WO2023097872A1 - Système hydraulique de déplacement de chenille anti-déviation - Google Patents

Système hydraulique de déplacement de chenille anti-déviation Download PDF

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Publication number
WO2023097872A1
WO2023097872A1 PCT/CN2022/071226 CN2022071226W WO2023097872A1 WO 2023097872 A1 WO2023097872 A1 WO 2023097872A1 CN 2022071226 W CN2022071226 W CN 2022071226W WO 2023097872 A1 WO2023097872 A1 WO 2023097872A1
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WIPO (PCT)
Prior art keywords
valve
oil
port
precision pressure
pressure reducing
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Application number
PCT/CN2022/071226
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English (en)
Chinese (zh)
Inventor
刘小华
辛德忠
陈航
唐敏
万军
王清峰
张始斋
吕晋军
蒲剑
马振纲
杨林
雷万年
万园
周富佳
鲁石平
王兴
Original Assignee
中煤科工集团重庆研究院有限公司
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Priority to AU2022279525A priority Critical patent/AU2022279525A1/en
Publication of WO2023097872A1 publication Critical patent/WO2023097872A1/fr

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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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/22—Synchronisation of the movement of two or more servomotors
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • 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
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/615—Filtering means
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/78—Control of multiple output members
    • F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators

Definitions

  • the invention belongs to the technical field of hydraulic systems, and relates to a crawler hydraulic system for preventing running deviation.
  • the object of the present invention is to provide an anti-deviation crawler hydraulic system, which uses a load-sensitive hydraulic system to automatically adjust the output pressure of the pump according to changes in external loads, and uses a precision pressure relief valve to control the load-sensitive multi-way valve spool Precise displacement, so as to maintain the synchronous walking of the dual motors.
  • the present invention provides the following technical solutions:
  • An anti-deviation crawler hydraulic system including a power module, a walking module, and a control module; the power module and the control module are respectively connected to the walking module; the power module includes a fuel tank, a hydraulic pump connected to the fuel tank, and a motor
  • the travel module includes a first travel motor and a second travel motor arranged in parallel, and the travel module is connected to the control module through a multi-way valve; the control module includes a first precision pressure reducing valve and a second precision pressure relief valve arranged in parallel.
  • the pressure reducing valve, the third precision pressure reducing valve and the fourth precision pressure reducing valve respectively control the forward rotation and reverse rotation of the first travel motor and the second travel motor.
  • the first precision pressure reducing valve, the second precision pressure reducing valve and the first hydraulic control switching valve are connected to the walking module in parallel; the third pressure reducing valve, the fourth pressure reducing valve and the second The hydraulic control switching valve is connected to the walking module in parallel.
  • the first precision pressure relief valve, the second precision pressure relief valve, the third precision pressure relief valve, and the fourth precision pressure relief valve are all connected to a pilot handle for controlling the walking module.
  • the power module is connected to the walking module through a filter.
  • both the first hydraulically controlled on-off valve and the second hydraulically controlled on-off valve are connected to the travel module through a manual reversing valve.
  • the oil outlet of the power module is connected to the P port of the multi-way valve
  • the T port of the multi-way valve is connected to the fuel tank
  • the M port of the multi-way valve is connected to a pressure gauge
  • the P port of the multi-way valve is connected to the oil tank.
  • the fluid passes through the bridge oil circuit in the valve, and flows into the oil inlet port of the first valve section and the oil inlet port of the second valve section of the multi-way valve respectively, and the working oil ports A and B of the first valve section of the multi-way valve
  • the ports are respectively connected to the oil inlet and outlet of the first traveling motor, and the working oil ports A and B of the second valve plate of the multi-way valve are respectively connected to the oil inlet and oil outlet of the second traveling motor.
  • the oil outlets of the first valve plate and the second valve plate flow back to the oil tank through the internal bridge oil circuit, and the oil drain port of the first travel motor and the oil drain port of the second travel motor are connected to the oil tank so that the oil Drain directly back
  • the hydraulic pump in the power module is a load-sensing pump, and its control oil port X is connected to the feedback oil port Ls of the multi-way valve; the pilot oil port Pp of the multi-way valve is divided into two oil circuits Liquid, all the way into the pilot handle, all the way into the manual reversing valve.
  • one line of oil from the pilot oil port Pp of the multi-way valve is connected to the oil inlet of the manual reversing valve, and the oil outlet of the manual reversing valve is divided into two lines of oil, and one line of oil is connected to the first hydraulic control valve.
  • the hydraulic control port of the switch valve is connected, and the other is connected with the hydraulic control port of the second hydraulic control switch, and the first hydraulic control switch valve and the second hydraulic control switch valve are connected in parallel.
  • the pilot handle is a two-piece split structure, including a first handle and a second handle, wherein the two working oil ports A and B of the first handle are divided into two oil paths, one of which is oil They are respectively connected to the oil inlet ports of the first precision pressure reducing valve and the second precision pressure reducing valve, while the oil outlet of the first precision pressure reducing valve is connected to the upper liquid control port of the first joint valve plate of the multi-way valve, and the second
  • the oil outlet of the precision decompression valve is connected to the lower hydraulic control port of the first valve section of the multi-way valve; the other oil is respectively connected to the oil inlet of the first hydraulic control switch valve,
  • the oil port has two streams of oil, one of which is connected to the upper liquid control port of the first valve section of the multi-way valve, and the other oil is connected to the lower liquid control port of the first valve plate of the multi-way valve;
  • the two working oil ports A and B of the second handle are divided into two lines of oil, one of which is connected to the oil inlets of the third precision pressure reducing valve and the fourth precision pressure reducing valve respectively, and the third precision pressure reducing valve
  • the oil outlet of the pressure relief valve is connected to the upper hydraulic control port of the second valve section of the multi-way valve, and the oil outlet of the fourth precision pressure reducing valve is connected to the lower hydraulic control port of the second valve section of the multi-way valve;
  • the oil is respectively connected to the oil inlet of the second hydraulic control switch valve, and the oil outlet of the second hydraulic control switch valve contains two oils, one of which is connected to the upper liquid of the second valve plate of the multi-way valve. Control port, and another stream of oil is connected to the lower liquid control port of the second valve section of the multi-way valve.
  • the first precision pressure relief valve, the second precision pressure relief valve, the third precision pressure relief valve, and the fourth precision pressure relief valve are all composed of a fixed value pressure relief valve and a one-way valve connected in parallel.
  • the invention discloses an anti-deviation crawler belt walking hydraulic system, which can adjust the crawler belts to synchronous walking according to needs. At this time, when the crawler belts are operated again, the double crawler belts can always keep synchronous without frequent correction. Applying this system to walking machinery can ensure that the walking machinery prevents deviation during the moving process and improves the passing capacity when moving the machine, especially when passing through narrow road sections.
  • the load-sensing hydraulic system adopted can automatically adjust the output pressure of the pump according to the change of the external load, which reduces the energy loss of the hydraulic system, reduces the heat generation of the hydraulic system, and improves the working efficiency of the hydraulic system.
  • Fig. 1 is a schematic diagram of the system of the present invention.
  • the main components of the present invention include a fuel tank 1, a motor 2, a hydraulic pump 3, a filter 4, a manual reversing valve 5, a pilot handle 6, a first hydraulic control switch valve 7, and a second hydraulic control switch valve 8 , the first precision decompression valve 9, the second precision decompression valve 10, the third precision decompression valve 11, the fourth precision decompression valve 12, the multi-way valve 13, the first travel motor 14, the second travel motor 15, pressure gauge 16.
  • the oil tank 1 is a component for storing hydraulic oil in the hydraulic system, and also plays a role of cooling and heat dissipation to a certain extent;
  • the motor 2 is an intrinsically safe explosion-proof three-phase asynchronous motor, which can provide power input for the hydraulic pump 3 ;
  • the hydraulic pump 3 is a load-sensitive pump, which can output the corresponding flow according to the required control amount.
  • the filter 4 It is a high-pressure filter, which is a hydraulic accessory, which can filter impurities for the hydraulic system, ensure the oil cleanliness of the hydraulic system, and prevent oil pollution;
  • the manual reversing valve 5 is a two-position three-way reversing valve, which automatically With a steel ball positioning device, the oil flow direction of the oil can be switched through the operating handle, and the hydraulic system can be switched between the "anti-deviation" state and the "normal” state;
  • the pilot handle 6 is a hydraulic control double handle, Contains a left handle (first handle) and a right handle (second handle), which can control the counterclockwise and clockwise rotation of the first traveling motor 14 and the second traveling motor 15;
  • the hydraulic control switch valves 8 are two-position four-way switch valves; the first precision pressure reducing valve 9, the second precision pressure reducing valve 10, the third precision pressure reducing valve 11 and the fourth precision pressure
  • the multi-way valve 13 is a load-sensitive multi-way
  • the valve adopts a split structure, including two-connected three-position four-way hydraulic directional valve.
  • the load-sensing multi-way valve is a kind of one-way valve that can feed back the pressure, flow and power change signals to the multi-way valve to realize the control function.
  • the valve can accurately control the flow of the first travel motor 14 and the second travel motor 15, thereby ensuring the synchronization of the left and right crawlers and preventing deviation;
  • the first travel motor 14 and the second travel motor 15 are hydraulic actuators, which can The hydraulic energy is converted into mechanical energy to achieve forward and reverse bidirectional rotation.
  • the first traveling motor 14 is installed on the driving wheel of the left crawler
  • the second traveling motor 15 is installed on the driving wheel of the right crawler.
  • the forward and reverse rotation of the second traveling motor 15 can control the forward, backward and turning of the crawler belt.
  • the pressure gauge 16 is a hydraulic accessory used to monitor the pressure of the hydraulic system in real time.
  • the motor 2 is connected to the hydraulic pump 3, the hydraulic pump 3 is a load sensitive pump, its oil suction port is connected to the oil tank 1, its oil outlet is connected to the oil inlet of the filter 4, and the oil outlet of the filter 4 It is connected to the P port of the multi-way valve 13, the T port of the multi-way valve is connected to the oil tank 1, and the M port of the multi-way valve is connected to the pressure gauge 16.
  • the oil from the P port of the multi-way valve 13 flows into the multi- The oil inlet port of the first valve plate and the oil inlet port of the second valve plate of the multi-way valve 13, the working oil port (port A, port B) of the first valve plate of the multi-way valve 13 is connected with the first travel motor 14 respectively.
  • oil outlet connection, the second joint valve plate working oil ports (A port, B port) of the multi-way valve 13 are respectively connected with the inlet and outlet ports of the second travel motor 15, the first joint valve plate and the second joint
  • the oil outlet of the valve plate flows back to the oil tank 1 through the internal bridge oil circuit.
  • the oil drain ports of the first travel motor 14 and the second travel motor 15 are all connected to the fuel tank 1, so that the oil in the travel motor housing directly leaks back to the fuel tank.
  • the control oil port (X port) of the hydraulic pump 3 is connected to the load feedback port (Ls port) of the multi-way valve 13 to realize the load sensitivity of flow and pressure.
  • the pilot oil port (Pp port) of the load-sensing multi-way valve 13 is divided into two oil paths, one path is connected to the pilot handle 6, and the other path is connected to the manual reversing valve 5.
  • Pilot handle 6 is a two-piece split structure, including left and right handles, wherein the two working oil ports (A port, B port) of the left handle are divided into two oil paths, one of which (including two oil flows) They are respectively connected to the oil inlets of the first precision pressure reducing valve 9 and the second precision pressure reducing valve 10, while the oil outlet of the first precision pressure reducing valve 9 is connected to the upper liquid control port of the first joint valve plate of the multi-way valve 13.
  • the oil outlet of the second precision decompression valve 10 is connected with the lower liquid control port of the first joint valve plate of the multi-way valve 13;
  • the oil inlet port of the first hydraulic control switching valve 7 has two oil outlets, one of which is connected to the upper hydraulic control port of the first valve plate of the multi-way valve 13, and the other oil Connect to the lower liquid control port of the first valve section of the multi-way valve 13.
  • the two working oil ports (port A and port B) of the right handle are divided into two circuits of oil, one of which (including two stocks of oil) is connected to the third precision pressure reducing valve 11 and the fourth precision pressure reducing valve respectively.
  • the oil inlet of the valve 12 is connected, and the oil outlet of the third precision pressure reducing valve 11 is connected with the upper liquid control port of the second valve plate of the multi-way valve 13, and the oil outlet of the fourth precision pressure reducing valve 12 is connected with the multi-way valve 13.
  • the lower liquid control port of the second joint valve plate of the road valve 13 is connected; the other road oil (comprising two oil liquids) is respectively connected with the oil inlet of the second hydraulic control switch valve 8, and the outlet of the second hydraulic control switch valve 8
  • the oil port contains two streams of oil, one of which is connected to the upper hydraulic control port of the second valve section of the multi-way valve 13, and the other oil is connected to the lower hydraulic control port of the second valve section of the multi-way valve 13. mouth.
  • the motor 2 When the motor 2 rotates, it drives the hydraulic pump 3 to absorb the oil from the oil tank 1, and through the action of the high-pressure filter 4, the oil is filtered.
  • the oil enters the oil inlet (P port) of the multi-way valve 13 and passes through the The valve internal shunt, one way of oil passes through the pilot oil port (Pp port) to form a control oil source that acts on the manual reversing valve 5 and pilot handle 6; the other way of oil forms a power oil source through the internal bridge oil circuit of the multi-way valve 13, It flows into the first joint valve plate and the second joint valve, and distributes and acts on the first travel motor 14 and the second travel motor 15, thereby driving the rotation of the motors and driving the crawler belts.
  • the forward rotation and reverse rotation of the motor can be controlled by controlling the oil circuit, and then the crawler belt is driven forward and backward, and the internal oil return of the multi-way valve 13 returns to the oil tank 1 through the oil return port (T port).
  • the pressure gauge 16 can monitor the pressure of the system in real time.
  • the present invention mainly includes two working states.
  • the control oil The liquid enters the oil, and the left handle flows in from the first precision pressure reducing valve 9, and then acts on the upper liquid control port of the first valve section of the multi-way valve 13.
  • the upper function of the first valve section can be connected, and the main oil
  • the power oil source of the road flows into the first travel motor 14 through the upper position, and the first travel motor 14 rotates counterclockwise.
  • the lower control oil of the first joint valve plate passes through the check valve inside the second precision pressure reducing valve 10 and finally discharges through the left handle. Oil returns to tank 1.
  • the right handle flows through the third precision pressure reducing valve 11, and flows into the upper hydraulic control port of the second valve section of the multi-way valve 13.
  • the upper function of the second valve section can be connected, and the power oil source from the main oil circuit passes through The upper position flows into the second travel motor 15, and the second travel motor 15 rotates counterclockwise.
  • the lower control oil of the second joint valve plate passes through the check valve inside the fourth precision pressure reducing valve 12 and finally returns to the oil tank 1 through the right handle.
  • the oil is controlled to enter the oil, and the left handle flows in from the second precision pressure reducing valve 10, and then acts on the first valve plate of the multi-way valve 13.
  • the lower function of the first valve plate can be connected, and the power source oil from the main oil circuit flows into the first travel motor 14 through the lower position, the first travel motor 14 rotates clockwise, and the first valve plate
  • the upper control oil passes through the check valve inside the first precision pressure reducing valve 9 and finally returns to the oil tank 1 through the left handle to drain the oil.
  • the right handle flows through the fourth precision pressure reducing valve 12, and flows into the lower liquid control port of the second valve section of the multi-way valve 13.
  • the lower function of the second valve section can be connected, and the power source from the main oil circuit passes through the lower Flow into the second travel motor 15, the second travel motor 15 rotates clockwise, the lower control oil of the second joint valve plate passes through the check valve inside the third precision pressure reducing valve 11, and finally drains the oil back to the oil tank 1 through the right handle.
  • the right handle controls the oil source to flow in through the second hydraulic control switching valve 8, and then acts on the upper hydraulic control port of the second valve plate of the multi-way valve 13. At this time, the upper function of the second valve plate is connected, and the main The power source of the oil circuit flows into the second travel motor 15 through the upper position, and the second travel motor 15 rotates counterclockwise.
  • the upper control oil of the second valve plate flows out through the second hydraulic control switch valve 8, and finally drains the oil through the right operating handle to return to the Fuel tank 1.
  • the right handle flows through the second hydraulic control switching valve 8, and flows into the lower hydraulic control port of the second valve plate of the multi-way valve 13. At this time, the lower function of the second valve plate can be connected, and the power source from the main oil circuit passes through the lower position. It flows into the second travel motor 15, and the second travel motor 15 rotates clockwise, and the upper control oil of the second valve plate passes through the second hydraulic control switching valve 8 and returns to the oil tank 1 through the right handle.
  • the hydraulic pump 3 is a load-sensing pump; the multi-way valve 13 is a load-sensing multi-way valve, and the control oil port (X port) of the hydraulic pump 3 is connected to the load-sensing feedback port (Ls port) of the multi-way valve 13 connect.
  • the hydraulic pump 3 and the multi-way valve 13 will automatically adjust the output pressure accordingly, Output the corresponding flow according to the required control amount to realize "on-demand supply", then the entire hydraulic system will achieve efficiency improvement and reduce energy loss.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

La présente invention concerne un système hydraulique de déplacement de chenille anti-déviation, comprenant un module d'alimentation, un module de déplacement et un module de commande. Le module d'alimentation et le module de commande communiquent respectivement avec le module de déplacement. Le module d'alimentation comprend un réservoir d'huile (1), une pompe hydraulique (3) raccordée au réservoir d'huile (1), et un moteur électrique (2). Le module de déplacement comprend un premier moteur de déplacement (14) et un second moteur de déplacement (15) qui sont raccordés en parallèle, et le module de déplacement est raccordé au module de commande au moyen d'une soupape à voies multiples (13). Le module de commande comprend une première soupape de réduction de pression précise (9), une deuxième soupape de réduction de pression précise (10), une troisième soupape de réduction de pression précise (11) et une quatrième soupape de réduction de pression précise (12), qui sont raccordées en parallèle, et commande respectivement la rotation dans le sens horaire et dans le sens antihoraire du premier moteur de déplacement (14) et du second moteur de déplacement (15). Le système hydraulique de déplacement de chenille anti-déviation peut empêcher une déviation dans le processus de mouvement d'un foret automatique, améliorant ainsi sa capacité de passage; de plus, le système peut réguler automatiquement une pression de sortie d'une pompe en fonction d'un changement d'une charge externe, réduisant ainsi la perte d'énergie du système hydraulique.
PCT/CN2022/071226 2021-12-02 2022-01-11 Système hydraulique de déplacement de chenille anti-déviation WO2023097872A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2022279525A AU2022279525A1 (en) 2021-12-02 2022-01-11 An anti-deviation crawler walking hydraulic system

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CN202111459014.6A CN114060332B (zh) 2021-12-02 2021-12-02 一种防跑偏履带行走液压系统
CN202111459014.6 2021-12-02

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WO2023097872A1 true WO2023097872A1 (fr) 2023-06-08

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