pump input passes through the sequence valve and directly carries the electric liquid proportional control valve to guarantee that the filter in have more impurity or hydraulic oil can follow the sequence valve and pass through when blockking up, ensure the normal work of electric liquid proportional control valve. In addition, the oil supplementing overflow valve is connected to the oil supplementing oil path and connected with the first one-way sequence valve and the second one-way sequence valve in parallel, and can limit the pressure of the oil supplementing hydraulic pump and avoid overlarge pressure of the oil supplementing oil path.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flowchart of an anti-rolling method for a running gear according to an embodiment of the present invention;

FIG. 2 is a schematic view of an anti-rolling hydraulic control system of a traveling device according to an embodiment of the present invention;

fig. 3 is a transmission diagram of the anti-rolling hydraulic control system of the walking device in the embodiment of the invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. an oil tank, 2, a main hydraulic oil circuit, 3, a prime motor, 4, a bidirectional variable hydraulic pump, 5, a bidirectional hydraulic motor, 6, a main oil circuit for oil supplement, 7, an external oil return circuit, 8, a planetary gear transmission mechanism, 20, a first branch for oil pressure measurement, 21, a second branch for oil pressure measurement, 60, a hydraulic pump for oil supplement, 61, a filter, 62, a first one-way sequence valve, 63, a second one-way sequence valve, 64, a branch for variable control oil, 65, an electro-hydraulic proportional control valve, 66, a double-piston rod cylinder, 67, a sequence valve, 68, an overflow valve for oil supplement, 69, a first oil return tank, 70, a second oil return tank, 80, a sun gear, 81, a gear ring, 82, a planetary gear, 83, a planet carrier, 84, a box body, 90, a first gear control component, 91, a second gear control component, 92, a driving wheel, 641, a third branch for oil pressure measurement, 651, a third oil return, 701. and a sixth oil pressure measuring branch.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention briefly described above will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The present embodiment provides a method for preventing a walking device from rolling, as shown in fig. 1 to 3, including: the traveling device is provided with a hydraulic control system for driving and controlling the traveling device, the hydraulic control system comprises a main hydraulic oil path 2, a bidirectional variable hydraulic pump 4 and a bidirectional hydraulic motor 5 which are connected to the main hydraulic oil path 2, an electric control unit and a planetary gear transmission mechanism 8, the bidirectional variable hydraulic pump 4 is connected with a prime mover 3, the planetary gear transmission mechanism 8 comprises a gear ring 81, a sun gear 80, a planetary gear 82 and a planetary carrier 83, the gear ring 81, the sun gear 80 and the planetary carrier 83 are coaxially and rotatably arranged, the gear ring 81 is connected with another prime mover, the sun gear 80 is connected with an output shaft of the bidirectional hydraulic motor 5, the planetary gear 82 is meshed with the sun gear 80 and the gear ring 81, the planetary carrier 83 is connected with the planetary gear 82, and a driving wheel 92 on; the displacement of the bidirectional variable hydraulic pump 4 when the traveling device stops is determined as a first displacement, the first displacement is used as an initial displacement when the bidirectional variable hydraulic pump 4 is not powered on, when the traveling device stops, the electronic control unit acquires the rotating speed of the bidirectional hydraulic motor 5 and the rotating speed of the gear ring 81 and automatically calculates the output rotating speed of the planet carrier 83, when the output rotating speed of the planet carrier 83 is not zero, the electronic control unit calculates the rotating speed required by the bidirectional hydraulic motor 5 corresponding to the output rotating speed of the planet carrier 83 being zero, the electronic control unit provides the bidirectional hydraulic motor 5 with a corresponding displacement control signal capable of controlling the displacement of the bidirectional variable hydraulic pump 4 according to the rotating speed required by the bidirectional hydraulic motor 5 corresponding to the output rotating speed of the planet carrier 83 being zero, after the bidirectional hydraulic motor 5 obtains the displacement control signal, the bidirectional variable hydraulic pump 4 changes the displacement into a second displacement, and the bidirectional hydraulic motor 5 changes the rotating speed into the, the rotating speed of the gear ring 81 is unchanged, the electronic control unit acquires the second rotating speed of the bidirectional hydraulic motor 5, then the second output rotating speed of the planet carrier 83 is calculated, and if the second output rotating speed of the planet carrier 83 is zero, the second displacement of the bidirectional variable hydraulic pump 4 is kept to operate; if the output rotating speed two of the planet carrier is not zero, the electric control unit calculates a correction control signal for correspondingly correcting the displacement of the bidirectional variable hydraulic pump 4 to the bidirectional variable hydraulic pump 4, the bidirectional variable hydraulic pump 4 corrects the displacement to be three after obtaining the correction control signal, the bidirectional hydraulic motor 5 changes the rotating speed to be three under the action of the displacement to be three, the electric control unit collects the rotating speed three of the bidirectional hydraulic motor 5 and calculates the output rotating speed three of the planet carrier 83, and if the output rotating speed three of the planet carrier 83 is zero, the bidirectional variable hydraulic pump 4 keeps the displacement to be three in operation; if the output rotating speed three of the planet carrier is not zero, the electronic control unit repeatedly gives the two-way variable hydraulic pump 4 a corresponding displacement control signal capable of controlling the displacement of the two-way variable hydraulic pump 4 and a corresponding correction control signal for correcting the displacement of the two-way variable hydraulic pump 4, the two-way variable hydraulic pump 4 correspondingly changes and corrects the displacement, and the process is circulated until the output rotating speed of the planet carrier 83 is zero.

In the present embodiment, as shown in fig. 1, the anti-rolling method of the traveling apparatus of the present embodiment collects the rotation speeds of the rotation speed of the bidirectional hydraulic motor 5 and the rotation speed of the ring gear 81 through the electronic control unit, when the traveling apparatus is stopped, when the rotation speed of the carrier 83 is not zero, the electronic control unit collects the rotation speed of the bidirectional hydraulic motor 5 and the rotation speed of the ring gear 81, and sends a control signal for adjusting the displacement of the bidirectional variable hydraulic pump 4 to the bidirectional variable hydraulic pump 4 according to the collected rotation speeds of the bidirectional hydraulic motor 5 and the ring gear 81 to control the sun gear 80 to output a specific rotation speed to balance the rotation speed of the ring gear 81 driven by another prime mover so that the rotation speed of the carrier 83 is zero, the bidirectional variable hydraulic pump 4 receives the control signal and changes the displacement of the bidirectional variable hydraulic pump 4, the displacement of the hydraulic motor is changed along with the displacement, the rotating speed of the bidirectional hydraulic motor 5 is changed, the sun gear 80 outputs a specific rotating speed to balance the rotating speed of the gear ring 81, the rotating speed of the planet carrier 83 is zero, the accurate control of the mechanical zero point is realized, and the phenomenon that the traveling device slips due to the change of the volumetric efficiency of the hydraulic pump and the hydraulic motor in different service life periods and different rotating speeds of the prime mover 3 is effectively prevented. In addition, the electronic control unit can also provide a correction control signal for correspondingly correcting the displacement of the bidirectional variable hydraulic pump 4 to the bidirectional variable hydraulic pump 4 through calculation, so that the output rotating speed of the planet carrier 83 is further corrected, the output rotating speed of the planet carrier 83 is further ensured to be zero, and the mechanical zero point is accurately controlled. It should be noted that the anti-rolling method of the running gear in this embodiment may be implemented by the hydraulic control system of fig. 2, or may be implemented by another hydraulic control system having a similar structure.

In one embodiment of the present invention, the method for preventing the running gear from sliding further comprises: an electro-hydraulic proportional control valve 65 and a servo device are arranged in a hydraulic control system of the traveling device, the electro-hydraulic proportional control valve 65 is used for receiving a displacement control signal and a correction control signal and proportionally controlling the quantity of hydraulic oil passing through the electro-hydraulic proportional control valve 65 to drive the servo device, and then the displacement of the bidirectional variable hydraulic pump 4 is controlled through the servo device.

In the embodiment, by providing the electro-hydraulic proportional control valve 65 and the servo device, the electro-hydraulic proportional control valve 65 is used for receiving the displacement control signal and the correction control signal and proportionally controlling the amount of hydraulic oil passing through the electro-hydraulic proportional control valve 65 to drive the servo device, and then the servo device is used for controlling the displacement of the bidirectional variable hydraulic pump 4, so that the control of the displacement of the bidirectional variable hydraulic pump 4 is facilitated, and the increase of the production cost of the bidirectional variable hydraulic pump 4 due to the complicated structure of the bidirectional variable hydraulic pump 4 is also avoided.

In one embodiment of the present invention, the electro-hydraulic proportional control valve 65 is used for receiving the displacement control signal and the correction control signal and proportionally controlling the amount of hydraulic oil passing through the electro-hydraulic proportional control valve to drive the servo device, and then the servo device is used for controlling the displacement of the bidirectional variable hydraulic pump 4, specifically: when the proportional electromagnet in the electro-hydraulic proportional control valve 65 is not powered on, the initial displacement of the bidirectional variable hydraulic pump 4 is obtained, when the traveling device stops, the electronic control unit acquires the rotating speed of the bidirectional hydraulic motor 5 and the rotating speed of the gear ring 81 and automatically calculates the output rotating speed of the planet carrier 83, when the output rotating speed of the planet carrier 83 is not zero, the electronic control unit calculates the rotating speed required by the bidirectional hydraulic motor 5 corresponding to the output rotating speed of the planet carrier 83 being zero, the electronic control unit gives the electro-hydraulic proportional control valve 65 a corresponding displacement control signal capable of controlling the displacement of the bidirectional variable hydraulic pump 4 according to the rotating speed required by the bidirectional hydraulic motor 5 corresponding to the output rotating speed of the planet carrier 83 being zero, the electro-hydraulic proportional control valve 65 controls the servo device to drive the bidirectional variable hydraulic pump 4 by the servo device to change the displacement into two after obtaining the displacement control signal, the bidirectional hydraulic motor 5 changes the, the rotating speed of the gear ring 81 is unchanged, the electronic control unit acquires the second rotating speed of the bidirectional hydraulic motor 5, then the second output rotating speed of the planet carrier 83 is calculated, and if the second output rotating speed of the planet carrier 83 is zero, the second displacement of the bidirectional variable hydraulic pump 4 is kept to operate; if the output rotating speed two of the planet carrier is not zero, the electric control unit gives a correction control signal corresponding to the displacement of the bidirectional variable hydraulic pump 4 to the electro-hydraulic proportional control valve 65 through calculation, the electro-hydraulic proportional control valve 65 controls the servo device to drive the bidirectional hydraulic motor 5 to correct the displacement into the displacement three after obtaining the correction control signal, the bidirectional hydraulic motor 5 changes the rotating speed into the rotating speed three under the action of the displacement three, the electric control unit acquires the rotating speed three of the bidirectional hydraulic motor 5 and then calculates the output rotating speed three of the planet carrier 83, and if the output rotating speed three of the planet carrier 83 is zero, the bidirectional variable hydraulic pump 4 keeps the displacement three to run; if the output rotating speed three of the planet carrier is not zero, the electronic control unit repeatedly gives the electro-hydraulic proportional control valve 65 a corresponding displacement control signal capable of controlling the displacement of the bidirectional variable hydraulic pump 4 and a corresponding correction control signal for correcting the displacement of the bidirectional variable hydraulic pump 4, the bidirectional variable hydraulic pump 4 correspondingly changes and corrects the displacement, and the process is circulated until the output rotating speed of the planet carrier 83 is zero.

In the embodiment, the electro-hydraulic proportional control valve 65 receives the displacement control signal and the correction control signal and proportionally controls the amount of hydraulic oil passing through the electro-hydraulic proportional control valve to drive the servo device, and then controls the displacement of the bidirectional variable hydraulic pump 4 through the servo device, so that the rotating speed of the planet carrier 83 is zero, the mechanical zero point can be accurately controlled, and the phenomenon that the traveling device slips due to the change of the volumetric efficiency of the hydraulic pump and the hydraulic motor in different service life periods and different rotating speeds of the prime mover 3 is effectively prevented, and the safety is high; in addition, the control of the displacement of the two-way variable hydraulic pump 4 is facilitated, and the increase of the production cost of the two-way variable hydraulic pump 4 due to the complicated structure of the two-way variable hydraulic pump 4 is avoided.

In this embodiment, as shown in fig. 1, the displacement control signal and the correction control signal constitute a control signal for controlling the displacement of the bidirectional variable hydraulic pump 4, both the displacement control signal and the correction control signal are current signals, the current value of the current signal is passed through the electro-hydraulic proportional control valve 65 to proportionally control the bidirectional variable hydraulic pump 4, the current signal is passed through the electro-hydraulic proportional control valve 65, the electro-hydraulic proportional control valve 65 is conducted by the power on and power off of the electromagnet on the electro-hydraulic proportional control valve 65 and the magnitude of the current, for example, the current value sent for the first time is a first current value, the current value sent for the second time is a second current value, and the current value sent for the nth time is a current value; further, the number of times that the electronic control unit repeats the displacement control signal of the feed electric proportional control valve 65, which controls the displacement of the bidirectional variable hydraulic pump 4, and the correction control signal, which corrects the displacement of the bidirectional variable hydraulic pump 4, has various conditions, and has a condition of repeating once or more times, until the output rotation speed of the carrier 83 is controlled to be zero, which is not described in detail herein. In addition, the current signal in the present embodiment may be replaced by a voltage signal, and an appropriate proportional control valve may be used.

In an embodiment of the present invention, the hydraulic control system for driving and controlling the traveling device is provided on the traveling device, and specifically includes: an oil tank 1 for storing hydraulic oil is arranged in a hydraulic control system of the traveling device, two main hydraulic oil ways 2 are arranged, the two main hydraulic oil ways 2 are arranged in parallel, a bidirectional variable hydraulic pump 4 and a bidirectional hydraulic motor 5 are arranged between the two main hydraulic oil ways 2, the bidirectional variable hydraulic pump 4 and the bidirectional hydraulic motor 5 are respectively positioned at two ends of the main hydraulic oil ways 2, an input shaft on the bidirectional variable hydraulic pump 4 is connected with a prime mover 3, and an output end of the bidirectional hydraulic motor 5 is connected with an output shaft; an oil supplementing oil path is arranged in a hydraulic control system of the traveling device, the oil supplementing oil path comprises an oil supplementing main oil path 6, an oil supplementing branch path I and an oil supplementing branch path II, one end of the oil supplementing main oil path 6 is connected with the oil tank 1, the oil supplementing oil path is sequentially connected with an oil supplementing hydraulic pump 60 and a filter 61, one ends of the oil supplementing branch path I and the oil supplementing branch path II are respectively connected with the oil supplementing oil path and are connected with the rear ends of the oil supplementing hydraulic pump 60 and the filter 61, the oil supplementing branch path I is connected with a one-way sequence valve I62, the other end of the oil supplementing branch path I is connected with one hydraulic main oil path 2, the oil supplementing branch path II is connected with a one-way sequence valve II 63, and the other end of the oil supplementing branch; a variable control oil branch 64 is arranged in a hydraulic control system of the traveling device, and one end of the variable control oil branch 64 is connected with an oil supplementing oil path and is connected with the rear ends of the oil supplementing hydraulic pump 60 and the filter 61; an electro-hydraulic proportional control valve 65 is arranged in a hydraulic control system of the traveling device, the electro-hydraulic proportional control valve 65 is connected to the variable control oil branch 64, and the electro-hydraulic proportional control valve 65 is used for receiving a control signal and proportionally controlling the amount of hydraulic oil passing through the electro-hydraulic proportional control valve 65; a servo device is arranged in a hydraulic control system of the traveling device, the servo device is connected to a variable control oil branch 64 and is positioned at the rear end of an electro-hydraulic proportional control valve 65, a pushing mechanism which is driven by hydraulic pressure and used for pushing a displacement adjusting part arranged on a bidirectional variable hydraulic pump 4 is arranged on the servo device, the pushing mechanism is connected with the displacement adjusting part on the bidirectional variable hydraulic pump 4, and under the action of the oil quantity of hydraulic oil flowing through the electro-hydraulic proportional control valve 65, the pushing mechanism pushes the variable control part and controls the displacement of the bidirectional variable hydraulic pump 4; the electric control unit is connected with a first rotating speed sensor for acquiring the rotating speed of the bidirectional hydraulic motor 5 and a second rotating speed sensor for acquiring the rotating speed of the gear ring 81, the bidirectional hydraulic motor 5 is electrically connected with the electric control unit, the electric control unit is electrically connected with the electro-hydraulic proportional control valve 65, the rotating speed of the bidirectional hydraulic motor 5 and the rotating speed of the gear ring 81 are acquired through the electric control unit, and a control signal for adjusting the displacement of the bidirectional variable hydraulic pump 4 is sent to the electro-hydraulic proportional control valve 65 according to the acquired rotating speed of the bidirectional hydraulic motor 5 and the rotating speed of the gear ring 81 to control the sun gear 80 to output a specific rotating speed so as to balance the rotating speed of the gear ring 81 driven by another prime motor to enable the rotating speed of the planet carrier 83 to be zero, so that the displacement.

The hydraulic control system in this embodiment realizes the displacement of the closed-loop control bidirectional variable hydraulic pump 4, and realizes adjusting the displacement of the bidirectional variable hydraulic pump 4 to further realize controlling the sun gear 80 to output a specific rotating speed to balance the rotating speed of the gear ring 81, so that the rotating speed of the planet carrier 83 is zero, thereby being capable of accurately controlling the mechanical zero point, and effectively preventing the phenomenon that the traveling device slides due to the change of the volumetric efficiency of the hydraulic pump and the hydraulic motor under different rotating speeds of the prime mover 3 in different life periods, and having high safety. In the present embodiment, the accelerator is fixed and the rotation speed of the rotation speed adjustment ring gear 81 is constant while the sun gear 80 outputs a specific rotation speed to balance the ring gear 81.

In one embodiment of the present invention, the method for preventing the running gear from sliding further comprises: a sequence valve 67 is provided in the hydraulic control system of the traveling apparatus, and the sequence valve 67 is connected to the oil supply passage and connected in parallel to the filter 61. In the embodiment, by arranging the sequence valve 67, the sequence valve 67 is connected to the oil supply path and is connected in parallel with the filter 61, when the filter 61 has more impurities or is blocked, a larger pressure drop is generated in the filter 61, at this time, the sequence valve 67 is opened, and the hydraulic oil input by the oil supply hydraulic pump 60 is directly conveyed to the electro-hydraulic proportional control valve 65 through the sequence valve 67, so that the hydraulic oil with more impurities or blocked in the filter 61 can pass through the sequence valve 67, and the normal operation of the electro-hydraulic proportional control valve 65 is ensured.

In one embodiment of the present invention, the method for preventing the running gear from sliding further comprises: an oil-supplementing overflow valve 68 is arranged in a hydraulic control system of the traveling device, and the oil-supplementing overflow valve 68 is connected to an oil-supplementing oil path and is connected in parallel with the first one-way sequence valve 62 and the second one-way sequence valve 63. In the present embodiment, the oil supply relief valve 68 is connected to the oil supply line and connected in parallel to the first check priority valve 62 and the second check priority valve 63, and the oil supply relief valve 68 can limit the pressure of the oil supply hydraulic pump 60 to prevent the pressure of the oil supply line from being too high.

In addition, the hydraulic control system for preventing the vehicle from sliding of the running gear provided by the embodiment, as shown in fig. 2 to 3, includes: the oil tank 1 is used for storing hydraulic oil; the hydraulic main oil ways 2 are two, the two hydraulic main oil ways 2 are arranged in parallel, a bidirectional variable hydraulic pump 4 and a bidirectional hydraulic motor 5 are arranged between the two hydraulic main oil ways 2, the bidirectional variable hydraulic pump 4 and the bidirectional hydraulic motor 5 are respectively positioned at two ends of the hydraulic main oil ways 2, an input shaft on the bidirectional variable hydraulic pump 4 is connected with a prime motor 3, and an output shaft is connected with an output end of the bidirectional hydraulic motor 5; the oil supplementing oil path comprises an oil supplementing main oil path 6, an oil supplementing branch path I and an oil supplementing branch path II, one end of the oil supplementing main oil path 6 is connected with the oil tank 1, an oil supplementing hydraulic pump 60 and a filter 61 are sequentially connected onto the oil supplementing oil path, one ends of the oil supplementing branch path I and the oil supplementing branch path II are respectively connected with the oil supplementing oil path and are connected to the rear ends of the oil supplementing hydraulic pump 60 and the filter 61, a one-way sequence valve I62 is connected onto the oil supplementing branch path I, the other end of the oil supplementing branch path I is connected with one hydraulic main oil path 2, a one-way sequence valve II 63 is connected onto the oil supplementing branch path II, and the other end of the oil supplementing branch path II is connected with; a variable control oil branch 64 having one end connected to the oil supply passage and connected to the rear ends of the oil supply hydraulic pump 60 and the filter 61; the planetary gear transmission mechanism 8 comprises a gear ring 81, a sun gear 80, a planetary gear 82 and a planet carrier 83, wherein the gear ring 81, the sun gear 80 and the planet carrier 83 are coaxially and rotatably arranged, the gear ring 81 is connected with another prime mover, the sun gear 80 is connected with an output shaft, the planetary gear 82 is meshed with the sun gear 80 and the gear ring 81, the planet carrier 83 is connected with the planetary gear 82, and a driving wheel 92 on a walking device can be connected with the output end of the planet carrier 83; an electro-hydraulic proportional control valve 65 connected to the variable control oil branch 64 for receiving the control signal and proportionally controlling the amount of hydraulic oil passing through it; the servo device is connected to the variable control oil branch 64 and is positioned at the rear end of the electro-hydraulic proportional control valve 65, a pushing mechanism which is driven by hydraulic pressure and used for pushing a displacement adjusting part arranged on the bidirectional variable hydraulic pump 4 is arranged on the servo device, the pushing mechanism is connected with the displacement adjusting part on the bidirectional variable hydraulic pump 4, and under the action of the oil mass of hydraulic oil flowing through the electro-hydraulic proportional control valve 65, the pushing mechanism pushes the variable control part and controls the displacement of the bidirectional variable hydraulic pump 4; the electronic control unit is connected with a first rotating speed sensor used for acquiring the rotating speed of the bidirectional hydraulic motor 5 and a second rotating speed sensor used for acquiring the rotating speed of the gear ring 81, the bidirectional hydraulic motor 5 is electrically connected with the electronic control unit, the electronic control unit is electrically connected with the electro-hydraulic proportional control valve 65, the electronic control unit can acquire the rotating speed of the bidirectional hydraulic motor 5 and the rotating speed of the gear ring 81, and sends a control signal used for adjusting the displacement of the bidirectional variable hydraulic pump 4 to the electro-hydraulic proportional control valve 65 according to the acquired rotating speed of the bidirectional hydraulic motor 5 and the rotating speed of the gear ring 81 so as to control the sun gear 80 to output a specific rotating speed to balance the rotating speed of the gear ring 81 driven by another prime mover and enable the rotating speed of the.

In the embodiment, as shown in fig. 2 to 3, the first rotation speed sensor in the electronic control unit is used for acquiring the rotation speed of the bidirectional hydraulic motor 5, the second rotation speed sensor in the electronic control unit is used for acquiring the rotation speed of the gear ring 81, when the rotation speed of the planet carrier 83 is not zero when the traveling device stops, the electronic control unit is used for acquiring the rotation speed of the bidirectional hydraulic motor 5 and the rotation speed of the gear ring 81, and sending a control signal for adjusting the displacement of the bidirectional variable hydraulic pump 4 to the electro-hydraulic proportional control valve 65 according to the acquired rotation speed of the bidirectional hydraulic motor 5 and the rotation speed of the gear ring 81 so as to control the sun gear 80 to output a specific rotation speed to balance the rotation speed of the gear ring 81 driven by another prime mover to make the rotation speed of the planet carrier 83 zero, the electro-hydraulic proportional control valve 65 receives the control signal and drives the servo device, the displacement adjusting component arranged on the bidirectional variable hydraulic pump 4, further, the displacement of the two-way variable hydraulic pump 4 is changed, and the displacement of the hydraulic motor is changed according to the displacement of the two-way variable hydraulic pump 4, so that the rotational speed of the two-way hydraulic motor 5 is changed, and the sun gear 80 outputs a specific rotational speed to balance the rotational speed of the ring gear 81, so that the rotational speed of the carrier 83 is zero. Therefore, the method for preventing the running device from sliding can accurately control the mechanical zero point, effectively prevent the running device from sliding due to the change of the volumetric efficiency of the hydraulic pump and the hydraulic motor in different service life periods and different rotating speeds of the prime mover 3, and is high in safety.

In this embodiment, as shown in fig. 2, the first oil supplementing branch and the second oil supplementing branch respectively supplement oil to the main hydraulic oil circuit 2, and the first oil supplementing branch and the second oil supplementing branch can control the highest pressure of the hydraulic control system and supplement cold oil to the hydraulic control system, thereby facilitating heat dissipation of the hydraulic control system.

In this embodiment, as shown in fig. 2, the method for preventing the traveling device from slipping down realizes stepless speed change, the bidirectional variable hydraulic pump 4 and the bidirectional hydraulic motor 5 constitute a stepless speed change device, the method for preventing the traveling device from slipping down further includes an external oil return path 7, the external oil return path 7 is located outside the stepless speed change device, the external oil return path 7 is used for returning oil, a second oil return tank 70 is arranged on the stepless speed change device, the external oil return path 7 is an external oil pipe outside a housing of the stepless speed change device, one end of the external oil pipe is connected with the second oil return tank 70, and the other end is connected with the oil tank 1. Furthermore, in order to facilitate the detection of the oil pressure in the second oil return tank 70, in the embodiment, a pressure measuring branch six 701 connected to the second oil return tank 70 is provided, and one end of the outer side of the pressure measuring branch six 701 is a pressure measuring port, and the pressure measuring port is normally in a normally closed state, and can measure the pressure through the pressure measuring port.

In this embodiment, as shown in fig. 2, one of the two main hydraulic oil paths 2 is used for driving the traveling device to travel forward, and the other is used for driving the traveling device to travel backward, the main hydraulic oil path 2 is respectively provided with an oil pressure measuring branch for detecting oil pressure in the main hydraulic oil path 2, the oil pressure measuring branches are respectively a first oil pressure measuring branch 20 and a second oil pressure measuring branch 21, and one end of the outer side of the first oil pressure measuring branch 20 and one end of the outer side of the second oil pressure measuring branch 21 are pressure measuring ports; in addition, the variable control oil branch 64 in this embodiment is provided with an oil pressure measuring branch three 641 for detecting the oil pressure in the variable control oil branch 64, and one end of the outer side of the oil pressure measuring branch three 641 is a pressure measuring port; further, in order to facilitate the detection of the oil pressures of the two oil chambers of the double-piston rod cylinder 6, the oil pressures of the two oil chambers of the double-piston rod cylinder 6 are detected by providing the oil pressure measuring branch four 661 and the oil pressure measuring branch five 662, and one ends of the outer sides of the oil pressure measuring branch four 661 and the oil pressure measuring branch five 662 are pressure measuring ports, which are normally closed, and the pressure can be measured through the pressure measuring ports. The "rear end" in the present embodiment is defined with reference to the direction in which the hydraulic oil flows.

In the present embodiment, as shown in fig. 3, the ring gear 81 in the present embodiment is rotatably mounted on the casing 84, and a first gear control component 90 and a second gear control component 91 are further connected between the output end of the carrier 83 and the driving wheel 92, so as to control the traveling speed of the traveling device through the first gear control component 90 and the second gear control component 91.

In this embodiment, the method for preventing the running gear from sliding further comprises: the input end of the speed changer is in transmission connection with the output end of the planet carrier 83, the output end of the speed changer is in transmission connection with the driving wheels 92 of the traveling device, the number of the driving wheels 92 is multiple, and the plurality of the driving wheels 92 can drive the traveling device to travel under the driving of the speed changer. In this embodiment, by providing the transmission, the input end of the transmission is in transmission connection with the output end of the planet carrier 83, so that the output rotating speed of the planet carrier 83 is conveniently changed by the transmission, and the walking speed of the walking device is conveniently adjusted. The transmission in the present embodiment is not shown.

In the embodiment, the bidirectional variable hydraulic pump 4 is a plunger pump, and has a compact structure and stable discharge capacity; further, the bidirectional variable hydraulic pump 4 in this embodiment may also adopt other hydraulic pumps, which are not described herein again.

In one embodiment of the present invention, as shown in fig. 2, the servo device is a double-piston rod cylinder 6, and the pushing mechanism includes two piston rods, which are respectively connected to the displacement adjusting components on the bidirectional variable hydraulic pump 4. In the embodiment, the servo device is a double-piston rod cylinder 6, which is beneficial to controlling the displacement of the bidirectional variable hydraulic pump 4; further, the double-piston rod cylinder 6 has two oil chambers, the double-piston rod cylinder 6 in this embodiment is connected with the electro-hydraulic proportional control valve 65 through two branch pipes, when one of the oil chambers is filled with oil, and the other oil chamber is drained of oil, so that the two piston rods are driven to reciprocate, different extension amounts of the piston rods correspondingly push displacement adjusting parts on the bidirectional variable hydraulic pump 4 to different positions, and thus the displacement of the bidirectional variable hydraulic pump 4 is controlled, and the two piston rods respectively control the displacement of the bidirectional variable hydraulic pump 4 under different working conditions of forward walking and backward walking.

In one embodiment of the present invention, as shown in FIGS. 2-3, the electro-hydraulic proportional control valve 65 is a three-position, four-way proportional valve. The electro-hydraulic proportional control valve 65 of the embodiment is a three-position four-way proportional valve, which is beneficial to the reliable driving servo device of the electro-hydraulic proportional control valve 65; an oil port of the three-position four-way proportional valve in this embodiment is connected with a third oil return tank 651, the three-position four-way proportional valve in this embodiment is connected with the double-piston rod cylinder 6 through two branch pipes, and the third oil return tank 651 is used for collecting hydraulic oil returned by the double-piston rod cylinder 6.

In one embodiment of the present invention, as shown in fig. 2, an oil replenishing hydraulic pump 60 is connected to the prime mover 3. In the present embodiment, the oil charge hydraulic pump 60 is connected to the prime mover 3 and driven by the prime mover 3, so that oil can be charged into the oil charge path.

In one embodiment of the present invention, as shown in fig. 2 to 3, the servo device is a double-piston rod cylinder 6, and the pushing mechanism includes two piston rods, which are respectively connected to the displacement adjusting components on the bidirectional variable hydraulic pump 4. The servo device in this embodiment is a double-piston rod cylinder 6, which is beneficial to controlling the displacement of the bidirectional variable hydraulic pump 4.

In one embodiment of the present invention, as shown in fig. 2 to 3, the anti-rolling hydraulic control system of the traveling device further includes: a sequence valve 67 connected to the oil supply line and connected in parallel to the filter 61; and the oil supplementing overflow valve 68 is connected to the oil supplementing oil path and is connected with the first one-way sequence valve 62 and the second one-way sequence valve 63 in parallel.

In the embodiment, by arranging the sequence valve 67, the sequence valve 67 is connected to the oil supply path and is connected in parallel with the filter 61, when the filter 61 has more impurities or is blocked, a larger pressure drop is generated in the filter 61, at this time, the sequence valve 67 is opened, and the hydraulic oil input by the oil supply hydraulic pump 60 is directly conveyed to the electro-hydraulic proportional control valve 65 through the sequence valve 67, so that the hydraulic oil with more impurities or blocked in the filter 61 can pass through the sequence valve 67, and the normal operation of the electro-hydraulic proportional control valve 65 is ensured. In addition, the oil supply overflow valve 68 is connected to the oil supply passage and is connected in parallel with the first check sequence valve 62 and the second check sequence valve 63, so that the oil supply overflow valve 68 can limit the pressure of the oil supply hydraulic pump 60, and the pressure of the oil supply passage is prevented from being too high. Furthermore, an oil return tank 69 is connected to the oil supply path in this embodiment, and the oil return tank 69 is connected to the rear end of the oil supply overflow valve 68 and is used for collecting the hydraulic oil passing through the oil supply overflow valve 68. Furthermore, the first oil return tank 69 and the third oil return tank 651 in this embodiment are respectively connected to the second oil return tank 70 through pipelines, and the hydraulic oil in the first oil return tank 69 and the third oil return tank 651 finally flows into the second oil return tank 70 through the pipelines and then flows back to the oil tank 1 through the external oil return path 7.

Specifically, the method for preventing the running gear from slipping in the embodiment collects the rotation speeds of the rotation speed of the bidirectional hydraulic motor 5 and the rotation speed of the ring gear 81 through the electronic control unit, when the running gear is stopped, when the rotation speed of the carrier 83 is not zero, the electronic control unit collects the rotation speed of the bidirectional hydraulic motor 5 and the rotation speed of the ring gear 81, and sends a control signal for adjusting the displacement of the bidirectional variable hydraulic pump 4 to the bidirectional variable hydraulic pump 4 according to the collected rotation speeds of the bidirectional hydraulic motor 5 and the ring gear 81 to control the sun gear 80 to output a specific rotation speed to balance the rotation speed of the ring gear 81 driven by another prime mover so that the rotation speed of the carrier 83 is zero, the bidirectional variable hydraulic pump 4 receives the control signal and changes the displacement of the bidirectional variable hydraulic pump 4, the displacement of the hydraulic motor is changed along with the displacement of the bidirectional variable hydraulic pump 4 so that the rotation speed of the, the sun gear 80 outputs a specific rotation speed to balance the rotation speed of the ring gear 81 so that the rotation speed of the carrier 83 is zero. In addition, the electronic control unit can also calculate a correction control signal for correspondingly correcting the displacement of the bidirectional variable hydraulic pump 4 for the electro-hydraulic proportional control valve 65, so that the output rotating speed of the planet carrier 83 is further corrected, the output rotating speed of the planet carrier 83 is further ensured to be zero, and the mechanical zero point is accurately controlled. Therefore, the method for preventing the running device from sliding can accurately control the mechanical zero point, effectively prevent the running device from sliding due to the change of the volumetric efficiency of the hydraulic pump and the hydraulic motor in different service life periods and different rotating speeds of the prime mover 3, and is high in safety. It should be noted that the walking device in this embodiment may be a harvester, and may also be other walking devices driven by hydraulic pressure.

In addition, in addition to the technical solutions disclosed in the present embodiment, for the three-position four-way proportional valve, the planetary gear transmission mechanism 8, the double-piston rod cylinder 6, the prime mover 3, the harvester, the electronic control unit, and the working principle thereof, etc., reference may be made to conventional technical solutions in the technical field, which are not the focus of the present invention, and the present invention is not set forth herein in detail.

In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides a running gear prevents swift current car method which characterized in that includes:

2. The running gear anti-rolling method according to claim 1, further comprising:

3. The anti-rolling method for the traveling device according to claim 2, wherein the servo device is driven by receiving the displacement control signal and the correction control signal by the electro-hydraulic proportional control valve and proportionally controlling the amount of hydraulic oil passing through the electro-hydraulic proportional control valve, and the controlling of the displacement of the bidirectional variable hydraulic pump by the servo device is specifically:

4. The anti-rolling method for the traveling device according to claim 1, wherein a hydraulic control system for driving and controlling the traveling device is provided on the traveling device, and specifically comprises:

5. The running gear anti-rolling method according to claim 1, further comprising:

6. The running gear anti-rolling method according to claim 1, further comprising:

7. The utility model provides a running gear prevents swift current car hydraulic control system which characterized in that includes:

the oil tank is used for storing hydraulic oil;

8. The runner anti-roll hydraulic control system of claim 7, wherein the electro-hydraulic proportional control valve is a three-position four-way proportional valve.

9. The runner anti-roll hydraulic control system of claim 7, wherein the servo device is a dual piston rod cylinder, and the pushing mechanism comprises two piston rods, and the two piston rods are respectively connected to a displacement adjusting component of the bidirectional variable hydraulic pump.

10. The runner anti-roll hydraulic control system of claim 7, further comprising: