CN112253577A - Crawler chassis test system and test method - Google Patents
Crawler chassis test system and test method Download PDFInfo
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- CN112253577A CN112253577A CN202011189586.2A CN202011189586A CN112253577A CN 112253577 A CN112253577 A CN 112253577A CN 202011189586 A CN202011189586 A CN 202011189586A CN 112253577 A CN112253577 A CN 112253577A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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Abstract
A system and a method for testing a crawler chassis are disclosed, wherein an engine is connected with a variable pump through a connecting device; the oil outlet of the variable pump is connected with the oil tank through an overflow valve and is also connected with the oil inlets of the manual reversing valves A and B through a flow dividing valve respectively; the port A of the manual reversing valve A is connected with the port A of the left driving motor through a parallel outgoing path of the manual reversing valve C and the proportional overflow valve A, and the port B of the left driving motor is connected with the port B of the manual reversing valve A through a parallel branch of the proportional overflow valve B and the manual reversing valve D; the port A of the manual reversing valve B is connected with the port A of the right driving motor through a parallel branch of the manual reversing valve E and the proportional overflow valve C, and the port B of the right driving motor is connected with the port B of the manual reversing valve B through a parallel branch of the proportional overflow valve D and the manual reversing valve F; the left and right drive motors are drivingly connected to the left and right tracks through left and right clutches, respectively. The system and the method can reliably test the performance of the crawler chassis.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a system and a method for testing a crawler chassis.
Background
With the continuous improvement of the automation level of modern agricultural machinery, the hydraulic chassis has higher and higher requirements on the chassis of the agricultural machinery, meanwhile, the hydraulic chassis is gradually popularized in the use of the agricultural machinery and the engineering machinery, and compared with the traditional mechanical chassis, the hydraulic chassis has a series of advantages of flexible and simple arrangement, stepless speed regulation, wide speed regulation range, high automation degree and the like. Meanwhile, whether the performance of the hydraulic chassis is reliable or not is also the basis for ensuring stable operation of the agricultural mechanism, and a system for testing the hydraulic chassis does not exist in the prior art, so that the system for testing the hydraulic chassis is urgently needed.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a crawler chassis testing system and a testing method, the system can effectively test a hydraulic chassis, can further explore hydraulic circuit parameters, quantize the performance of a hydraulic system, and can provide theoretical basis and direction for analyzing and optimizing the performance of the hydraulic chassis. The method can be used for quickly and reliably testing the performance of the crawler chassis.
In order to achieve the purpose, the invention provides a crawler chassis testing system, which comprises an engine, a connecting device, a variable pump, an oil tank, a shunt control valve, a pressure sensor A, a pressure sensor B, a pressure sensor C, a pressure sensor D, a pressure sensor E, a pressure sensor F, a pressure sensor G, a torque sensor A, a torque sensor B, an encoder A, an encoder B, a microcontroller and a speed measuring module, wherein the engine is connected with the engine through the connecting device;
the engine is connected with the variable pump through a connecting device; an oil inlet of the variable pump is connected with an oil tank, an oil outlet of the variable pump is respectively connected with an oil inlet of an overflow valve and an oil inlet of a diverter valve, an oil outlet of the overflow valve is connected with the oil tank, a first oil outlet of the diverter valve is connected with a port P of a manual reversing valve A through a flowmeter A, and a second oil outlet of the diverter valve is connected with a port P of the manual reversing valve B through a flowmeter B; the port B of the manual reversing valve A is respectively connected with the oil outlet of the proportional overflow valve B and the port A of the manual reversing valve D, the port A of the manual reversing valve A is respectively connected with the oil inlet of the proportional overflow valve A and the port A of the manual reversing valve C, the oil outlet of the proportional overflow valve A and the port B of the manual reversing valve C are connected with the port A of the left driving motor through the flowmeter C after being communicated with each other, and the port B of the left driving motor is respectively connected with the oil inlet of the proportional overflow valve B and the port B of the manual reversing valve D through the flowmeter D; the output shaft of the left driving motor is connected with the driving wheel of the left crawler belt through a left clutch; the port B of the manual reversing valve B is respectively connected with the oil outlet of the proportional overflow valve D and the port A of the manual reversing valve F, the port A of the manual reversing valve B is respectively connected with the oil inlet of the proportional overflow valve C and the port A of the manual reversing valve E, the oil outlet of the proportional overflow valve C and the port B of the manual reversing valve E are connected with the port A of the right driving motor through the flow meter E after being mutually communicated, and the port B of the right driving motor is respectively connected with the oil inlet of the proportional overflow valve D and the port B of the manual reversing valve F through the flow meter F; the output shaft of the right driving motor is connected with the driving wheel of the right crawler belt through a right clutch; the T port of the manual reversing valve A and the T port of the manual reversing valve B are both connected with the oil tank;
the port A and the port B of the flow dividing control valve are respectively connected with the first oil outlet and the second oil outlet of the flow dividing valve;
the pressure sensor A, the pressure sensor B and the pressure sensor C are respectively connected with an oil outlet of the variable pump, a port P of the manual reversing valve A and a port P of the manual reversing valve B; the pressure sensor D, the pressure sensor E, the pressure sensor F and the pressure sensor G are respectively connected with the port B of the manual reversing valve C, the port B of the manual reversing valve D, the port B of the manual reversing valve E and the port B of the manual reversing valve F; the torque sensor A and the torque sensor B are respectively arranged on the output shaft of the left side driving motor and the output shaft of the right side driving motor; the encoder A and the encoder B are respectively arranged on a driving wheel of the left crawler belt and a driving wheel of the right crawler belt;
the microcontroller is respectively connected with the proportional overflow valve A, the proportional overflow valve B, the proportional overflow valve C, the proportional overflow valve D, the left side clutch, the right side clutch, the pressure sensor A, the pressure sensor B, the pressure sensor C, the pressure sensor D, the pressure sensor E, the pressure sensor F, the pressure sensor G, the torque sensor A, the torque sensor B, the encoder A, the encoder B and the speed measuring module.
Preferably, the connecting device is a coupling or a flange.
Furthermore, in order to avoid impurities from entering the system along with oil, an oil inlet of the variable pump is connected with an oil tank through a filter.
Preferably, the variable displacement pump is a swash plate type plunger pump.
Preferably, the manual reversing valve A and the manual reversing valve B are three-position four-way reversing valves, and when the manual reversing valve A and the manual reversing valve B work at a left position, an oil path between a port P and a port A is communicated, and an oil path between a port T and a port B is communicated; when the valve works in the middle position, the oil way between the port P and the port T is communicated, and the port A and the port B are both cut off; when working at the right position, the oil path between the port P and the port B is communicated, and the oil path between the port T and the port A is communicated; the manual reversing valve C, the manual reversing valve D, the manual reversing valve E and the manual reversing valve F are two-position two-way reversing valves, and when the manual reversing valve C, the manual reversing valve D, the manual reversing valve E and the manual reversing valve F work at a left position, oil paths between the port A and the port B are communicated; when the valve works at the right position, the oil path between the port A and the port B is disconnected.
Preferably, the system further comprises an upper computer, and the upper computer is connected with the microcontroller.
According to the invention, the problems of poor straightness of the whole machine when the driving motors are connected in parallel and even loss of driving capability can be effectively solved through the arrangement of the shunt valve. Whether forced shunting is carried out by the shunt control valve can be conveniently controlled, normal forward movement of the whole machine can be guaranteed when one motor completely slips under the condition of forced shunting, stable forward movement of the whole machine can be guaranteed under the working condition with high requirement on running straightness, flow can be freely distributed under the working condition of non-forced shunting, and system parameters under two states of forced shunting and non-forced shunting of the shunt valve can be conveniently tested. Through the arrangement of the manual reversing valves A and B, the opening of the manual reversing valves can be manually controlled to configure different differential speed ratios of the left and right driving motors, and the whole machine can realize steering at any radius. Therefore, various system parameters of the left motor and the right motor under various matching working conditions can be conveniently tested. The invention can test a plurality of parameters such as pressure loss of the shunt valve, mechanical efficiency and volumetric efficiency of the hydraulic motor, and the skid ratio of the crawler belt, and improves the theoretical basis for comprehensively analyzing the performance of the hydraulic chassis.
The invention also provides a method for testing the crawler chassis by the crawler chassis testing system, which specifically comprises a method for measuring the load pressure of the left driving motor under the condition of artificial loading, a method for measuring the load pressure of the right driving motor under the condition of artificial loading, a method for measuring the load pressure of the left driving motor under the condition of actual loading and a method for measuring the load pressure of the right driving motor under the condition of actual loading;
the method for measuring the load pressure of the left side driving motor under the working condition of manual loading comprises the following steps:
s10: the left clutch is controlled to be disconnected through the microcontroller, and the connection between the left driving motor and the left crawler belt is disconnected;
s11: the left position of a manual reversing valve A is controlled to be accessed, the left position of a manual reversing valve C is controlled to be accessed, and the right position of a manual reversing valve D is controlled to be accessed;
s12: controlling the set pressure of a proportional overflow valve A to be A and the set pressure of a proportional overflow valve B to be B by a microcontroller, wherein A is greater than B, and B is a constant value or a variable value which can be changed at any time;
s13: measuring the pressure of an oil inlet of a proportional overflow valve B through a pressure sensor E to obtain the load pressure of a left driving motor;
the method for measuring the load pressure of the right side driving motor under the working condition of manual loading comprises the following steps:
s20: the microcontroller controls the right clutch to be disconnected, and the connection between the right driving motor and the right crawler is disconnected;
s21: the left position of a manual reversing valve B is manually controlled to be accessed, the left position of a manual reversing valve E is manually controlled to be accessed, and the right position of a manual reversing valve F is manually controlled to be accessed;
s22: controlling the set pressure of a proportional overflow valve C to be C and the set pressure of a proportional overflow valve D to be D by a microcontroller, wherein C is greater than D, and D is a constant value or a variable value which changes at any time;
s23: measuring the pressure of an oil inlet of the proportional relief valve D through a pressure sensor F to obtain the load pressure of the right driving motor;
the method for measuring the load pressure of the left driving motor under the actual load working condition comprises the following steps:
s30: controlling the engagement of the left clutch through the microcontroller to establish the connection between the left drive motor and the left track;
s31: the left position of a manual reversing valve A is controlled to be accessed, the right position of a manual reversing valve C is controlled to be accessed, and the right position of a manual reversing valve D is controlled to be accessed;
s32: the opening pressures of the proportional overflow valve A and the proportional overflow valve B are both controlled to be 0 by the microcontroller;
s33: measuring the pressure of an oil outlet of the proportional overflow valve A through a pressure sensor D to obtain the load pressure of the left driving motor;
the method for measuring the load pressure of the right side driving motor under the actual load working condition comprises the following steps:
s40: controlling the engagement of the right clutch through the microcontroller to establish the connection between the right drive motor and the right track;
s41: the left position of a manual reversing valve B is manually controlled to be accessed, the right position of a manual reversing valve E is manually controlled to be accessed, and the right position of a manual reversing valve F is manually controlled to be accessed;
s42: the opening pressures of the proportional overflow valve C and the proportional overflow valve D are both controlled to be 0 by the microcontroller;
s43: and measuring the pressure of the oil outlet of the proportional overflow valve C through a pressure sensor F to obtain the load pressure of the right-side driving motor.
The method can comprehensively measure the performance of the hydraulic chassis under various working conditions, and can provide theoretical basis and direction for analyzing and optimizing the performance of the hydraulic chassis.
Drawings
Fig. 1 is a hydraulic schematic of the present invention.
In the figure: 1. an engine, 2, a connecting device, 3, a variable displacement pump, 4, a filter, 5, an overflow valve, 6, a fuel tank, 7, a pressure sensor A, 8, a flow dividing valve, 9, a flowmeter A, 10, a flowmeter B, 11, a pressure sensor B, 12, a flow dividing control valve, 13, a pressure sensor C, 14, a manual reversing valve A, 15, a manual reversing valve C, 16, a proportional overflow valve A, 17, a flowmeter C, 18, a pressure sensor D, 19, an encoder A, 20, a left track, 21, a left driving motor, 22, a flowmeter D, 23, a pressure sensor E, 24, a proportional overflow valve B, 25, a manual reversing valve D, 26, a manual reversing valve B, 27, a manual reversing valve E, 28, a proportional overflow valve C, 29, a flowmeter E, 30, a pressure sensor F, 31, a manual reversing valve B, 32, a right track encoder B, 33, a right driving motor, 34. the device comprises flow meters F and 35, pressure sensors G and 36, proportional overflow valves D and 37, manual reversing valves F and 38, a speed measuring module 39, a microcontroller 40, an upper computer 41, torque sensors A and 42, torque sensors B and 43, a left clutch 44 and a right clutch.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the present invention provides a track chassis testing system, which includes an engine 1, a connecting device 2, a variable pump 3, an oil tank 6, a split control valve 12, a pressure sensor a7, a pressure sensor B11, a pressure sensor C13, a pressure sensor D18, a pressure sensor E23, a pressure sensor F30, a pressure sensor G35, a torque sensor a41, a torque sensor B42, an encoder a19, an encoder B31, a microcontroller 39, a speed measuring module 38, and an upper computer 40;
the engine 1 is connected with a variable pump 3 through a connecting device 2; the oil inlet of the variable pump 3 is connected with the oil tank 6, the oil outlet of the variable pump 3 is respectively connected with the oil inlet of the overflow valve 5 and the oil inlet of the flow dividing valve 8, the oil outlet of the overflow valve 5 is connected with the oil tank 6, the overflow valve 5 is used for setting the safety pressure of the system, and when the pressure of the oil outlet of the hydraulic pump is greater than the set safety pressure, the overflow valve 5 is opened for unloading. A first oil outlet of the flow divider valve 8 is connected with a port P of a manual reversing valve A14 through a flowmeter A9, and a second oil outlet of the flow divider valve 8 is connected with a port P of a manual reversing valve B26 through a flowmeter B10; the flow dividing valve 8 is used for dividing the oil output of the variable pump 3 into two parts in proportion; the flowmeter A9 is used for measuring the flow of the first oil outlet of the flow dividing valve 8; the flow meter B10 is used for measuring the flow of the second oil outlet of the flow dividing valve 8;
the port B of the manual reversing valve A14 is respectively connected with the oil outlet of a proportional overflow valve B24 and the port A of a manual reversing valve D25, the port A of the manual reversing valve A14 is respectively connected with the oil inlet of the proportional overflow valve A16 and the port A of a manual reversing valve C15, the oil outlet of a proportional overflow valve A16 and the port B of the manual reversing valve C15 are mutually communicated and then connected with the port A of a left driving motor 21 through a flowmeter C17, and the port B of the left driving motor 21 is respectively connected with the oil inlet of the proportional overflow valve B24 and the port B of the manual reversing valve D25 through a flowmeter D22; the output shaft of the left driving motor 21 is connected to the driving wheel of the left crawler 20 through a left clutch 43; the port B of the manual reversing valve B26 is respectively connected with the oil outlet of the proportional overflow valve D36 and the port A of the manual reversing valve F37, the port A of the manual reversing valve B26 is respectively connected with the oil inlet of the proportional overflow valve C28 and the port A of the manual reversing valve E27, the oil outlet of the proportional overflow valve C28 and the port B of the manual reversing valve E27 are connected with the port A of the right driving motor 33 through a flowmeter E29 after being communicated with each other, and the port B of the right driving motor 33 is respectively connected with the oil inlet of the proportional overflow valve D36 and the port B of the manual reversing valve F37 through a flowmeter F34; the output shaft of the right drive motor 33 is connected to the drive wheel of the right track 32 through a right clutch 44; the T port of the manual reversing valve A14 and the T port of the manual reversing valve B26 are both connected with the oil tank 6;
the port A and the port B of the flow dividing control valve 12 are respectively connected with the first oil outlet and the second oil outlet of the flow dividing valve 8;
in the system, the left driving motor 21 and the right driving motor 33 are connected in parallel, so that the problems of overhigh pressure and incapability of freely distributing flow of a series motor system can be effectively solved. However, the parallel drive motors have the following disadvantages: when the external load difference between the two driving motors is large, most of the flow of the system will flow through the motor with a lower load, and the output torque of all the driving motors is the same as the external load of the motor with a low load, which may result in poor driving linearity of the whole machine, even loss of driving capability. The oil output of the variable pump 3 can be divided into two parts in equal proportion by the arrangement of the diverter valve 8, and when the working condition with higher requirement on the running straightness or one motor completely slips, the lower part of the diverter control valve 12 is connected into the system, the flow is forcibly distributed, so that the running operation can be ensured; in other conditions, the flow is freely distributed by the upper connection system of the flow dividing control valve 12, and the flow dividing control valve 12 is essentially a driving motor differential control valve.
The pressure sensor A7, the pressure sensor B11 and the pressure sensor C13 are respectively connected with an oil outlet of the variable pump 3, a P port of the manual reversing valve A14 and a P port of the manual reversing valve B26; the pressure sensor D18, the pressure sensor E23, the pressure sensor F30 and the pressure sensor G35 are respectively connected with a port B of a manual reversing valve C15, a port B of a manual reversing valve D25, a port B of a manual reversing valve E27 and a port B of a manual reversing valve F37; the torque sensor A41 and the torque sensor B42 are respectively arranged on the output shaft of the left side driving motor 21 and the output shaft of the right side driving motor 33; the encoder A19 and the encoder B31 are respectively arranged on the driving wheel of the left side crawler 20 and the driving wheel of the right side crawler 32;
the pressure sensor A7 is used for measuring a pressure signal of the oil outlet of the variable displacement pump 3 and transmitting the pressure signal to the microcontroller 39; the pressure sensor B11 and the pressure sensor C13 are respectively used for measuring pressure signals of the first oil outlet and the second oil outlet of the flow dividing valve 8 and transmitting the pressure signals to the microcontroller 39; the encoder A19 and the encoder B31 are respectively used for acquiring pulse signals of actual rotating speeds of the driving wheel of the left-side crawler 20 and the driving wheel of the right-side crawler 32 and transmitting the pulse signals to the microcontroller 39; the torque sensor A41 and the torque sensor B42 are respectively used for acquiring output torque signals of the left driving motor 21 and the right driving motor 33 and transmitting the output torque signals to the microcontroller 39;
the microcontroller 39 is respectively connected with a proportional relief valve a16, a proportional relief valve B24, a proportional relief valve C28, a proportional relief valve D36, a left clutch 43, a right clutch 44, a pressure sensor a7, a pressure sensor B11, a pressure sensor C13, a pressure sensor D18, a pressure sensor E23, a pressure sensor F30, a pressure sensor G35, a torque sensor a41, a torque sensor B42, an encoder a19, an encoder B31, a speed measurement module 38 and an upper computer 40. Preferably, the microcontroller is of the model number STM32F4 series. The speed measuring module 38 is used for measuring the actual walking speed of the agricultural machine and sending the actual walking speed to the microcontroller 39. RS485/RS 232/analog quantity can be adopted for data transmission between each sensor and the microcontroller 39, so that the microcontroller 39 can receive signals collected by each sensor. The microcontroller 39 and the upper computer 40 communicate with each other through a serial port or a USB or an Ethernet mode, and the upper computer 40 can select a touch screen or a computer. The microcontroller 39 and the upper computer 40 are communicated to record each test parameter in real time, so that subsequent analysis and processing are facilitated.
Preferably, the connecting device 2 is a coupling or a flange.
In order to avoid impurities entering the system along with oil, an oil inlet of the variable displacement pump 3 is connected with an oil tank 6 through a filter 4.
Preferably, the variable displacement pump 3 is a swash plate type plunger pump.
Preferably, the manual reversing valve A14 and the manual reversing valve B26 are three-position four-way reversing valves, and when the manual reversing valve A14 and the manual reversing valve B26 work at the left position, the oil path between the port P and the port A is communicated, and the oil path between the port T and the port B is communicated; when the valve works in the middle position, the oil way between the port P and the port T is communicated, and the port A and the port B are both cut off; when working at the right position, the oil path between the port P and the port B is communicated, and the oil path between the port T and the port A is communicated; the manual reversing valve A14 and the manual reversing valve B26 are both M-type neutral functions, when the manual reversing valve A14 and the manual reversing valve B26 are in a neutral position, the corresponding actuator (driving motor) is locked, the system is unloaded, when the manual reversing valve A14 and the manual reversing valve B26 are in a left position, the corresponding actuator (driving motor) moves to one direction, and when the manual reversing valve A14 and the manual reversing valve B26 are in a right position, the corresponding actuator (driving motor) moves to the.
The manual reversing valve C15, the manual reversing valve D25, the manual reversing valve E27 and the manual reversing valve F37 are two-position two-way reversing valves, and when the manual reversing valve works at a left position, oil passages between the port A and the port B are communicated; when the valve works at the right position, the oil path between the port A and the port B is disconnected.
The invention provides a method for testing a crawler chassis by a crawler chassis testing system, which specifically comprises a method for measuring the load pressure of a left driving motor under an artificial loading working condition, a method for measuring the load pressure of a right driving motor under the artificial loading working condition, a method for measuring the load pressure of the left driving motor under an actual loading working condition and a method for measuring the load pressure of the right driving motor under the actual loading working condition;
the method for measuring the load pressure of the left side driving motor under the working condition of manual loading comprises the following steps:
s10: the left clutch 43 is controlled by the microcontroller 39 to be disconnected, disconnecting the left drive motor 21 from the left track 20;
s11: the left position of a manual control manual reversing valve A14 is switched in, the left position of a manual reversing valve C15 is switched in, and the right position of a manual reversing valve D25 is switched in;
s12: the microcontroller 39 controls the set pressure of the proportional relief valve A16 to be A, controls the set pressure of the proportional relief valve B24 to be B, and controls A to be larger than B, wherein B is a constant value or a variable value which changes at any time, for example, the variable value can be set to be a variable value which changes in a sine function through the microcontroller 39;
s13: the pressure of the oil inlet of the proportional relief valve B24 is measured by a pressure sensor E23, and the load pressure of the left side driving motor 21 is obtained;
the method for measuring the load pressure of the right side driving motor under the working condition of manual loading comprises the following steps:
s20: the right clutch 44 is controlled by the microcontroller 39 to be disengaged, disconnecting the right drive motor 33 from the right track 32;
s21: the left position of a manual control manual reversing valve B26 is switched in, the left position of a manual reversing valve E27 is switched in, and the right position of a manual reversing valve F37 is switched in;
s22: the microcontroller 39 controls the set pressure of the proportional relief valve C28 to be C, controls the set pressure of the proportional relief valve D36 to be D, and controls C to be larger than D, wherein D is a constant value or a variable value which changes at any time, and the variable value can be set to be a variable value which changes in a sine function by the microcontroller 39;
s23: the pressure of the oil inlet of the proportional relief valve D36 is measured by a pressure sensor F35, and the load pressure of the right-side driving motor 33 is obtained;
the method for measuring the load pressure of the left driving motor under the actual load working condition comprises the following steps:
s30: the engagement of the left clutch 43 is controlled by the microcontroller 39 to establish a connection between the left drive motor 21 and the left track 20;
s31: the left position of a manual control manual reversing valve A14 is switched in, the right position of a manual reversing valve C15 is switched in, and the right position of a manual reversing valve D25 is switched in;
s32: the opening pressures of the proportional overflow valve A16 and the proportional overflow valve B24 are both controlled to be 0 by the microcontroller 39;
s33: the pressure of the oil outlet of the proportional overflow valve A16 is measured by a pressure sensor D18, and the pressure is obtained as the load pressure of the left side driving motor 21;
the method for measuring the load pressure of the right side driving motor under the actual load working condition comprises the following steps:
s40: the engagement of the right clutch 44 is controlled by the microcontroller 39 to establish a connection between the right drive motor 33 and the right track 32;
s41: the left position of a manual control manual reversing valve B26 is switched in, the right position of a manual reversing valve E27 is switched in, and the right position of a manual reversing valve F37 is switched in;
s42: the opening pressures of the proportional overflow valve C28 and the proportional overflow valve D36 are both controlled to be 0 by the microcontroller 39;
s43: the pressure at the oil outlet of the proportional relief valve C28 is measured by a pressure sensor F30, and is obtained as the load pressure of the right side drive motor 33.
The method can comprehensively measure the performance of the hydraulic chassis under various working conditions, and can provide theoretical basis and direction for analyzing and optimizing the performance of the hydraulic chassis.
Calculating the specific principle of the left motor driving loop parameter;
respectively setting: the pressure sensor A7 has a test value of P1; the pressure sensor B11 has a test value of P2; the pressure sensor D18 has a test value of P3; the pressure sensor E23 tests a value P5; flowmeter A9 test value is Q1; flowmeter B10 test value is Q2; flowmeter C17 test value is Q3; flowmeter D22 test value is Q4; encoder a19 tested a value of R1; the test value of the torque sensor A41 is T1; the displacement of the left side drive motor 21 is V1; the speed measurement module 38 measures the real walking speed to be SQ;
the pressure drop of the left circuit on the flow dividing valve 8 is P1-P2;
the pressure drop across the left drive motor 21 is | P5-P3 |;
the mechanical efficiency of the left side drive motor 21 is T1/(| P5-P3 |. V1/2 π);
the volumetric efficiency of the left side drive motor 21 is R1(| Q3-Q4 |. V1);
the left driving motor 21 (namely the rotating speed of the driving wheel of the left crawler 20) can be obtained according to the encoder A19, the real rotating speed of the crawler can be obtained through the diameter of the crawler driving chain wheel, and the theoretical walking speed S1 of the whole machine can be calculated.
The track slip rate is (SQ-S1)/S1;
the calculation formula of the right motor driving loop is consistent with the above description and is not repeated.
Preferably, the calculation formulas are arranged inside the microcontroller 39, so that the microcontroller 39 can calculate the indexes quickly.
Claims (7)
1. A track chassis testing system comprises an engine (1), a connecting device (2), a variable pump (3) and an oil tank (6), and is characterized by further comprising a shunt control valve (12), a pressure sensor A (7), a pressure sensor B (11), a pressure sensor C (13), a pressure sensor D (18), a pressure sensor E (23), a pressure sensor F (30), a pressure sensor G (35), a torque sensor A (41), a torque sensor B (42), an encoder A (19), an encoder B (31), a microcontroller (39) and a speed measuring module (38);
the engine (1) is connected with the variable pump (3) through a connecting device (2); an oil inlet of the variable pump (3) is connected with an oil tank (6), an oil outlet of the variable pump (3) is respectively connected with an oil inlet of an overflow valve (5) and an oil inlet of a flow divider valve (8), an oil outlet of the overflow valve (5) is connected with the oil tank (6), a first oil outlet of the flow divider valve (8) is connected with a port P of a manual reversing valve A (14) through a flowmeter A (9), and a second oil outlet of the flow divider valve (8) is connected with a port P of a manual reversing valve B (26) through a flowmeter B (10); the port B of the manual reversing valve A (14) is respectively connected with the oil outlet of a proportional overflow valve B (24) and the port A of a manual reversing valve D (25), the port A of the manual reversing valve A (14) is respectively connected with the oil inlet of a proportional overflow valve A (16) and the port A of a manual reversing valve C (15), the oil outlet of the proportional overflow valve A (16) and the port B of the manual reversing valve C (15) are mutually communicated and then connected with the port A of a left driving motor (21) through a flowmeter C (17), and the port B of the left driving motor (21) is respectively connected with the oil inlet of the proportional overflow valve B (24) and the port B of the manual reversing valve D (25) through a flowmeter D (22); the output shaft of the left driving motor (21) is connected with the driving wheel of the left crawler belt (20) through a left clutch (43); a port B of the manual reversing valve B (26) is respectively connected with an oil outlet of the proportional overflow valve D (36) and a port A of the manual reversing valve F (37), a port A of the manual reversing valve B (26) is respectively connected with an oil inlet of the proportional overflow valve C (28) and a port A of the manual reversing valve E (27), an oil outlet of the proportional overflow valve C (28) and a port B of the manual reversing valve E (27) are connected with a port A of the right driving motor (33) through a flowmeter E (29) after being mutually communicated, and a port B of the right driving motor (33) is respectively connected with an oil inlet of the proportional overflow valve D (36) and a port B of the manual reversing valve F (37) through a flowmeter F (34); the output shaft of the right driving motor (33) is connected with the driving wheel of the right crawler belt (32) through a right clutch (44); the T port of the manual reversing valve A (14) and the T port of the manual reversing valve B (26) are both connected with the oil tank (6);
the port A and the port B of the flow dividing control valve (12) are respectively connected with the first oil outlet and the second oil outlet of the flow dividing valve (8);
the pressure sensor A (7), the pressure sensor B (11) and the pressure sensor C (13) are respectively connected with an oil outlet of the variable pump (3), a port P of the manual reversing valve A (14) and a port P of the manual reversing valve B (26); the pressure sensor D (18), the pressure sensor E (23), the pressure sensor F (30) and the pressure sensor G (35) are respectively connected with a port B of the manual reversing valve C (15), a port B of the manual reversing valve D (25), a port B of the manual reversing valve E (27) and a port B of the manual reversing valve F (37); the torque sensor A (41) and the torque sensor B (42) are respectively arranged on the output shaft of the left side driving motor (21) and the output shaft of the right side driving motor (33); the encoder A (19) and the encoder B (31) are respectively arranged on a driving wheel of the left crawler belt (20) and a driving wheel of the right crawler belt (32);
the microcontroller (39) is respectively connected with the proportional overflow valve A (16), the proportional overflow valve B (24), the proportional overflow valve C (28), the proportional overflow valve D (36), the left side clutch (43), the right side clutch (44), the pressure sensor A (7), the pressure sensor B (11), the pressure sensor C (13), the pressure sensor D (18), the pressure sensor E (23), the pressure sensor F (30), the pressure sensor G (35), the torque sensor A (41), the torque sensor B (42), the encoder A (19), the encoder B (31) and the speed measuring module (38).
2. A track chassis testing system according to claim 1, characterized in that the attachment means (2) is a coupling or a flange.
3. A track chassis testing system according to claim 1 or 2, characterized in that the oil inlet of the variable displacement pump (3) is connected to the oil tank (6) via a filter (4).
4. A track chassis testing system according to claim 3, characterized in that the variable displacement pump (3) is a swash plate type piston pump.
5. The track chassis testing system according to claim 1 or 2, wherein the manual reversing valve A (14) and the manual reversing valve B (26) are three-position four-way reversing valves, and when the manual reversing valve A works in a left position, an oil path between a port P and a port A is communicated, and an oil path between a port T and a port B is communicated; when the valve works in the middle position, the oil way between the port P and the port T is communicated, and the port A and the port B are both cut off; when working at the right position, the oil path between the port P and the port B is communicated, and the oil path between the port T and the port A is communicated; the manual reversing valve C (15), the manual reversing valve D (25), the manual reversing valve E (27) and the manual reversing valve F (37) are two-position two-way reversing valves, and when the manual reversing valve works at a left position, oil passages between the port A and the port B are communicated; when the valve works at the right position, the oil path between the port A and the port B is disconnected.
6. The track chassis testing system according to claim 5, further comprising an upper computer (40), wherein the upper computer (40) is connected with the microcontroller (39).
7. A method for testing a crawler chassis by using the crawler chassis testing system of any one of claims 1 to 6, which is characterized by comprising a method for measuring the load pressure of a left driving motor under an artificial loading condition, a method for measuring the load pressure of a right driving motor under the artificial loading condition, a method for measuring the load pressure of the left driving motor under an actual loading condition and a method for measuring the load pressure of the right driving motor under the actual loading condition;
the method for measuring the load pressure of the left side driving motor under the working condition of manual loading comprises the following steps:
s10: the microcontroller (39) controls the left clutch (43) to be disconnected, and the connection between the left driving motor (21) and the left crawler belt (20) is disconnected;
s11: the left position of a manual reversing valve A (14) is controlled to be accessed, the left position of a manual reversing valve C (15) is controlled to be accessed, and the right position of a manual reversing valve D (25) is controlled to be accessed;
s12: the set pressure of a proportional overflow valve A (16) is controlled to be A and the set pressure of a proportional overflow valve B (24) is controlled to be B through a microcontroller (39), wherein A is larger than B, and B is a constant value or a variable value which changes at any time;
s13: the pressure of an oil inlet of a proportional overflow valve B (24) is measured through a pressure sensor E (23), and the load pressure of a left driving motor (21) is obtained;
the method for measuring the load pressure of the right side driving motor under the working condition of manual loading comprises the following steps:
s20: the microcontroller (39) controls the right clutch (44) to be disconnected, and the connection between the right driving motor (33) and the right crawler belt (32) is disconnected;
s21: the left position of a manual control manual reversing valve B (26) is switched in, the left position of a manual reversing valve E (27) is switched in, and the right position of a manual reversing valve F (37) is switched in;
s22: the set pressure of a proportional overflow valve C (28) is controlled to be C through a microcontroller (39), the set pressure of a proportional overflow valve D (36) is controlled to be D, and C is larger than D, wherein D is a constant value or a variable value which changes at any time;
s23: the pressure of an oil inlet of a proportional relief valve D (36) is measured through a pressure sensor F (35), and the load pressure of a right-side driving motor (33) is obtained;
the method for measuring the load pressure of the left driving motor under the actual load working condition comprises the following steps:
s30: controlling the engagement of the left clutch (43) by the microcontroller (39) to establish a connection between the left drive motor (21) and the left track (20);
s31: the left position of a manual control manual reversing valve A (14) is accessed, the right position of a manual reversing valve C (15) is accessed, and the right position of a manual reversing valve D (25) is accessed;
s32: the opening pressures of the proportional overflow valve A (16) and the proportional overflow valve B (24) are both controlled to be 0 by the microcontroller (39);
s33: the pressure of an oil outlet of a proportional overflow valve A (16) is measured through a pressure sensor D (18), and the load pressure of a left side driving motor (21) is obtained;
the method for measuring the load pressure of the right side driving motor under the actual load working condition comprises the following steps:
s40: controlling the engagement of the right clutch (44) by the microcontroller (39) to establish a connection between the right drive motor (33) and the right track (32);
s41: the left position of a manual control manual reversing valve B (26) is switched in, the right position of a manual reversing valve E (27) is switched in, and the right position of a manual reversing valve F (37) is switched in;
s42: the opening pressures of the proportional overflow valve C (28) and the proportional overflow valve D (36) are both controlled to be 0 by the microcontroller (39);
s43: the pressure of the oil outlet of the proportional overflow valve C (28) is measured by a pressure sensor F (30), and the load pressure of the right side driving motor (33) is obtained.
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| JP2000110937A (en) * | 1998-10-02 | 2000-04-18 | Kayaba Ind Co Ltd | Hydrostatic transmission device |
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| JP2000110937A (en) * | 1998-10-02 | 2000-04-18 | Kayaba Ind Co Ltd | Hydrostatic transmission device |
| CN203655789U (en) * | 2014-01-09 | 2014-06-18 | 浙江大学 | Testing system of pilot load control valve |
| CN206090684U (en) * | 2016-03-21 | 2017-04-12 | 西南交通大学 | Excavator gyration economizer system with prevent reversal and rock function |
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| CN112253577B (en) | 2023-01-24 |
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