CN108412827B - Hydraulic walking control system - Google Patents
Hydraulic walking control system Download PDFInfo
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- CN108412827B CN108412827B CN201810469470.0A CN201810469470A CN108412827B CN 108412827 B CN108412827 B CN 108412827B CN 201810469470 A CN201810469470 A CN 201810469470A CN 108412827 B CN108412827 B CN 108412827B
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- reversing
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- 238000013016 damping Methods 0.000 claims abstract description 247
- 230000009194 climbing Effects 0.000 abstract description 16
- 230000009699 differential effect Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 52
- 239000000306 component Substances 0.000 description 21
- 230000009286 beneficial effect Effects 0.000 description 8
- 230000001502 supplementing effect Effects 0.000 description 6
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000002493 climbing effect Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
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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
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
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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)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a hydraulic walking control system which comprises a walking pump, a walking driving motor assembly, a shunt control unit and a damping unit, wherein the walking pump, the shunt control unit and the walking driving motor assembly are sequentially connected; the damping unit is connected in parallel with the shunt control unit, and the damping unit is provided with a switchable small damping output mode and a switchable large damping output mode. Compared with the prior art, the hydraulic walking control system provided by the scheme of the invention can simultaneously give consideration to slip caused by a large climbing angle and speed drop caused by a high turning speed, so that the differential effect during high-speed walking and steering is improved, and the off-road effect during low-speed climbing is also improved.
Description
Technical Field
The invention relates to the technical field of hydraulic control of engineering machinery, in particular to a hydraulic walking control system.
Background
The aerial work platform is used as important equipment of engineering machinery and is mainly used for conveying operators, working equipment and materials to specific positions for operation, so that the safety and stability performance of the aerial work platform are one of the most important performance indexes. The hydraulic control system is used as a core component of the aerial work platform, and the performance of the hydraulic control system is a key element for determining the safety and stability performance of the aerial work platform. The hydraulic walking control is a common walking control mode of the aerial working platform, when the aerial working platform walks, the hydraulic control walking system provides hydraulic energy for the walking valve through the walking pump, the hydraulic energy passes through the internal structure of the walking valve to the walking motor, and after the walking motor drives the speed reducer, the speed reducer drives the tire to rotate, so that the advancing and retreating of the aerial working platform are realized.
As shown in fig. 1, the hydraulic walking control system in the prior art comprises a walking pump, a walking driving motor assembly, a diversion control unit and a damping unit, wherein a walking pump working oil port A and a walking pump working oil port B are arranged on the walking pump, the walking driving motor assembly comprises a left front walking motor 11, a right front walking motor 12, a right rear walking motor 13 and a left rear walking motor 14, and at least an opening A and an opening B are respectively arranged on the left front walking motor 11, the right front walking motor 12, the right rear walking motor 13 and the left rear walking motor 14; the flow dividing and controlling unit comprises a first flow dividing and collecting valve 21, a second flow dividing and collecting valve 22 and a third flow dividing and collecting valve 23; the damping unit comprises a damping assembly comprising a first damping device 31, a second damping device 32 and a third damping device 33; the running pump working oil port A is connected with a second flow dividing and collecting valve 22 and is used for realizing the flow division of a front axle and a rear axle; the first flow dividing and collecting valve 21 is respectively connected with the left front traveling motor 11B port and the right front traveling motor 12A port and is used for realizing the flow division of left and right wheels of the front axle; the third flow dividing and collecting valve 23 is respectively connected with the port of the left rear traveling motor 14B and the port of the right rear traveling motor 13A and is used for realizing the flow division of left and right wheels of the rear axle; the running pump working oil port B is connected with the first flow distributing and collecting valve 21 and the third flow distributing and collecting valve 23; the first damping device 31 is connected in parallel with the first current distribution and collection valve 21 and is used for realizing differential control of left and right wheels of the front axle; the second damping device 32 is connected in parallel with the second current dividing and collecting valve 22 for realizing differential control of the front axle and the rear axle, and the third damping device 33 is connected in parallel with the current dividing and collecting valve for realizing differential control of the left wheel and the right wheel of the rear axle.
As can be seen from fig. 1, when the vehicle is moving forward, the pressure oil of the working oil port B of the traveling pump flows through the first split and flow valve 21, then flows through the first split and flow valve 21 to the front left traveling motor 11B port and the front right traveling motor 12A port, and then flows through the front left traveling motor 11A port and the front right traveling motor 12B port to the second split and flow valve 22, and at the same time, the pressure oil of the working oil port B of the traveling pump also flows through the third split and flow valve 23 to the rear left traveling motor 14B port and the rear right traveling motor 13A port, and then flows through the rear left traveling motor 14A port and the rear right traveling motor 13B port to the working oil port a of the traveling pump. When the vehicle turns to the left, the load of the left front traveling motor 11 is higher than that of the right front traveling motor 12 due to the different loads of the two wheels, so that the pressure oil of the left front traveling motor 11 is supplemented to the right front traveling motor 12 through the first damping device 31, and similarly, the differential speed of the front axle, the rear axle, the left wheel and the right wheel is realized through the damping unit during the right turning.
Although the hydraulic walking control system in the prior art can meet the walking control requirement of most occasions of the high-altitude operation platform, the hydraulic walking control system still has the following defects: 1. when the equipment climbs a slope, as the gravity center moves backwards, the weight of the whole vehicle falls on the rear axle, and the front axle is not grabbed enough, so that the two wheels of the front axle skid, and the vehicle cannot climb 40% of the slope; 2. when the vehicle turns at a high speed while traveling at a high speed, the engine is turned off. Because the turning radiuses of the two front wheels are different, the rotating speeds of the two front wheels are different, and because the damping of the oil supplementing loop is fixed, if the damping is too small, the engine is in a falling speed or the engine is in a flameout state; if the damping on the oil compensating circuit is too large, the tire slip can occur under the conditions of climbing or uneven road surface. Part of the hydraulic walking control systems in the prior art can avoid the problem of slipping caused by high turning speed or large climbing angle or suspended wheels, and cannot always simultaneously consider slipping caused by large climbing angle and slipping caused by high turning speed.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the hydraulic walking control system can avoid the problem of falling speed during high-speed steering and the problem of slipping during climbing or suspending wheels.
In order to solve the technical problems, the invention adopts the following technical scheme: the hydraulic walking control system comprises a walking pump, a walking driving motor assembly, a shunt control unit and a damping unit, wherein the walking pump, the shunt control unit and the walking driving motor assembly are sequentially connected; the damping unit is connected in parallel with the shunt control unit, and the damping unit is provided with a switchable small damping output mode and a switchable large damping output mode.
Further, the damping unit comprises an adjustable throttle valve assembly, and the adjustable throttle valve assembly realizes the switching of a small damping output mode and a large damping output mode by adjusting the opening degree of the valve body.
Further, the damping unit comprises a damping component and a damping reversing component, the damping component and the damping reversing component are respectively connected with the shunt control unit in parallel, and the damping value of the damping component is smaller than that of the damping reversing component; the damping assembly is used for realizing a small damping output mode, and the damping reversing assembly is used for realizing a large damping output mode.
Further, the walking driving motor assembly comprises a left front walking motor, a left rear walking motor, a right front walking motor and a right rear walking motor, wherein the left front walking motor is communicated with the right front walking motor to form a front axle loop, and the left rear walking motor is communicated with the right rear walking motor to form a rear axle loop; the left front walking motor is communicated with the left rear walking motor;
the flow distribution control unit comprises a first flow distribution and collection valve, a second flow distribution and collection valve and a third flow distribution and collection valve; the first flow dividing and collecting valve is arranged on the front axle loop, and the third flow dividing and collecting valve is arranged on the rear axle loop; the second flow dividing and collecting valve is arranged on a pipeline for communicating the left front traveling motor and the left rear traveling motor;
the damping assembly comprises 3 damping devices, the damping reversing assembly comprises 3 damping reversing devices, and the first flow dividing and collecting valve, the second flow dividing and collecting valve and the third flow dividing and collecting valve are respectively connected with one damping device in parallel and then are respectively connected with one damping reversing device in parallel.
Further, the damping device and the damping reversing device are both provided with throttling parts.
Further, the damping device is a throttle valve, and the damping reversing device is a throttle reversing valve.
Further, damping parts are arranged on the damping device and the damping reversing device.
Further, the damping device is a damping valve, and the damping reversing device is a damping reversing valve.
Further, the damping part or the throttling part is of a hole structure, the hole diameter of the hole structure in the damping device is 0.5-0.8 mm, and the hole diameter of the hole structure in the damping reversing device is 1.8-3.0 mm.
Further, the damping reversing device comprises a reversing valve and a damping valve.
Further, the damping reversing device comprises a reversing valve and an adjustable throttle valve.
Further, the reversing valve is a hydraulic control reversing valve or an electric control reversing valve.
Preferably, the reversing valve is a two-position two-way hydraulic control reversing valve or a two-position two-way electric control reversing valve.
Further, a traveling pump working oil port A and a traveling pump working oil port B are arranged on the traveling pump, the first flow dividing and collecting valve and the second flow dividing and collecting valve are respectively communicated with the traveling pump working oil port B, and the third flow dividing and collecting valve is communicated with the traveling pump working oil port A; the left front walking motor, the left rear walking motor, the right front walking motor and the right rear walking motor are respectively provided with at least an A port and a B port, and the first flow distributing and collecting valve is respectively connected with the B port of the left front walking motor and the A port of the right front walking motor; and the third flow distributing and collecting valve is respectively connected with the left rear walking motor B port and the right rear walking motor A port.
The invention has the beneficial effects that: the shunt control unit is connected with the damping unit with adjustable damping size in parallel, so that the damping size in the oil supplementing loop can be adjusted and controlled, the purposes of simultaneously taking slip caused by a large climbing angle and speed drop caused by a high turning speed into consideration are achieved, and when the vehicle turns at a high speed, a large damping mode is adopted, so that the engine is prevented from dropping or flameout; when climbing or the road surface is uneven, a small damping mode is adopted, so that the phenomenon of tire slipping is avoided; the hydraulic walking control system of the scheme of the invention has stable and reliable performance; compared with the prior art, the hydraulic walking control system of the scheme of the invention not only improves the differential effect during high-speed walking and steering, but also improves the off-road effect during low-speed climbing.
Drawings
FIG. 1 is a schematic diagram of a hydraulic travel control system of the prior art;
fig. 2 is a schematic structural diagram of a hydraulic walking control system according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a hydraulic travel control system according to embodiments 2 to 4 of the present invention.
Description of the reference numerals:
11. a left front travel motor; 12. a right front travel motor; 13. a right rear travel motor; 14. a left rear travel motor; 21. a first flow dividing and collecting valve; 22. a second split and collector valve; 23. a third flow dividing and collecting valve; 31. a first damping device; 32. a second damping device; 33. a third damping device; 41. a first adjustable throttle valve; 42. a second adjustable throttle valve; 43. a third adjustable throttle valve; 51. a first damping reversing device; 511. a two-position two-way hydraulically-controlled reversing valve; 52. a second damping reversing device; 53. and a third damping reversing device.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
The hydraulic walking control system comprises a walking pump, a walking driving motor assembly, a shunt control unit and a damping unit, wherein the walking pump, the shunt control unit and the walking driving motor assembly are sequentially connected; the damping unit is connected in parallel with the shunt control unit, and the damping unit is provided with a switchable small damping output mode and a switchable large damping output mode.
From the above description, the beneficial effects of the invention are as follows: the shunt control unit is connected with the damping unit with adjustable damping size in parallel, so that the damping size in the oil supplementing loop can be adjusted and controlled, the purposes of simultaneously taking slip caused by a large climbing angle and speed drop caused by a high turning speed into consideration are achieved, and when the vehicle turns at a high speed, a large damping mode is adopted, so that the engine is prevented from dropping or flameout; when climbing or the road surface is uneven, a small damping mode is adopted, so that the phenomenon of tire slipping is avoided; the hydraulic walking control system of the scheme of the invention has stable and reliable performance; compared with the prior art, the hydraulic walking control system of the scheme of the invention not only improves the differential effect during high-speed walking and steering, but also improves the off-road effect during low-speed climbing.
Further, the damping unit comprises an adjustable throttle valve assembly, and the adjustable throttle valve assembly realizes the switching of a small damping output mode and a large damping output mode by adjusting the opening degree of the valve body.
From the above description, the beneficial effects of the invention are as follows: the damping size in the oil supplementing loop can be adjusted by adjusting the opening of the valve body by adopting a high throttle valve assembly consisting of a plurality of adjustable throttle valves, and the operation is simple, convenient and reliable.
Further, the damping unit comprises a damping component and a damping reversing component, the damping component and the damping reversing component are respectively connected with the shunt control unit in parallel, and the damping value of the damping component is smaller than that of the damping reversing component; the damping assembly is used for realizing a small damping output mode, and the damping reversing assembly is used for realizing a large damping output mode.
From the above description, the beneficial effects of the invention are as follows: the shunt control unit is respectively connected with the damping component and the damping reversing component in parallel, and the damping value of the damping component is smaller than that of the damping reversing component, so that the damping size of the oil supplementing loop is controlled, the small-damping component can prevent slipping during climbing, and the large-damping reversing component ensures high-speed steering differential speed and cannot drop speed; when the vehicle turns left, a pressure oil supplementing loop is formed through the damping reversing component, so that differential operation of the left front traveling motor and the right front traveling motor is realized; similarly, when the vehicle turns right, the differential speed operation can be realized reversely; the damping reversing assembly can control the flow direction of hydraulic oil and prevent the flow of the hydraulic oil after oil supply is stopped, so that the equipment operates more stably, and the stability of the equipment operation is improved.
Further, the walking driving motor assembly comprises a left front walking motor, a left rear walking motor, a right front walking motor and a right rear walking motor, wherein the left front walking motor is communicated with the right front walking motor to form a front axle loop, and the left rear walking motor is communicated with the right rear walking motor to form a rear axle loop; the left front walking motor is communicated with the left rear walking motor;
the flow distribution control unit comprises a first flow distribution and collection valve, a second flow distribution and collection valve and a third flow distribution and collection valve; the first flow dividing and collecting valve is arranged on the front axle loop, and the third flow dividing and collecting valve is arranged on the rear axle loop; the second flow dividing and collecting valve is arranged on a pipeline for communicating the left front traveling motor and the left rear traveling motor;
the damping assembly comprises 3 damping devices, the damping reversing assembly comprises 3 damping reversing devices, and the first flow dividing and collecting valve, the second flow dividing and collecting valve and the third flow dividing and collecting valve are respectively connected with one damping device in parallel and then are respectively connected with one damping reversing device in parallel.
From the above description, the beneficial effects of the invention are as follows: when the vehicle turns left, the pressure oil in the left front traveling motor is supplemented to the right front traveling motor through the additionally arranged damping reversing assembly, so that the differential operation of the left front traveling motor and the right front traveling motor is realized; similarly, the differential operation can be realized in the reverse direction when the vehicle turns in the right direction.
Further, the damping device and the damping reversing device are both provided with throttling parts.
Further, the damping device is a throttle valve, and the damping reversing device is a throttle reversing valve.
From the above description, the beneficial effects of the invention are as follows: the throttle parts are arranged, and the throttle parts with different damping sizes can be arranged according to the requirements, so that an adjustable throttle valve can be adopted, and an unregulated throttle valve can be adopted, if the adjustable throttle valve is adopted, the damping value can be adjusted according to the requirements, the flow rate, the flow speed and other fluid parameters of hydraulic oil can be controlled, the impact caused by hydraulic impact can be prevented, and the stability and the safety of the device in the working process can be improved; the proper non-adjustable throttle valve can be selected according to the required damping value range, and the fluid parameter control of the hydraulic oil can be realized, so that the stability and the safety are improved.
Further, damping parts are arranged on the damping device and the damping reversing device.
Further, the damping device is a damping valve, and the damping reversing device is a damping reversing valve.
From the above description, the beneficial effects of the invention are as follows: the damping and reversing valve is integrated to act on the throttle reversing valve or the damping reversing valve, so that the operation is simpler and more convenient; the damping part is used for increasing the damping of the flow channel, so that the abrupt change of the fluid is gradually reduced through the damping part, and the stability and the safety of the device are improved.
Further, the damping part or the throttling part is of a hole structure, the hole diameter of the hole structure in the damping device is 0.5-0.8 mm, and the hole diameter of the hole structure in the damping reversing device is 1.8-3.0 mm.
Further, the damping reversing device comprises a reversing valve and a damping valve.
Further, the damping reversing device comprises a reversing valve and an adjustable throttle valve.
Further, the reversing valve is a hydraulic control reversing valve or an electric control reversing valve.
Preferably, the reversing valve is a two-position two-way hydraulic control reversing valve or a two-position two-way electric control reversing valve.
Further, a traveling pump working oil port A and a traveling pump working oil port B are arranged on the traveling pump, the first flow dividing and collecting valve and the second flow dividing and collecting valve are respectively communicated with the traveling pump working oil port B, and the third flow dividing and collecting valve is communicated with the traveling pump working oil port A; the left front walking motor, the left rear walking motor, the right front walking motor and the right rear walking motor are respectively provided with at least an A port and a B port, and the first flow distributing and collecting valve is respectively connected with the B port of the left front walking motor and the A port of the right front walking motor; and the third flow distributing and collecting valve is respectively connected with the left rear walking motor B port and the right rear walking motor A port.
From the above description, the beneficial effects of the invention are as follows: the first flow dividing and collecting valve is respectively connected with the left front traveling motor B port and the right front traveling motor A port and is used for realizing the flow division of left and right wheels of the front axle; and the third flow dividing and collecting valve is respectively connected with the left rear traveling motor B port and the right rear traveling motor A port and is used for realizing the left and right wheel flow dividing of the rear axle.
Further, the three damping devices in the damping assembly are identical, and the three damping devices in the damping reversing assembly are also identical.
Referring to fig. 2, a first embodiment of the invention is as follows: the hydraulic walking control system comprises a walking pump, a walking driving motor assembly, a shunt control unit and a damping unit, wherein the walking pump, the shunt control unit and the walking driving motor assembly are sequentially connected; the damping unit is connected in parallel with the shunt control unit, and the damping unit is provided with a switchable small damping output mode and a switchable large damping output mode.
The damping unit includes an adjustable throttle valve assembly including a first adjustable throttle valve, a second adjustable throttle valve, and a third adjustable throttle valve.
The traveling pump is provided with a working oil port A and a working oil port B; the travel driving motor assembly comprises a left front travel motor 11, a right front travel motor 12, a right rear travel motor 13 and a left rear travel motor 14, wherein the left front travel motor 11 is communicated with the right front travel motor 12 to form a front axle loop, and the left rear travel motor 14 is communicated with the right rear travel motor 13 to form a rear axle loop; the left front walking motor 11 is communicated with the left rear walking motor 14;
the flow dividing and controlling unit comprises a first flow dividing and collecting valve 21, a second flow dividing and collecting valve 22 and a third flow dividing and collecting valve 23; the first flow dividing and collecting valve 21 is arranged on the front axle circuit, and the third flow dividing and collecting valve 23 is arranged on the rear axle circuit; the second flow dividing and collecting valve 22 is arranged on a pipeline for communicating the left front traveling motor 11 and the left rear traveling motor 14;
the running pump working oil port A is connected with a second flow dividing and collecting valve 22 and is used for realizing the flow division of a front axle and a rear axle; the first flow dividing and collecting valve 21 is respectively connected with the left front traveling motor 11B port and the right front traveling motor 12A port and is used for realizing the flow division of left and right wheels of the front axle; the third flow dividing and collecting valve 23 is respectively connected with the port of the left rear traveling motor 14B and the port of the right rear traveling motor 13A and is used for realizing the flow division of left and right wheels of the rear axle; the running pump working oil port B is connected with the first flow distributing and collecting valve 21 and the third flow distributing and collecting valve 23; the first adjustable throttle 41 is connected in parallel with the first split and combined valve 21; the second adjustable throttle valve 42 is connected in parallel with the second split combining valve 22; the third adjustable throttle 43 is connected in parallel with the third current sharing valve 23.
The working process of the scheme of the invention is as follows: when the vehicle advances, the pressure oil in the working oil port B of the traveling pump flows into the first flow dividing and collecting valve 21, then reaches the front left traveling motor 11B and the front right traveling motor 12A, and then reaches the second flow dividing and collecting valve 22 after being converged by the front left traveling motor 11A and the front right traveling motor 12B, meanwhile, the pressure oil in the working oil port B of the traveling pump also flows through the third flow dividing and collecting valve 23 and then reaches the rear left traveling motor 14B and the rear right traveling motor 13A respectively, and then returns to the working oil port A of the traveling pump after being converged by the rear left traveling motor 14A and the rear right traveling motor 13B through the second flow dividing and collecting valve 22. When the vehicle runs at a low speed and turns left, the opening degree of the valve body of the adjustable throttle valve is adjusted to enable the output damping degree to be in a proper small damping mode range because the loads of the two front wheels are different, and the load of the left front running motor 11 is higher than that of the right front running motor 12, so that the pressure oil of the left front running motor 11 is supplemented to the right front running motor 12 through the adjustable throttle valve. The low speed has low requirement on the differential speed, so the requirement can be met through a small damping value. When the vehicle climbs a slope or is suspended at any time, more hydraulic energy cannot run into the suspended wheels, the climbing effect is improved, and meanwhile, the tire slipping phenomenon is prevented. When the vehicle presses the high-speed button, the opening of the valve body of the adjustable throttle valve is switched into a large damping mode; when steering leftwards, the load of the left front traveling motor 11 is higher than that of the right front traveling motor 12 due to different loads of the two wheels, so that the pressure oil of the left front traveling motor 11 is smoothly supplemented to the right front traveling motor 12 through an adjustable throttle valve in a large damping value mode, and high-speed steering differential speed is realized; similarly, when the left steering, the front and rear axles and the left and right wheels are all in high-speed walking steering differential speed, the differential speed can be realized by adjusting the flow through the adjustable throttle valve; the low-speed suspended climbing realizes the prevention of the tire slip through a small damping value mode of the adjustable throttle valve.
Referring to fig. 3, a second embodiment of the present invention is as follows: the full-hydraulic walking control system for preventing the tire from slipping comprises a walking pump, a walking driving motor assembly, a shunt control unit and a damping unit, wherein the walking pump, the shunt control unit and the walking driving motor assembly are sequentially connected; the damping unit is connected in parallel with the shunt control unit, and the damping unit is provided with a switchable small damping output mode and a switchable large damping output mode. The traveling pump is provided with a working oil port A and a working oil port B; the travel driving motor assembly comprises a left front travel motor 11, a left rear travel motor 14, a right front travel motor 12 and a right rear travel motor 13, wherein the left front travel motor 11 is communicated with the right front travel motor 12 to form a front axle loop, and the left rear travel motor 14 is communicated with the right rear travel motor 13 to form a rear axle loop; the left front walking motor 11 is communicated with the left rear walking motor 14;
the flow dividing and controlling unit comprises a first flow dividing and collecting valve 21, a second flow dividing and collecting valve 22 and a third flow dividing and collecting valve 23; the first flow dividing and collecting valve 21 is arranged on the front axle circuit, and the third flow dividing and collecting valve 23 is arranged on the rear axle circuit; the second flow dividing and collecting valve 22 is arranged on a pipeline for communicating the left front traveling motor 11 and the left rear traveling motor 14;
the damping unit comprises a damping assembly and a damping reversing assembly, the damping assembly comprises a first damping device 31, a second damping device 32 and a third damping device 33, the damping reversing assembly comprises a first damping reversing device 51, a second damping reversing device 52 and a third damping reversing device 53, the first damping reversing device 51, the second damping reversing device 52 and the third damping reversing device 53 respectively comprise a damping device and a two-position two-way hydraulic control reversing valve 511 which are mutually connected in series, wherein the two-position two-way hydraulic control reversing valve 511 in the first damping reversing device 51 is communicated with the two-position two-way hydraulic control reversing valve in the third damping reversing device 53; the external control oil source is connected with a two-position two-way hydraulic control reversing valve 511 in the first damping reversing device 51 and is connected with a pipeline which is communicated with the two-position two-way hydraulic control reversing valve 511 in the first damping reversing device 51 and the two-position two-way hydraulic control reversing valve in the third damping reversing device 53;
the running pump working oil port A is connected with a second flow dividing and collecting valve 22 and is used for realizing the flow division of a front axle and a rear axle; the first flow dividing and collecting valve 21 is respectively connected with the left front traveling motor 11B port and the right front traveling motor 12A port and is used for realizing the flow division of left and right wheels of the front axle; the third flow dividing and collecting valve 23 is respectively connected with the port of the left rear traveling motor 14B and the port of the right rear traveling motor 13A and is used for realizing the flow division of left and right wheels of the rear axle; the running pump working oil port B is connected with the first flow distributing and collecting valve 21 and the third flow distributing and collecting valve 23; the first damping device 31 is connected in parallel with the first current distribution and collection valve 21, and the first damping reversing device 51 is connected in parallel with the first current distribution and collection valve 21; the second damping device 32 is connected in parallel with the second current dividing and collecting valve 22, and the second damping reversing device 52 is connected in parallel with the second current dividing and collecting valve 22; the third damping device 33 is connected in parallel with the third current distribution and collection valve 23, and the third damping reversing device 53 is connected in parallel with the third current distribution and collection valve 23.
The working process of the scheme of the invention is as follows: when the vehicle advances, the pressure oil in the working oil port B of the traveling pump flows into the first flow dividing and collecting valve 21, then reaches the front left traveling motor port B and the front right traveling motor port A, and then reaches the second flow dividing and collecting valve 22 after being converged by the front left traveling motor port A and the front right traveling motor port 12B, meanwhile, the pressure oil in the working oil port B of the traveling pump also flows through the third flow dividing and collecting valve 23 and then reaches the rear left traveling motor port 14B and the rear right traveling motor port 13A respectively, and then flows back to the working oil port A of the traveling pump after being converged by the rear left traveling motor port 14A and the rear right traveling motor port 13B through the second flow dividing and collecting valve 22. When the vehicle is running at a low speed and steering to the left, the load of the left front travel motor 11 is higher than that of the right front travel motor 12 due to the different loads of the two front wheels, so that the pressure oil of the left front travel motor 11 is supplemented to the right front travel motor 12 through the first damping device 31. Since the low speed does not have a high differential speed requirement, the first damping device 31 having a small damping value can meet the requirement. When the vehicle climbs a slope or is suspended at any time, more hydraulic energy cannot run into the suspended wheels, the climbing effect is improved, and meanwhile, the tire slipping phenomenon is prevented. When the vehicle presses the high-speed button, the control oil source opens the two-position two-way hydraulic reversing valve 511 in the first damping reversing device 51 to change the state from the on-off state to the on-state, and when the vehicle turns left, the load of the left front traveling motor 11 is higher than that of the right front traveling motor 12 due to the different loads of the two wheels, and the pressure oil of the left front traveling motor 11 is smoothly fed to the right front traveling motor 12 through the damping device in the first damping reversing device 51 so as to realize high-speed steering differential; likewise, when the left steering, the front and rear axles and the left and right wheels walk at high speed, the steering differential speed can be realized through the damping reversing component; the low-speed suspended climbing realizes the prevention of the tire slip through the damping component.
The third embodiment of the invention is as follows: the hydraulic walking control system, wherein the first damping reversing device 51, the second damping reversing device 52 and the third damping reversing device 53 respectively comprise a damping device and a two-position two-way electrically controlled reversing valve which are connected in series, and other parts and connection relations are the same as those of the first embodiment.
The fourth embodiment of the invention is as follows: the hydraulic walking control system comprises a first damping reversing device 51, a second damping reversing device 52 and a third damping reversing device 53 which are all throttle reversing valves; other parts and connection relations are the same as those of the first embodiment, and the orifice aperture of the throttle reversing valve is 3.0mm.
In summary, according to the hydraulic walking control system provided by the invention, two throttle oil ducts with different sizes are connected in parallel on the split control unit, so that climbing, hanging and slipping of tires can be avoided, and the differential effect during high-speed walking can be improved.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (8)
1. The hydraulic walking control system comprises a walking pump, a walking driving motor assembly, a shunt control unit and a damping unit, wherein the walking pump, the shunt control unit and the walking driving motor assembly are sequentially connected; the damping unit is connected with the shunt control unit in parallel, and is characterized in that: the damping unit is provided with a switchable small damping output mode and a switchable large damping output mode;
the damping unit comprises a damping component and a damping reversing component, the damping component and the damping reversing component are respectively connected with the shunt control unit in parallel, and the damping value of the damping component is smaller than that of the damping reversing component; the damping assembly is used for realizing a small damping output mode, and the damping reversing assembly is used for realizing a large damping output mode;
the walking driving motor assembly comprises a left front walking motor, a left rear walking motor, a right front walking motor and a right rear walking motor, wherein the left front walking motor and the right front walking motor are communicated through a pipeline to form a front axle loop, and the left rear walking motor and the right rear walking motor are communicated through a pipeline to form a rear axle loop; the left front walking motor is communicated with the left rear walking motor through a pipeline;
the flow distribution control unit comprises a first flow distribution and collection valve, a second flow distribution and collection valve and a third flow distribution and collection valve; the first flow dividing and collecting valve is arranged on the front axle loop, and the third flow dividing and collecting valve is arranged on the rear axle loop; the second flow dividing and collecting valve is arranged on a pipeline for communicating the left front traveling motor and the left rear traveling motor;
the damping assembly comprises 3 damping devices, the damping reversing assembly comprises 3 damping reversing devices, and the first flow dividing and collecting valve, the second flow dividing and collecting valve and the third flow dividing and collecting valve are respectively connected with one damping device in parallel and then are respectively connected with one damping reversing device in parallel.
2. The hydraulic travel control system according to claim 1, characterized in that: and the damping device and the damping reversing device are both provided with throttling parts.
3. The press walk control system according to claim 2, wherein: the damping device is a throttle valve, and the damping reversing device is a throttle reversing valve.
4. The hydraulic travel control system according to claim 1, characterized in that: damping parts are arranged on the damping device and the damping reversing device.
5. The hydraulic travel control system of claim 4, wherein: the damping device is a damping valve, and the damping reversing device is a damping reversing valve.
6. The hydraulic travel control system according to claim 1, characterized in that: the damping reversing device comprises a reversing valve and a damping valve; the reversing valve is a hydraulic control reversing valve or an electric control reversing valve.
7. The hydraulic travel control system according to claim 1, characterized in that: the traveling pump is provided with a traveling pump working oil port A and a traveling pump working oil port B, the first flow dividing and collecting valve and the second flow dividing and collecting valve are respectively communicated with the traveling pump working oil port B, and the third flow dividing and collecting valve is communicated with the traveling pump working oil port A;
the left front walking motor, the left rear walking motor, the right front walking motor and the right rear walking motor are respectively provided with at least an A port and a B port, and the first flow distributing and collecting valve is respectively connected with the B port of the left front walking motor and the A port of the right front walking motor; and the third flow distributing and collecting valve is respectively connected with the left rear walking motor B port and the right rear walking motor A port.
8. The hydraulic walking control system comprises a walking pump, a walking driving motor assembly, a shunt control unit and a damping unit, wherein the walking pump, the shunt control unit and the walking driving motor assembly are sequentially connected; the damping unit is connected with the shunt control unit in parallel, and is characterized in that: the damping unit is provided with a switchable small damping output mode and a switchable large damping output mode;
the damping unit comprises an adjustable throttle valve assembly, and the adjustable throttle valve assembly realizes the switching of a small damping output mode and a large damping output mode by adjusting the opening degree of a valve body;
the walking driving motor assembly comprises a left front walking motor, a left rear walking motor, a right front walking motor and a right rear walking motor, wherein the left front walking motor and the right front walking motor are communicated through a pipeline to form a front axle loop, and the left rear walking motor and the right rear walking motor are communicated through a pipeline to form a rear axle loop; the left front walking motor is communicated with the left rear walking motor through a pipeline;
the flow distribution control unit comprises a first flow distribution and collection valve, a second flow distribution and collection valve and a third flow distribution and collection valve; the first flow dividing and collecting valve is arranged on the front axle loop, and the third flow dividing and collecting valve is arranged on the rear axle loop; the second flow dividing and collecting valve is arranged on a pipeline for communicating the left front traveling motor and the left rear traveling motor;
the adjustable throttle valve assembly includes a first adjustable throttle valve, a second adjustable throttle valve, and a third adjustable throttle valve, the first adjustable throttle valve being in parallel with the first split flow valve; the second adjustable throttle valve is connected in parallel with the second split-flow combining valve; the third adjustable throttle valve is connected in parallel with the third split and combined valve.
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| CN201810469470.0A CN108412827B (en) | 2018-05-16 | 2018-05-16 | Hydraulic walking control system |
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| CN201810469470.0A CN108412827B (en) | 2018-05-16 | 2018-05-16 | Hydraulic walking control system |
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| CN110744999B (en) * | 2019-10-28 | 2021-06-25 | 江苏军源装备制造有限公司 | Hydraulic differential control system for vehicle |
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