CN115817663A - Crawler vehicle action control system and method with tension self-adaptive adjustment function - Google Patents
Crawler vehicle action control system and method with tension self-adaptive adjustment function Download PDFInfo
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- CN115817663A CN115817663A CN202211388442.9A CN202211388442A CN115817663A CN 115817663 A CN115817663 A CN 115817663A CN 202211388442 A CN202211388442 A CN 202211388442A CN 115817663 A CN115817663 A CN 115817663A
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Abstract
The invention relates to the technical field of crawler belt action control, and discloses a crawler belt vehicle action control system with self-adaptive tension adjustment and a method thereof, wherein the control system comprises a driving wheel, a crawler belt, a vehicle body side plate, a crawler belt tensioning mechanism, a belt supporting assembly and a suspension assembly; the side plates of the vehicle body are oppositely provided with driving wheels, a belt supporting assembly and a suspension assembly are respectively arranged between the two driving wheels, and the surfaces of the driving wheels, the belt supporting assembly and the suspension assembly are enveloped with crawler belts; the supporting belt assembly is used for supporting the crawler belt, and the suspension assembly is used for reducing impact vibration to the crawler belt from the outside; and a track tensioning mechanism acting on the track is further arranged on the side plate of the vehicle body, and the track tensioning mechanism performs self-adaptive adjustment on the tensioning force of the track. The invention can realize real-time control of the tension of the crawler according to the running condition and the state of the crawler, namely, the tightness degree of the crawler is adjusted in real time, so that the tension of the crawler is adjusted, and the crawler tension control device has the advantages of simple integral structure, reliable function and easy realization.
Description
Technical Field
The invention relates to the technical field of crawler action control, in particular to a crawler action control system and method with tension self-adaptive adjustment.
Background
With the increasing exhaustion of energy and air pollution in the world and the rapid development of modern science and technology, the new energy tracked vehicle is gradually replacing the traditional energy tracked vehicle. Compared with a two-wheel drive tracked vehicle, the multi-driving-wheel electric drive tracked vehicle has many advantages, such as improved trafficability, climbing performance, steering capacity and the like, but has obvious defects, such as complex track tensioning mechanism, incapability of adjusting track tensioning force in real time and the like. The tension of the crawler is a main factor influencing the reliability of the crawler, the stability of the tension of the crawler is kept, the service life of the crawler is prolonged, and meanwhile the vehicle body has excellent performance in off-road conditions. The tensioning mode of the tracks of the multi-driving-wheel driven tracked vehicles cannot be realized by pushing the inducer wheels by the tensioning mechanism to adjust the tensioning force of the tracks like the traditional mode.
Disclosure of Invention
The invention aims to provide a tracked vehicle action control system and method with self-adaptive tension adjustment, aiming at solving the problem that a multi-driving-wheel electrically-driven tracked vehicle tensioning mechanism is complex, and adjusting the tension of a track in real time on the basis of reducing the energy consumption of a control system.
In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:
the invention provides a tracked vehicle action control system with self-adaptive tension adjustment, which comprises a driving wheel, a track, a vehicle body side plate, a track tensioning mechanism, a belt supporting assembly and a suspension assembly, wherein the driving wheel is connected with the track;
the vehicle body side plates are oppositely provided with driving wheels, a belt supporting component and a suspension component are respectively arranged between the two driving wheels, and the surfaces of the driving wheels, the belt supporting component and the suspension component are enveloped with a crawler belt; the supporting belt assembly is used for supporting the crawler belt, and the suspension assembly is used for reducing impact vibration to the crawler belt from the outside; and a track tensioning mechanism acting on the track is further arranged on the side plate of the vehicle body, and the track tensioning mechanism performs self-adaptive adjustment on the tensioning force of the track.
Furthermore, the suspension assembly comprises a loading wheel, a vibration reduction bracket and a hydro-pneumatic spring, and the hydro-pneumatic spring is arranged on the side plate of the vehicle body and is connected with one end of the vibration reduction bracket; and the other end of the vibration reduction support is movably provided with a loading wheel, and the loading wheel acts on the track.
Furthermore, the track tensioning mechanism comprises a hydraulic cylinder, a hydraulic tensioning rod, a disc spring, a tensioning wheel arm, a tensioning wheel and a tensioning hydraulic assembly, wherein the side wall of the hydraulic cylinder is rotatably connected to a side plate of the vehicle body and is connected with the tensioning hydraulic assembly through an oil way; a hydraulic tension rod is arranged in the hydraulic cylinder, and a disc spring is arranged to act on the hydraulic tension rod; one end of the tension wheel arm is rotatably connected to the force output end of the hydraulic tension rod, the middle part of the tension wheel arm is rotatably connected with a tension wheel acting on the crawler belt, and the other end of the tension wheel arm is rotatably connected to a side plate of the vehicle body.
Furthermore, the tensioning hydraulic assembly comprises a controller, a first electromagnetic reversing valve, a second electromagnetic reversing valve, a one-way valve, an oil pump, an oil tank and a one-way throttle valve, wherein the first electromagnetic reversing valve is a three-position four-way U-shaped valve, and the second electromagnetic reversing valve is a three-position four-way M-shaped valve;
two ends of the one-way throttle valve are respectively connected with a rod cavity of the hydraulic cylinder and a working oil port B of the first electromagnetic directional valve, and a working oil port A of the first electromagnetic directional valve is connected with a rodless cavity of the hydraulic cylinder; the first electromagnetic reversing valve and the second electromagnetic reversing valve are connected and are respectively and electrically connected with the controller; the controller is also connected with a hydraulic cylinder;
an oil inlet P of the second electromagnetic directional valve is connected with the one-way valve and the controller; the one-way valve is connected with the oil pump and then is connected with the oil tank; and an oil outlet T of the second electromagnetic directional valve is also connected with an oil tank.
Furthermore, the tensioning hydraulic assembly further comprises an overflow valve and a filter, the overflow valve connected with the oil pump in parallel is further arranged between the check valve and the oil tank, and the filter is further arranged between the oil pump and the oil tank.
Further, an energy accumulator is arranged between the oil inlet P of the second electromagnetic directional valve and the one-way valve and used for maintaining the pressure of the tensioning hydraulic component.
Furthermore, the suspension assemblies are arranged between the two driving wheels at equal intervals by adopting five groups and act on the track respectively.
Further, hydro-pneumatic spring and damping support both coaxial setting to the contained angle between and the vertical direction is 30.
Further, the belt supporting assembly comprises belt supporting wheels and is positioned on two sides of the axes of the two driving wheels together with the suspension assembly; the two belt supporting wheels are arranged on two sides of the tensioning wheel at equal intervals.
The invention also provides a crawler action control method with self-adaptive tension adjustment, which comprises the following specific steps:
step S1: the tracked vehicle runs, whether the tracked vehicle is in a normal running working condition or not is judged, and if the tracked vehicle is in the normal running working condition, the step S2 is executed; otherwise, executing step S3;
step S2: the oil pump supplies oil, the first electromagnetic reversing valve and the second electromagnetic reversing valve are positioned in the middle position, the disc spring drives the hydraulic tensioning rod to stretch, passive tensioning is realized on the track through the action of the tensioning wheel, and the step S6 is executed;
and step S3: when the oil pump works, hydraulic oil in the hydraulic cylinder drives the hydraulic tensioning rod to stretch, and the controller monitors the pressure value of a rodless cavity in the hydraulic cylinder in real time;
and step S4: comparing the monitored pressure value with a set value, judging whether the pressure value reaches the set value, and if not, executing a step S5; otherwise, executing step S6;
step S5: the controller sends corresponding control signals to the first electromagnetic reversing valve and the second electromagnetic reversing valve according to the monitored pressure values, the pressure value of a rodless cavity in the hydraulic cylinder is adjusted, the hydraulic tensioning rod drives the tensioning wheel arm to move, the tensioning wheel actively tensions the track, and the step S4 is returned;
step S6: judging whether the vehicle is braked emergently, if not, adjusting the tension of the crawler in real time, and returning to the step S5; if yes, executing the next step;
step S7: and the oil pump works, the second electromagnetic directional valve is adjusted to the middle position, the first electromagnetic directional valve is adjusted to the left position, the hydraulic cylinder is locked, and the tensioning wheel is fixed.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the crawler belt tensioning mechanism, the driving wheel is arranged on the side plate of the vehicle body to drive the crawler belt vehicle, the belt supporting assembly and the suspension assembly are respectively arranged to support the crawler belt, and the real-time control of the tensioning force of the crawler belt can be realized through the crawler belt tensioning mechanism according to the running condition and the state of the crawler belt vehicle, namely the tightness degree of the crawler belt is adjusted in real time, so that the tensioning force of the crawler belt is adjusted.
(2) The suspension assembly is matched with the crawler through the bogie wheels, and is connected with the bogie wheels through the vibration reduction bracket and the hydro-pneumatic spring, so that the suspension assembly can support the side plate of the vehicle body, has a simple and reliable structure, and can buffer and attenuate impact vibration from the ground to the crawler.
(3) The track tensioning mechanism is connected with the tensioning hydraulic assembly through the hydraulic cylinder, acts on the hydraulic tensioning rod through the disc spring, the tensioning wheel arm is connected with the tensioning wheel and matched with the track, the tensioning force of the track is adjusted by changing the position of the tensioning wheel, and the tensioning hydraulic assembly can realize active and passive tensioning modes of the track, and is reliable and convenient.
(4) The tensioning hydraulic assembly provided by the invention adopts the first electromagnetic reversing valve and the second electromagnetic reversing valve which are connected, the electromagnetic reversing valves are subjected to phase control through the controller, hydraulic oil in the hydraulic cylinder is regulated to push the hydraulic tensioning rod to move, active tensioning of the track is realized, and the tensioning hydraulic assembly provides track tensioning power only when the track is actively tensioned, so that the energy consumption of a system of a tracked vehicle can be reduced, and the running stability of the tracked vehicle is improved.
(5) The belt supporting assembly of the invention adopts the belt supporting wheel to support the crawler belt, reduces the vibration of the upper section of the crawler belt, has simple structure and can further improve the stability of the crawler belt.
(6) The control method firstly judges whether the track is in a passive tensioning mode or an active tensioning mode, the hydraulic cylinder does not work in the passive tensioning mode and only drives the hydraulic tensioning rod to move through the disc spring, and the hydraulic cylinder works in the active tensioning mode, the pressure value of the hydraulic cavity is adjusted by adjusting the phases of the two electromagnetic reversing valves through the controller to drive the position of the tensioning wheel to change, so that the tensioning force of the track is adjusted.
Drawings
In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort. Wherein:
FIG. 1 is a schematic diagram of a tracked vehicle motion control system with adaptive adjustment of tension in accordance with the present invention.
Fig. 2 is a schematic diagram of the components of the track tensioning mechanism of the present invention.
Fig. 3 is a schematic view of the interior of the hydraulic cylinder of the present invention.
Fig. 4 is a schematic diagram of the components of the tensioning hydraulic assembly of the present invention.
FIG. 5 is a flow chart of a method for controlling the behavior of a tracked vehicle with adaptive adjustment of tension in accordance with the present invention.
The reference numerals are explained below: the hydraulic control system comprises a driving wheel 1, a belt supporting wheel 2, a hydraulic cylinder 3, a tension wheel 4, a loading wheel 5, a damping support 6, an oil-gas spring 7, a tension wheel arm 8, a crawler belt 9, a vehicle body side plate 10, a hydraulic tension rod 11, a disc spring 12, a controller 13, a first electromagnetic directional valve 14, a second electromagnetic directional valve 15, an energy accumulator 16, a one-way valve 17, an overflow valve 18, an oil pump 19, a filter 20, an oil tank 21, a one-way throttle valve 22, a crawler belt tensioning mechanism 30, a belt supporting component 40 and a suspension component 50.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, e.g., the terms "length," "width," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., refer to an orientation or position based on that shown in the drawings, are for convenience of description only and are not to be construed as limiting of the present disclosure.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order. In the description and claims of the present invention and in the description of the above figures, when an element is referred to as being "fixed" or "mounted" or "disposed" or "connected" to another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, the invention provides a tracked vehicle action control system with adaptive tension adjustment, comprising a driving wheel 1, a track 9, a vehicle body side plate 10, a track tensioning mechanism 30, a belt supporting assembly 40 and a suspension assembly 50;
the side plates 10 of the vehicle body are oppositely provided with driving wheels 1, a belt supporting component 40 and a hanging component 50 are also respectively arranged between the two driving wheels 1, and the belt supporting component 40 and the hanging component 50 are positioned at two sides of the axes of the two driving wheels 1; the driving wheel 1, the belt supporting assembly 40 and the suspension assembly 50 are provided with tracks 9 in an enveloping way, the belt supporting assembly 40 is used for supporting the tracks 9, and the suspension assembly 50 is used for reducing impact vibration to the tracks 9 from the outside; the body side plate 10 is also provided with a track tensioning mechanism 30 acting on the track 9.
Specifically, two sets of drive wheels 1 that distribute relatively are set up respectively to the both sides of automobile body curb plate 10, and tracked vehicle action control system adopts four drive mode, provides the power of traveling by four drive wheels 1, respectively is equipped with a drive wheel 1 on the front main shaft of automobile body curb plate 1 every side and the rear main shaft promptly, adopts four-wheel drive mode to provide powerful power of traveling for two-wheel drive, also has stronger driving stability to comparatively complicated operating mode of traveling.
Furthermore, a corresponding speed reduction and torque increase mechanism is arranged on the driving wheel 1, the speed reduction and torque increase mechanism is driven by a high-power motor and is connected with a control system in the tracked vehicle through a CAN bus, the high-power motor CAN perform real-time torque compensation on the driving torque required by the driving wheel 1 according to received control instructions under different working conditions, and the two motors on the same side are kept to have the same rotating speed.
Further, the suspension assembly 50 comprises a bogie wheel 5, a damping bracket 6 and a hydro-pneumatic spring 7, wherein the hydro-pneumatic spring 7 is arranged on the vehicle body side plate 10 and is connected with one end of the damping bracket 6. The other end of the vibration reduction support 6 is movably provided with a loading wheel 5, and the loading wheel 5 acts on the crawler 9.
Further, the suspension assemblies 50 are arranged between the two driving wheels 1 at equal intervals by adopting five groups and respectively act on the crawler belts 9.
Further, in order to optimize the damping effect of the tracked vehicle, the hydro-pneumatic spring 7 and the damping bracket 6 are coaxially arranged and form an angle with the vertical direction, preferably 30 °.
Further, referring to fig. 2 and 3, the track tensioning mechanism 30 includes a hydraulic cylinder 3, a hydraulic tensioning rod 11, a disc spring 12, a tensioning wheel arm 8, a tensioning wheel 4 and a tensioning hydraulic assembly, wherein a side wall of the hydraulic cylinder 3 is rotatably connected to the vehicle body side plate 10 to provide a base for the position movement of the tensioning wheel 4, and is connected to the tensioning hydraulic assembly through an oil path. A hydraulic tension rod 11 is arranged in the hydraulic cylinder 3, and a disc spring 12 is arranged to act on the hydraulic tension rod 11. The upper end of the tension wheel arm 8 is rotatably connected to the force output end of the hydraulic tension rod 11, the middle part of the tension wheel arm is rotatably connected with a tension wheel 4, and the lower end of the tension wheel arm is rotatably connected to a side plate 10 of the vehicle body. The tensioning wheel 4 acts on the track 9 and presses down to tension the track 9.
Further, the belt supporting assembly 40 comprises two belt supporting wheels 2, and the two belt supporting wheels 2 are arranged on two sides of the track tensioning mechanism 30. Specifically, the two idler wheels 2 are positioned on two sides of the tensioning wheel 4 at equal intervals.
Specifically, the outer surfaces of the driving wheel 1, the carrier roller 2 and the bogie wheel 5 are enveloped by the crawler 9 to jointly form a traveling mechanism of the crawler traveling system, and the carrier assembly 40 supports the upper section (the direction shown in fig. 1) of the crawler 9 through the carrier roller 2, so that the vibration of the upper section of the crawler 9 is reduced, and the stability of the crawler 9 is improved. The number of suspension assemblies 50 and idler wheels 2 can be increased or decreased according to actual needs.
Referring to fig. 4, the tensioning hydraulic assembly includes a controller 13, a first electromagnetic directional valve 14, a second electromagnetic directional valve 15, a check valve 17, an oil pump 19, an oil tank 21, and a check throttle 22, wherein the first electromagnetic directional valve 14 is a three-position four-way U-shaped valve, and the second electromagnetic directional valve 15 is a three-position four-way M-shaped valve.
And a one-way throttle valve 22 is arranged on a low-pressure oil path of the hydraulic cylinder 3, namely, two ends of the one-way throttle valve 22 are connected with a rod cavity of the hydraulic cylinder 3 and a working oil port B of the first electromagnetic directional valve 14, and a working oil port A of the first electromagnetic directional valve 14 is connected with a rodless cavity of the hydraulic cylinder 3. The first electromagnetic directional valve 14 is connected with the second electromagnetic directional valve 15, and is respectively and electrically connected with the controller 13, that is, the oil inlet P and the oil outlet T of the first electromagnetic directional valve 14 are respectively connected with the working oil port A, B of the second electromagnetic directional valve 15. The controller 13 is also connected with the hydraulic cylinder 3 and an oil inlet P of a second electromagnetic directional valve 15.
And an oil inlet P of the second electromagnetic directional valve 15 is connected with a one-way valve 17 and is connected with the controller 13, and the on-off of an oil path is controlled through the one-way valve 17. The check valve 17 is connected with the oil pump 19 and then connected with the oil tank 21, and the oil outlet T of the second electromagnetic directional valve 15 is also connected with the oil tank 21.
Specifically, the controller 13 is configured to receive external feedback signals such as a pressure sensor, a vehicle state, road information, and the like, calculate and send corresponding control signals to the first electromagnetic directional valve 14 and the second electromagnetic directional valve 15 through the controller 13, and then control active and passive tensioning of the tensioning hydraulic assembly.
Further, the tensioning hydraulic assembly further comprises an overflow valve 18 and a filter 20, the overflow valve 18 connected with the oil pump 19 in parallel is further arranged between the check valve 17 and the oil tank 21, and the filter 20 is further arranged between the oil pump 19 and the oil tank 21.
Specifically, the overflow valve 18 is used for performing an overflow function in the active tensioning mode, and is matched with the one-way throttle valve 22 to adjust and balance the flow of the hydraulic system, and also has a safety protection function. The filter 20 is used to filter impurities in the hydraulic system.
Further, an accumulator 16 is arranged between the oil inlet P of the second electromagnetic directional valve 15 and the check valve 17. The accumulator 16 is used for maintaining the pressure of the tensioning hydraulic component in the active tensioning mode, has a pressure maintaining effect, can absorb the impact of a hydraulic system, and has a hydraulic buffering effect.
Referring to fig. 5, the present invention further provides a method for controlling the behavior of a tracked vehicle with adaptive adjustment of the tensioning force, the method comprising the following steps:
step S1: the tracked vehicle runs, whether the running working condition is a normal running working condition is judged, if yes, the crawler 9 is in a passive tensioning mode, and step S2 is executed; otherwise, the crawler belt 9 is in an active tensioning mode, and the step S3 is executed;
step S2: under a normal running working condition, the oil pump 19 is in an oil supply state, the first electromagnetic directional valve 14 is located at a middle position, the second electromagnetic directional valve 15 is located at a middle position, the disc spring 12 drives the hydraulic tensioning rod 11 to stretch and retract, the tensioning wheel 4 acts on the crawler belt 9 to realize passive tensioning, and the step S6 is executed;
specifically, in normal working conditions, the hydraulic oil flows through the one-way throttle valve 22 along with the expansion and contraction of the hydraulic tension rod 11 to provide only one-way damping. The disc spring 12 plays a passive tensioning role for the elastic element, and at the moment, the disc spring 12 pushes the hydraulic tensioning rod 11 to extend the hydraulic tensioning rod 11 and provide tension for the crawler belt 9 through the tensioning wheel 4; when the external pressure is too high, the hydraulic tension rod 11 is compressed, i.e. retracted into the hydraulic cylinder 3, and the hydraulic oil flows from the hydraulic chamber a to the hydraulic chamber b (shown in fig. 3) through the one-way throttle 22, and the one-way throttle 22 can provide damping to suppress the vibration of the track 9.
And step S3: when the vehicle turns, decelerates and passes through a soft road surface, the crawler 9 is in an active tensioning mode, the oil pump 19 is in a working state, the hydraulic cylinder 3 works, namely, the hydraulic oil drives the hydraulic tensioning rod 11 to stretch, and the controller 13 monitors the pressure value of the hydraulic cavity a, namely the rodless cavity, in real time through a pressure sensor in the hydraulic cylinder 3;
and step S4: comparing the monitored pressure value with a set value, judging whether the pressure value reaches the set value, and if not, executing the step S5; otherwise, executing step S6;
specifically, the corresponding track tension is adjusted by judging the vehicle body state of the tracked vehicle and the running road surface, and the pressure set value is stabilized in real time according to the monitored pressure value.
Step S5: and the controller 13 sends corresponding control signals to the first electromagnetic directional valve 14 and the second electromagnetic directional valve 15 according to the monitored pressure values, adjusts the pressure value of the hydraulic cavity a in the hydraulic cylinder 3, drives the tensioning wheel arm 8 to move by the hydraulic tensioning rod, realizes the function of actively tensioning the crawler belt 9 by the tensioning wheel 4, and returns to the step S4.
Specifically, when the first electromagnetic directional valve 14 is in the left position in the direction shown in fig. 4, and the second electromagnetic directional valve 15 is in the right position, the pressure of the hydraulic chamber a increases, and the tension increases; when the first electromagnetic directional valve 14 and the second electromagnetic directional valve 15 are in the right position, the pressure of the hydraulic chamber a is reduced, the tension is reduced, and the pressure of the hydraulic chamber a is stabilized at a set value by controlling the phases of the first electromagnetic directional valve 14 and the second electromagnetic directional valve 15.
Step S6: judging whether the vehicle is braked emergently, if not, adjusting the tension of the crawler belt 9 in real time, and returning to the step S5; if yes, executing the next step;
specifically, the two tensioning modes can be switched by the controller 13, so that a proper track tensioning mode can be selected under different working conditions, and the purposes that the track tensioning force can be adjusted in a self-adaptive mode and energy is saved are achieved.
Step S7: the oil pump 19 is in a working state, the second electromagnetic directional valve 15 is adjusted to a middle position, the first electromagnetic directional valve 14 is adjusted to a left position, the hydraulic cylinder 3 is locked at the moment, and the tensioning wheel 4 is prevented from oscillating to keep the braking stability.
In this embodiment, the track tensioning mechanism 30 performs adaptive adjustment and control of the tensioning force of the track in two modes, namely a passive track tensioning mode and an active track tensioning mode, and can realize free switching according to the information of the road condition on which the tracked vehicle runs. In the passive tensioning mode, the disc spring 12 is mainly used for working, so that the aim of saving electric power energy can be fulfilled; the tensioning hydraulic component mainly works in the active tensioning mode, the function of keeping a certain level of tensioning force of the tracked vehicle under severe working conditions can be realized, and the two modes are respectively used for pushing or contracting the hydraulic tensioning rod 11, so that the position of the tensioning wheel 4 is changed, and the tensioning force of the track is adjusted. When the tracked vehicle is braked, the hydraulic cylinder 3 can be locked, the tensioning wheel 4 is fixed, and the phenomenon that the tensioning force of the track fluctuates greatly is avoided.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such modifications are intended to be included in the scope of the present invention.
Claims (10)
1. A tracked vehicle motion control system with adaptive adjustment of tension, characterized by: the crawler belt type crawler belt conveyor comprises a driving wheel, a crawler belt, a vehicle body side plate, a crawler belt tensioning mechanism, a belt supporting assembly and a suspension assembly;
the vehicle body side plates are oppositely provided with driving wheels, a belt supporting component and a suspension component are respectively arranged between the two driving wheels, and the surfaces of the driving wheels, the belt supporting component and the suspension component are enveloped with a crawler belt; the supporting belt assembly is used for supporting the crawler belt, and the suspension assembly is used for reducing impact vibration to the crawler belt from the outside; and a track tensioning mechanism acting on the track is further arranged on the side plate of the vehicle body, and the track tensioning mechanism performs self-adaptive adjustment on the tensioning force of the track.
2. The adaptive tension adjustment tracked vehicle mobility control system of claim 1, wherein: the suspension assembly comprises a loading wheel, a vibration damping support and a hydro-pneumatic spring, and the hydro-pneumatic spring is arranged on the side plate of the vehicle body and is connected with one end of the vibration damping support; and the other end of the vibration reduction support is movably provided with a loading wheel, and the loading wheel acts on the track.
3. The adaptive tensioning force adjustment tracked vehicle motion control system of claim 1 or 2, wherein: the side wall of the hydraulic cylinder is rotatably connected to a side plate of the vehicle body and is connected with the tensioning hydraulic assembly through an oil way; a hydraulic tension rod is arranged in the hydraulic cylinder, and a disc spring is arranged to act on the hydraulic tension rod; one end of the tension wheel arm is rotatably connected to the force output end of the hydraulic tension rod, the middle of the tension wheel arm is rotatably connected with a tension wheel acting on the crawler belt, and the other end of the tension wheel arm is rotatably connected to a side plate of the vehicle body.
4. The adaptive tensioning force adjustment tracked vehicle motion control system of claim 3, wherein: the tensioning hydraulic assembly comprises a controller, a first electromagnetic reversing valve, a second electromagnetic reversing valve, a one-way valve, an oil pump, an oil tank and a one-way throttle valve, wherein the first electromagnetic reversing valve is a three-position four-way U-shaped valve, and the second electromagnetic reversing valve is a three-position four-way M-shaped valve;
two ends of the one-way throttle valve are respectively connected with a rod cavity of the hydraulic cylinder and a working oil port B of the first electromagnetic reversing valve, and a working oil port A of the first electromagnetic reversing valve is connected with a rodless cavity of the hydraulic cylinder; the first electromagnetic reversing valve and the second electromagnetic reversing valve are connected and are respectively and electrically connected with the controller; the controller is also connected with a hydraulic cylinder;
an oil inlet P of the second electromagnetic directional valve is connected with the one-way valve and the controller; the one-way valve is connected with the oil pump and then is connected with the oil tank; and an oil outlet T of the second electromagnetic directional valve is also connected with an oil tank.
5. The adaptive tensioning force adjustment tracked vehicle motion control system of claim 4, wherein: the tensioning hydraulic assembly further comprises an overflow valve and a filter, the overflow valve connected with the oil pump in parallel is further arranged between the one-way valve and the oil tank, and the filter is further arranged between the oil pump and the oil tank.
6. The adaptive tensioning force adjustment tracked vehicle motion control system of claim 4 or 5, wherein: and an energy accumulator is also arranged between the oil inlet P of the second electromagnetic directional valve and the one-way valve and is used for maintaining the pressure of the tensioning hydraulic component.
7. The adaptive tensioning force adjustment tracked vehicle motion control system of claim 1, wherein: the suspension assembly is arranged between the two driving wheels at equal intervals by adopting five groups and respectively acts on the caterpillar band.
8. The adaptive tensioning force adjustment tracked vehicle motion control system of claim 2, wherein: the hydro-pneumatic spring and the vibration damping support are coaxially arranged, and an included angle between the hydro-pneumatic spring and the vibration damping support and the vertical direction is 30 degrees.
9. The adaptive tensioning force adjustment tracked vehicle motion control system of claim 1, wherein: the belt supporting assembly comprises belt supporting wheels and is positioned on two sides of the axes of the two driving wheels together with the suspension assembly; the two belt supporting wheels are arranged on two sides of the tensioning wheel at equal intervals.
10. A method for adaptively adjusting a tracked vehicle mobility control system based on the tension of any of claims 1-9, wherein: the method comprises the following specific steps:
step S1: the tracked vehicle runs, whether the tracked vehicle is in a normal running working condition or not is judged, and if the tracked vehicle is in the normal running working condition, the step S2 is executed; otherwise, executing step S3;
step S2: the oil pump supplies oil, the first electromagnetic reversing valve and the second electromagnetic reversing valve are located in the middle position, the disc spring drives the hydraulic tensioning rod to stretch, passive tensioning is achieved on the track through the action of the tensioning wheel, and the step S6 is executed;
and step S3: when the oil pump works, hydraulic oil in the hydraulic cylinder drives the hydraulic tensioning rod to stretch, and the controller monitors the pressure value of a rodless cavity in the hydraulic cylinder in real time;
and step S4: comparing the monitored pressure value with a set value, judging whether the pressure value reaches the set value, and if not, executing a step S5; otherwise, executing step S6;
step S5: the controller sends corresponding control signals to the first electromagnetic reversing valve and the second electromagnetic reversing valve according to the monitored pressure value, the pressure value of a rodless cavity in the hydraulic cylinder is adjusted, the hydraulic tensioning rod drives the tensioning wheel arm to move, the tensioning wheel actively tensions the track, and the step S4 is returned;
step S6: judging whether the vehicle is braked emergently, if not, adjusting the tension of the crawler in real time, and returning to the step S5; if yes, executing the next step;
step S7: and the oil pump works, the second electromagnetic directional valve is adjusted to the middle position, the first electromagnetic directional valve is adjusted to the left position, the hydraulic cylinder is locked, and the tensioning wheel is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211388442.9A CN115817663A (en) | 2022-11-08 | 2022-11-08 | Crawler vehicle action control system and method with tension self-adaptive adjustment function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211388442.9A CN115817663A (en) | 2022-11-08 | 2022-11-08 | Crawler vehicle action control system and method with tension self-adaptive adjustment function |
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| CN115817663A true CN115817663A (en) | 2023-03-21 |
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| CN202211388442.9A Pending CN115817663A (en) | 2022-11-08 | 2022-11-08 | Crawler vehicle action control system and method with tension self-adaptive adjustment function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116588213A (en) * | 2023-06-05 | 2023-08-15 | 哈尔滨博尼智能技术有限公司 | Crawler-type robot |
| CN117361064A (en) * | 2023-12-08 | 2024-01-09 | 山西东昌实业有限公司 | Belt conveyer broken belt protection device |
-
2022
- 2022-11-08 CN CN202211388442.9A patent/CN115817663A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116588213A (en) * | 2023-06-05 | 2023-08-15 | 哈尔滨博尼智能技术有限公司 | Crawler-type robot |
| CN116588213B (en) * | 2023-06-05 | 2023-12-12 | 哈尔滨博尼智能技术有限公司 | Crawler-type robot |
| CN117361064A (en) * | 2023-12-08 | 2024-01-09 | 山西东昌实业有限公司 | Belt conveyer broken belt protection device |
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