CN103953594A - Wheel type walking device and walking wheel hydraulic drive system thereof - Google Patents
Wheel type walking device and walking wheel hydraulic drive system thereof Download PDFInfo
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- CN103953594A CN103953594A CN201410192330.5A CN201410192330A CN103953594A CN 103953594 A CN103953594 A CN 103953594A CN 201410192330 A CN201410192330 A CN 201410192330A CN 103953594 A CN103953594 A CN 103953594A
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Abstract
The invention provides a wheel type walking device and a walking wheel hydraulic drive system thereof. The walking wheel hydraulic drive system comprises two or more drive units for driving a walking wheel to rotate, each drive unit comprises a variable motor and high and low-pressure oil paths, a sequence valve for carrying out opening and closing action according to an oil pressure value at an oil inlet of the variable motor is arranged on the high-pressure oil path of each drive unit, a control oil port of the sequence valve is communicated with the oil inlet of the variable motor, the high-pressure oil path is communicated with a throttling oil path of a throttling valve arranged on the high-pressure oil path, the throttling oil path and the sequence valve are arranged in parallel, and two communicating positions where the throttling oil paths are abutted with and communicated with the high-pressure oil paths are correspondingly positioned at the upstream and the downstream positions of the sequence valves. The wheel type walking device and the walking wheel hydraulic driving system thereof have the benefit that when a walking wheel slips, the sequence valves are closed, and the main oil paths are disconnected, so that only less oil flows to the corresponding variable motor through the throttling oil paths; a lot of high-pressure hydraulic oil is provided for other drive units to drive other walking wheels to normally rotate, therefore, the normal work of the whole walking wheel hydraulic drive system is ensured.
Description
Technical field
The present invention relates to a kind of running gear system and road wheel hydraulic driving system thereof.
Background technique
Running mechanism is many drives walking by running gear system, running gear system comprises road wheel and the road wheel hydraulic driving system of rotating for ground-engaging wheel, road wheel hydraulic driving system comprises hydraulic power supply and each driver element being communicated with hydraulic power supply, each driver element comprise as the variable displacement motor of executive component and with the high and low pressure oil circuit into and out of the corresponding connection of hydraulic fluid port of variable displacement motor.
Running mechanism, when normally travelling, can be divided into straight line moving and curve walking according to run trace, and when the walking of walking mechanical paths as turning, the differential function that each road wheel should possess is easy to realize by each traction drive motor in parallel.But, for thering is severe road conditions or wheel load, change violent road surface, adopt simple in parallel exist following dangerous: as long as wherein any one road wheel is because distributed real-time wheel load is not or when the condition of adhering to bad (as running into ice and snow, the road conditions such as muddy) occurs trackslipping, hydraulic system just can only maintain the needed low-pressure of motor that drives this moment of torsion to meet minimum road wheel, the moment of torsion of other motors that determine by this pressure is also less, be not enough to drive running mechanism to walk on, thereby affect the normal operation of running mechanism.
At present, for the road wheel being driven by hydraulic system, the problem of the normal running mechanism stagnation causing while solving wheel slip in the following ways: a, on each road wheel, install speed probe with the excessive road wheel of identification slippage rate, then by closed loop control system, regulate the discharge capacity of the corresponding motor of this road wheel; The mode of b, the drive motor oil circuit by all or part of each road wheel of series connection is forced their run-in synchronism.But these two kinds of modes have all additionally increased the cost of whole hydraulic system and the difficulty of control system.
Summary of the invention
The invention provides a kind of simple and effective road wheel hydraulic driving system, to solve running mechanism of the prior art, when certain road wheel skids, easily occur the technical problem of stagnation; Meanwhile, the present invention also provides a kind of running gear system that uses above line travelling wheel hydraulic driving system.
The technological scheme of road wheel hydraulic driving system provided by the present invention is: road wheel hydraulic driving system, comprise at least two driver elements for driving corresponding line travelling wheel to rotate, each driver element include have into, the variable displacement motor of oil outlet and with the entering of variable displacement motor, oil outlet is the corresponding height being communicated with respectively, low pressure oil way, on the high-pressure oil passage of described each driver element, be equipped with the sequence valve for carrying out switch motion according to the oil pressure size at variable displacement motor filler opening place, the control port of sequence valve is communicated with the filler opening of described variable displacement motor, on high-pressure oil passage, be communicated with the throttling oil circuit which is provided with throttle valve, throttling oil circuit and described sequence valve are arranged in parallel, the corresponding upstream and downstream that is positioned at sequence valve of two connectivity parts that throttling oil circuit is docked and connected with high-pressure oil passage
Described sequence valve is the internal control formula sequence valve that leaks.
The variable displacement motor of described each driver element is the double-action variable displacement motor that can drive corresponding walking crop rotation Double-directional rotary, double-action variable displacement motor has alternately two hydraulic fluid ports as described filler opening and oil outlet, described each driver element include respectively that two hydraulic fluid ports with double-action variable displacement motor are docked and connected alternately as two oil circuits of described high-pressure oil passage and low pressure oil way, on two oil circuits, be equipped with described sequence valve and the described throttling oil circuit being arranged in parallel with sequence valve, on two oil circuits, be also communicated with respectively for the low pressure conducting oil circuit in the conducting during as low pressure oil way of corresponding oil circuit, low pressure conducting oil circuit is provided with for controlling the control valve of low pressure conducting oil circuit break-make, low pressure conducting oil circuit and described throttling oil circuit, sequence valve is arranged in parallel, the corresponding upstream and downstream that is positioned at sequence valve of two connectivity parts that low pressure conducting oil circuit is docked and connected with high-pressure oil passage.
Described control valve is one-way valve.
The technological scheme of the running gear system of use above line travelling wheel hydraulic driving system provided by the present invention is: running gear system, comprise the hydraulic driving system that at least two road wheels and ground-engaging wheel rotate, hydraulic driving system comprises at least two driver elements for driving corresponding line travelling wheel to rotate, each driver element include have into, the variable displacement motor of oil outlet and respectively with the entering of variable displacement motor, the corresponding height being communicated with of oil outlet, low oil circuit, on the high-pressure oil passage of described each driver element, be equipped with the sequence valve for carrying out switch motion according to the oil pressure size at variable displacement motor filler opening place, the control port of sequence valve is communicated with the filler opening of described variable displacement motor, on high-pressure oil passage, be communicated with the throttling oil circuit which is provided with throttle valve, throttling oil circuit and described sequence valve are arranged in parallel, the corresponding upstream and downstream that is positioned at sequence valve of two connectivity parts that throttling oil circuit is docked and connected with high-pressure oil passage.
Described sequence valve is the internal control formula sequence valve that leaks.
The variable displacement motor of described each driver element is the double-action variable displacement motor that can drive corresponding walking crop rotation Double-directional rotary, double-action variable displacement motor has alternately two hydraulic fluid ports as described filler opening and oil outlet, described each driver element include respectively that two hydraulic fluid ports with double-action variable displacement motor are docked and connected alternately as two oil circuits of described high-pressure oil passage and low pressure oil way, on two oil circuits, be equipped with described sequence valve and the described throttling oil circuit being arranged in parallel with sequence valve, on two oil circuits, be also communicated with respectively for the low pressure conducting oil circuit in the conducting during as low pressure oil way of corresponding oil circuit, low pressure conducting oil circuit is provided with for controlling the control valve of low pressure conducting oil circuit break-make, low pressure conducting oil circuit and described throttling oil circuit, sequence valve is arranged in parallel, the corresponding upstream and downstream that is positioned at sequence valve of two connectivity parts that low pressure conducting oil circuit is docked and connected with high-pressure oil passage.
Described control valve is one-way valve.
The invention has the beneficial effects as follows: road wheel hydraulic driving system provided by the present invention is when ground-engaging wheel rotates, hydraulic power supply provides high pressure liquid force feed to each driver element, a little high pressure liquid force feed flows to the filler opening of relevant variable motor through the throttling oil circuit of each driver element, if the road wheel that each driver element drives is all non-slip, the load of the variable displacement motor of each driver element is larger, filler opening place at variable displacement motor forms high pressure, sequence valve is controlled to be opened, high-pressure oil passage conducting, high pressure oil through high-pressure oil passage Rapid Flow to variable displacement motor, and flow out through low pressure oil way, and then driving variable displacement motor fast rotational, the driven of realization to road wheel.And the road wheel driving when certain driver element is while occurring skidding, because the load of the variable displacement motor of respective drive unit diminishes, the inlet pressure of variable displacement motor reduces, the filler opening place of variable displacement motor forms low pressure, sequence valve is controlled closes, high-pressure oil passage disconnects at sequence valve place, the high pressure liquid force feed that hydraulic power supply provides only has a little through throttling oil circuit, to flow to corresponding variable displacement motor, a large amount of high pressure liquid force feeds is provided for other driver elements to drive other road wheel normal rotation, guarantee the normal work of whole road wheel hydraulic driving system, guarantee the normal movement of running gear system.Whole hydraulic driving system overall structure is simple, uses efficient and conveniently, and whole system cost is lower.And; owing to there being a little high pressure liquid force feed to flow to corresponding variable displacement motor through throttle valve always; variable displacement motor there will not be petrol starvation; there is the normal rotation of the road wheel of skidding in assurance; after avoiding skidding to finish, the rotating speed of this road wheel does not catch up with the rotating speed of other road wheels and causes wearing and tearing to road wheel; can also effectively avoid occurring " hollow " phenomenon in pipeline, better protect pipeline.
Further, sequence valve adopts the internal control formula sequence valve that leaks, and is convenient to like this guarantee the stability of oil hydraulic circuit in whole hydraulic driving system.
Further, the variable displacement motor of each driver element is double-action variable displacement motor, can meet like this Double-directional rotary of road wheel to control moving forward and backward of running mechanism, accordingly, two oil circuits in each driver element also need alternately as high-pressure oil passage and low pressure oil way to meet the normal work of double-action variable displacement motor.
Further, on low pressure conducting oil circuit, adopt one-way valve as control valve, simple in structure, control reliable.
Accompanying drawing explanation
Fig. 1 is that a kind of embodiment's of running gear system provided by the present invention hydraulic schematic diagram (has only shown the structure of the single driver element of corresponding single road wheel in running gear system in figure, omitted hydraulic power supply and other road wheels and corresponding driver element, road wheel and driver element that other road wheel and driver element are to that indicated in the drawings are identical).
Embodiment
As shown in Figure 1, a kind of embodiment of running gear system, running gear system in this embodiment comprises a plurality of road wheels 1 and the hydraulic driving system 10 of rotating for ground-engaging wheel 1, in Fig. 1, only shown single road wheel, shown in its Fig. 1 of other road wheels, road wheel is identical, hydraulic driving system 10 comprises hydraulic power supply and a plurality of driver element for driving corresponding line travelling wheel to rotate, hydraulic power supply adopts conventionally by the engine-driven oil hydraulic pump that uses the running mechanism of running gear system, the structure of each driver element is identical, the shown driver element in Fig. 1 of take is example, driver element include have into, the variable displacement motor of oil outlet and corresponding the entering of variable displacement motor that be communicated with, the high-pressure oil passage P of oil outlet and hydraulic power supply (not shown), low pressure oil way S.
Variable displacement motor in the present embodiment is for driving the double-action variable displacement motor 3 of corresponding walking crop rotation Double-directional rotary, and double-action variable displacement motor 3 has alternately two hydraulic fluid ports as described filler opening and oil outlet.Each driver element include respectively that two hydraulic fluid ports with bidirectional variable oil hydraulic motor 3 are docked and connected alternately as two oil circuits of high-pressure oil passage P and low pressure oil way S, the structure of two oil circuits is basic identical.Two oil circuits of each driver element comprise the working connection 100 as high-pressure oil passage and low pressure oil way, on working connection 100, be provided with for carry out the sequence valve 5 of switch motion according to the oil pressure size at variable displacement motor filler opening place, the control port 51 of sequence valve 5 is communicated with the filler opening of the double-action variable displacement motor 3 of respective drive unit, sequence valve 5 is the internal control formula sequence valve that leaks, and the drain tap on two sequence valves 5 on each driver element is communicated with oil return circuit T respectively.On working connection 100, be communicated with throttling oil circuit 300, throttling oil circuit 300 is arranged in parallel with sequence valve 5, the corresponding upstream and downstream that is positioned at sequence valve 5 of two connectivity parts that throttling oil circuit 300 is docked and connected with working connection 100.
On two working connections 100 of each driver element, be also communicated with respectively for the low pressure conducting oil circuit 200 in the conducting during as low pressure oil way of corresponding oil circuit, low pressure conducting oil circuit 200 is provided with for controlling the control valve of low pressure conducting oil circuit break-make, control valve is one-way valve 6, low pressure conducting oil circuit 200 is arranged in parallel with described throttling oil circuit 300, sequence valve 5, the corresponding upstream and downstream that is positioned at sequence valve 5 of two connectivity parts that low pressure conducting oil circuit 200 is docked and connected with working connection 100.
When the road wheel hydraulic driving system that the present embodiment provides is worked, the double-action variable displacement motor 3 of each driver element is in transmission connection by retarder 2 and corresponding road wheel 1, hydraulic power supply provides high pressure liquid force feed to each driver element, a little high pressure liquid force feed flows to the filler opening of corresponding double-action variable displacement motor 3 through the throttling oil circuit 300 of each driver element, if the road wheel 1 that each driver element drives is all non-slip, the load of the double-action variable displacement motor 3 of each driver element is larger, filler opening place at double-action variable displacement motor 3 forms high pressure, sequence valve 5 is opened, working connection 100 conductings, high pressure oil through working connection 100 Rapid Flows to double-action variable displacement motor 3, and flow out through low pressure oil way S, and then driving double-action variable displacement motor 3 fast rotational, double-action variable displacement motor 3 is by retarder 2 ground-engaging wheel 1 rotations, thereby drive whole running mechanism normally to walk.
And the road wheel 1 driving when certain driver element is while occurring skidding, because the load of the double-action variable displacement motor 3 of respective drive unit diminishes, the inlet pressure of double-action variable displacement motor 3 reduces, the filler opening place of double-action variable displacement motor 3 forms low pressure, sequence valve 5 cuts out, working connection 100 disconnects, the high pressure liquid force feed that hydraulic power supply provides only has a little through throttling oil circuit 200, to flow to corresponding double-action variable displacement motor 3, a large amount of high pressure liquid force feeds is provided for other driver element to drive other road wheel normal rotation, guarantee the normal work of whole road wheel hydraulic driving system, guarantee the normal movement of running mechanism.
In the present embodiment, the high pressure liquid force feed throttle valve of flowing through, poor into and out of mineralization pressure between oilhole at throttle valve, guarantees whole system pressure stability.
In the present embodiment in the formed high pressure of oil port of two-way hydraulic motor and low pressure can drive sequence valve to be opened for standard, when the pressure of the hydraulic fluid port of double-action variable displacement motor increases to can drive sequence valve to open through the control port of sequence valve time, think that the pressure of hydraulic fluid port of double-action variable displacement motor is high pressure, and when the hydraulic fluid port pressure decreased of double-action variable displacement motor is to can not drive sequence valve to open time through the control port of sequence valve, think that the pressure of hydraulic fluid port of double-action variable displacement motor is low pressure.
Hydraulic driving system in the present embodiment can be applicable in open type drive system and also can be applied in enclosed drive system.
In above-described embodiment, the driver element in road wheel hydraulic driving system can arrange according to actual needs, and driver element can arrange more than two according to the number of road wheel.
In above-described embodiment, variable displacement motor is double-action variable displacement motor, and in other embodiments, variable displacement motor can be also unidirectional variable displacement motor, and now, high-pressure oil passage and low pressure oil way do not need to exchange, and only sequence valve, throttling oil circuit need to be set on high-pressure oil passage.
The walking traveling gear that above-described embodiment provides can be applied in engineering machinery, handling machinery, agriculture and forestry machinery, special vehicle etc. and take hydraulic driving in main traveling gear.
The present invention also provides a kind of embodiment of road wheel hydraulic driving system, and the structure of the road wheel hydraulic driving system in this embodiment is identical with the structure of hydraulic driving system in above-mentioned running gear system, does not repeat them here.
Claims (8)
1. road wheel hydraulic driving system, comprise at least two driver elements for driving corresponding line travelling wheel to rotate, each driver element include have into, the variable displacement motor of oil outlet and with the entering of variable displacement motor, oil outlet is the corresponding height being communicated with respectively, low pressure oil way, it is characterized in that: on the high-pressure oil passage of described each driver element, be equipped with the sequence valve for carrying out switch motion according to the oil pressure size at variable displacement motor filler opening place, the control port of sequence valve is communicated with the filler opening of described variable displacement motor, on high-pressure oil passage, be communicated with the throttling oil circuit which is provided with throttle valve, throttling oil circuit and described sequence valve are arranged in parallel, the corresponding upstream and downstream that is positioned at sequence valve of two connectivity parts that throttling oil circuit is docked and connected with high-pressure oil passage.
2. road wheel hydraulic driving system according to claim 1, is characterized in that: described sequence valve is the internal control formula sequence valve that leaks.
3. road wheel hydraulic driving system according to claim 1 and 2, it is characterized in that: the variable displacement motor of described each driver element is the double-action variable displacement motor that can drive corresponding walking crop rotation Double-directional rotary, double-action variable displacement motor has alternately two hydraulic fluid ports as described filler opening and oil outlet, described each driver element include respectively that two hydraulic fluid ports with double-action variable displacement motor are docked and connected alternately as two oil circuits of described high-pressure oil passage and low pressure oil way, on two oil circuits, be equipped with described sequence valve and the described throttling oil circuit being arranged in parallel with sequence valve, on two oil circuits, be also communicated with respectively for the low pressure conducting oil circuit in the conducting during as low pressure oil way of corresponding oil circuit, low pressure conducting oil circuit is provided with for controlling the control valve of low pressure conducting oil circuit break-make, low pressure conducting oil circuit and described throttling oil circuit, sequence valve is arranged in parallel, the corresponding upstream and downstream that is positioned at sequence valve of two connectivity parts that low pressure conducting oil circuit is docked and connected with high-pressure oil passage.
4. road wheel hydraulic driving system according to claim 3, is characterized in that: described control valve is one-way valve.
5. running gear system, comprise the hydraulic driving system that at least two road wheels and ground-engaging wheel rotate, hydraulic driving system comprises at least two driver elements for driving corresponding line travelling wheel to rotate, each driver element include have into, the variable displacement motor of oil outlet and respectively with the entering of variable displacement motor, the corresponding height being communicated with of oil outlet, low oil circuit, it is characterized in that: on the high-pressure oil passage of described each driver element, be equipped with the sequence valve for carrying out switch motion according to the oil pressure size at variable displacement motor filler opening place, the control port of sequence valve is communicated with the filler opening of described variable displacement motor, on high-pressure oil passage, be communicated with the throttling oil circuit which is provided with throttle valve, throttling oil circuit and described sequence valve are arranged in parallel, the corresponding upstream and downstream that is positioned at sequence valve of two connectivity parts that throttling oil circuit is docked and connected with high-pressure oil passage.
6. running gear system according to claim 5, is characterized in that: described sequence valve is the internal control formula sequence valve that leaks.
7. according to the running gear system described in claim 5 or 6, it is characterized in that: the variable displacement motor of described each driver element is the double-action variable displacement motor that can drive corresponding walking crop rotation Double-directional rotary, double-action variable displacement motor has alternately two hydraulic fluid ports as described filler opening and oil outlet, described each driver element include respectively that two hydraulic fluid ports with double-action variable displacement motor are docked and connected alternately as two oil circuits of described high-pressure oil passage and low pressure oil way, on two oil circuits, be equipped with described sequence valve and the described throttling oil circuit being arranged in parallel with sequence valve, on two oil circuits, be also communicated with respectively for the low pressure conducting oil circuit in the conducting during as low pressure oil way of corresponding oil circuit, low pressure conducting oil circuit is provided with for controlling the control valve of low pressure conducting oil circuit break-make, low pressure conducting oil circuit and described throttling oil circuit, sequence valve is arranged in parallel, the corresponding upstream and downstream that is positioned at sequence valve of two connectivity parts that low pressure conducting oil circuit is docked and connected with high-pressure oil passage.
8. running gear system according to claim 7, is characterized in that: described control valve is one-way valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410192330.5A CN103953594B (en) | 2014-05-08 | 2014-05-08 | A kind of running gear system and road wheel fluid power system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410192330.5A CN103953594B (en) | 2014-05-08 | 2014-05-08 | A kind of running gear system and road wheel fluid power system thereof |
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| Publication Number | Publication Date |
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| CN103953594A true CN103953594A (en) | 2014-07-30 |
| CN103953594B CN103953594B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410192330.5A Active CN103953594B (en) | 2014-05-08 | 2014-05-08 | A kind of running gear system and road wheel fluid power system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109467013A (en) * | 2018-12-29 | 2019-03-15 | 航天重型工程装备有限公司 | A kind of snatch vehicle |
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| JP2012001025A (en) * | 2010-06-14 | 2012-01-05 | Ihi Construction Machinery Ltd | Hydraulic circuit for travel of vehicle |
| CN203835831U (en) * | 2014-05-08 | 2014-09-17 | 纽科伦（新乡）起重机有限公司 | Wheel type walking device and walking wheel hydraulic driving system thereof |
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2014
- 2014-05-08 CN CN201410192330.5A patent/CN103953594B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050031460A1 (en) * | 2001-11-28 | 2005-02-10 | Bosch Rexroth Ag | Drive mechanism |
| CN101480921A (en) * | 2008-01-09 | 2009-07-15 | 三一重工股份有限公司 | Hydraulic power transmission engineering vehicle antiskid method, system as well as leveler |
| CN201461601U (en) * | 2009-08-24 | 2010-05-12 | 长安大学 | Electrical control hydraulic unidirectional constant speed device |
| JP2012001025A (en) * | 2010-06-14 | 2012-01-05 | Ihi Construction Machinery Ltd | Hydraulic circuit for travel of vehicle |
| CN201792744U (en) * | 2010-08-31 | 2011-04-13 | 三一重工股份有限公司 | Single-pump dual-motor driving engineering vehicle and hydraulic system and control device thereof |
| CN203835831U (en) * | 2014-05-08 | 2014-09-17 | 纽科伦（新乡）起重机有限公司 | Wheel type walking device and walking wheel hydraulic driving system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109467013A (en) * | 2018-12-29 | 2019-03-15 | 航天重型工程装备有限公司 | A kind of snatch vehicle |
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| CN103953594B (en) | 2016-08-24 |
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