阅读说明：本技术 一种液压阀组、履带车及其行走控制方法 (Hydraulic valve bank, crawler and walking control method of crawler ) 是由 杨玉强 梁康 张勇 于 2021-07-27 设计创作，主要内容包括：本发明公开了履带车技术领域的一种液压阀组、履带车及其行走控制方法,所述液压阀组包括：电比例阀、定压差减压阀和梭阀；所述电比例阀的进油口与液压系统的压力油口连通,同时与定压差减压阀的进油口连通；电比例阀的回油口、定压差减压阀的回油口均与液压油箱的回油口连通；电比例阀的两出油口分别与两工作油口一一对应连通,所述梭阀并联于电比例阀的两出油口之间,所述梭阀的高压油口还与定压差减压阀的弹簧端控制口连通；本发明提供的液压阀组可实现流量比例输出,应用于履带车中能够实现履带行走精准控制。(The invention discloses a hydraulic valve bank, a crawler and a walking control method thereof in the technical field of crawlers, wherein the hydraulic valve bank comprises: the electric proportional valve, the constant pressure difference pressure reducing valve and the shuttle valve; an oil inlet of the electro-proportional valve is communicated with a pressure oil port of the hydraulic system and is simultaneously communicated with an oil inlet of the constant pressure difference pressure reducing valve; an oil return port of the electro-proportional valve and an oil return port of the constant differential pressure reducing valve are communicated with an oil return port of the hydraulic oil tank; the two oil outlets of the electro-proportional valve are respectively communicated with the two working oil ports in a one-to-one correspondence mode, the shuttle valve is connected between the two oil outlets of the electro-proportional valve in parallel, and the high-pressure oil port of the shuttle valve is also communicated with the spring end control port of the constant-pressure-difference pressure reducing valve; the hydraulic valve bank provided by the invention can realize flow ratio output, and can realize accurate control of crawler travel when being applied to a crawler.)

1. A hydraulic valve group is characterized by comprising an electric proportional valve, a constant pressure difference pressure reducing valve and a shuttle valve; an oil inlet of the electro-proportional valve is communicated with a pressure oil port of the hydraulic system and is simultaneously communicated with an oil inlet of the constant pressure difference pressure reducing valve; an oil return port of the electro proportional valve and an oil return port of the constant differential pressure reducing valve are communicated with an oil return port of the hydraulic oil tank; the two oil outlets of the electro-proportional valve are respectively communicated with the two working oil ports in a one-to-one correspondence mode, the shuttle valve is connected between the two oil outlets of the electro-proportional valve in parallel, and the high-pressure oil port of the shuttle valve is also communicated with the spring end control port of the constant-pressure-difference pressure reducing valve.

2. The hydraulic valve group according to claim 1, wherein an oil inlet of the electro proportional valve is connected with an overflow valve in series and then is connected with an oil return port of a hydraulic oil tank.

3. Hydraulic valve group according to claim 1 or 2, characterised in that the electro proportional valve is a three-position four-way valve;

when the valve core of the three-position four-way valve is positioned at the middle position, the two working oil ports are both communicated with an oil return port of the hydraulic oil tank;

when the valve core of the three-position four-way valve is positioned at the right position or the left position, the two oil outlets of the three-position four-way valve are respectively communicated with the two working oil ports in a one-to-one correspondence manner.

4. A crawler comprises a crawler body, a hydraulic system and a crawler connected to the crawler body; the crawler belt is provided with two groups which are respectively arranged at the left side and the right side of the vehicle body, and is characterized in that the two crawler belts are respectively provided with the hydraulic valve group as claimed in any one of claims 1 to 3, and the hydraulic valve group provides hydraulic oil for the crawler belts through working oil ports so as to drive the crawler belts to drive the vehicle body to walk.

5. The tracked vehicle defined in claim 4, wherein the hydraulic system comprises a gear pump.

6. A method for controlling the travel of a crawler according to claim 4 or 5, comprising:

in response to the linear walking control signal, the same electric signals of the electric proportional valves in the two hydraulic valve groups are given at the same time, and the constant-pressure-difference pressure-reducing valve controls the pressure difference between the oil inlet and the oil outlet of the electric proportional valve to be stable at constant pressure, so that the two electric proportional valves output the hydraulic oil with the same flow to the two tracks at the same time according to the input electric signals, and the linear walking control of the tracked vehicle is realized.

7. The method of controlling the travel of a tracked vehicle of claim 6, further comprising:

and in response to the steering and walking control signal, different electric signals of the electric proportional valves in the two hydraulic valve groups are given according to the steering direction, and the constant-pressure-difference pressure-reducing valve controls the pressure difference between the oil inlet and the oil outlet of the electric proportional valve to be stable at constant pressure, so that the two electric proportional valves output hydraulic oil with corresponding flow to the corresponding crawler belts according to the received electric signals, and the two crawler belts have rotation speed difference due to different supplied hydraulic oil flows, thereby realizing the steering and walking control of the crawler belt vehicle.

8. The walking control method of the crawler according to claim 6, wherein when the spool of the electro proportional valve is in the neutral position, if the oil pressure of the oil inlet of the electro proportional valve is higher than the set highest pressure, the hydraulic oil is controlled to flow back to the hydraulic oil tank through the overflow valve; otherwise, controlling the hydraulic oil to flow back to the hydraulic oil tank through the constant-pressure-difference pressure-reducing valve at a constant pressure.

9. Method for controlling the walking of a crawler according to claim 6, 7 or 8, wherein said constant pressure is 10 bar.

10. The method of controlling the travel of a tracked vehicle of claim 6, further comprising: in response to a forward running or backward running control signal, controlling an oil inlet of the electro-proportional valve to be communicated with one working oil port, and controlling the other working oil port to be communicated with an oil return port of the electro-proportional valve; and when going forward and backward, the work oil mouth that the oil inlet of electro proportional valve communicates is different.

Technical Field

The invention belongs to the technical field of tracked vehicles, and particularly relates to a hydraulic valve group, a tracked vehicle and a walking control method of the tracked vehicle.

Background

Compared with a tire type drainage vehicle, the crawler type drainage vehicle can adapt to complex drainage rescue road conditions, but the existing small crawler type drainage vehicle mostly adopts a single hydraulic pump and a common electromagnetic valve group to control the crawler to walk, and because the common switch type electromagnetic valve group cannot realize output flow proportion output, the crawler type drainage vehicle cannot accurately output crawler hydraulic oil to the left side and the right side, and cannot accurately control the walking speed of the left crawler and the right crawler; when the left and right crawler belts are different in load pressure, the output flow of the valve bank is often smaller to the load, the flow supplied to the left and right crawler belts is different, the left and right crawler belts are inconsistent in walking, and the deviation is caused.

Disclosure of Invention

The invention aims to provide a hydraulic valve group, a crawler and a walking control method thereof, which can realize proportional output of output flow so as to ensure accurate output of hydraulic oil.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

in a first aspect, the invention provides a hydraulic valve group, which comprises an electric proportional valve, a constant pressure difference pressure reducing valve and a shuttle valve; an oil inlet of the electro-proportional valve is communicated with a pressure oil port of the hydraulic system and is simultaneously communicated with an oil inlet of the constant pressure difference pressure reducing valve; an oil return port of the electro proportional valve and an oil return port of the constant differential pressure reducing valve are communicated with an oil return port of the hydraulic oil tank; the two oil outlets of the electro-proportional valve are respectively communicated with the two working oil ports in a one-to-one correspondence mode, the shuttle valve is connected between the two oil outlets of the electro-proportional valve in parallel, and the high-pressure oil port of the shuttle valve is also communicated with the spring end control port of the constant-pressure-difference pressure reducing valve.

Furthermore, an oil inlet of the electro proportional valve is connected with an overflow valve in series and then is connected with an oil return port of the hydraulic oil tank.

Preferably, the electric proportional valve is a three-position four-way valve;

when the valve core of the three-position four-way valve is positioned at the middle position, the two working oil ports are both communicated with an oil return port of the hydraulic oil tank;

when the valve core of the three-position four-way valve is positioned at the right position or the left position, the two oil outlets of the three-position four-way valve are respectively communicated with the two working oil ports in a one-to-one correspondence manner.

In a second aspect, the present invention provides a tracked vehicle comprising a vehicle body, a hydraulic system, and a track connected to the vehicle body; the track is equipped with two sets ofly, and the branch is located the left and right sides of automobile body, two the track is configured like arbitrary the first aspect hydraulic pressure valves respectively, hydraulic pressure valves passes through the working fluid port and provides hydraulic oil for the track to the drive track drives the automobile body walking.

Further, the hydraulic system includes a gear pump.

In a third aspect, the present invention provides a method for controlling the running of the crawler according to any one of the second aspect, the method comprising:

in response to the linear walking control signal, the same electric signals of the electric proportional valves in the two hydraulic valve groups are given at the same time, and the constant-pressure-difference pressure-reducing valve controls the pressure difference between the oil inlet and the oil outlet of the electric proportional valve to be stable at constant pressure, so that the two electric proportional valves output the hydraulic oil with the same flow to the two tracks at the same time according to the input electric signals, and the linear walking control of the tracked vehicle is realized.

Further, the method further comprises:

and in response to the steering and walking control signal, different electric signals of the electric proportional valves in the two hydraulic valve groups are given according to the steering direction, and the constant-pressure-difference pressure-reducing valve controls the pressure difference between the oil inlet and the oil outlet of the electric proportional valve to be stable at constant pressure, so that the two electric proportional valves output hydraulic oil with corresponding flow to the corresponding crawler belts according to the received electric signals, and the two crawler belts have rotation speed difference due to different supplied hydraulic oil flows, thereby realizing the steering and walking control of the crawler belt vehicle.

Further, when the valve core of the electro-proportional valve is in a neutral position, if the oil pressure of the oil inlet of the electro-proportional valve is higher than the set highest pressure, the hydraulic oil is controlled to flow back to the hydraulic oil tank through the overflow valve; otherwise, controlling the hydraulic oil to flow back to the hydraulic oil tank through the constant-pressure-difference pressure-reducing valve at a constant pressure.

Preferably, the constant pressure is 10 bar.

Further, the method further comprises: in response to a forward running or backward running control signal, controlling an oil inlet of the electro-proportional valve to be communicated with one working oil port, and controlling the other working oil port to be communicated with an oil return port of the electro-proportional valve; and when going forward and backward, the work oil mouth that the oil inlet of electro proportional valve communicates is different.

Compared with the prior art, the invention has the following beneficial effects:

the oil inlet of an electric proportional valve in the hydraulic valve group is communicated with the oil inlet of a constant pressure difference pressure reducing valve; the two oil outlets of the electro-proportional valve are respectively communicated with the two working oil ports in a one-to-one correspondence mode, the shuttle valve is connected between the two oil outlets of the electro-proportional valve in parallel, the high-pressure oil port of the shuttle valve is also communicated with the spring end control port of the constant-pressure-difference pressure reducing valve, and the constant-pressure-difference pressure reducing valve can control the pressure difference between the oil inlet and the oil outlet of the electro-proportional valve to be stable at constant pressure, so that output flow proportional output is realized, and accurate output of hydraulic oil is guaranteed;

the hydraulic valve bank provided by the invention is applied to the tracked vehicle, the flow of hydraulic oil supplied to the left and right side tracks can be accurately controlled, the tracked vehicle is prevented from deviating, and the accurate control of the traveling speed of the tracks is realized.

Drawings

FIG. 1 is a schematic structural diagram of a hydraulic system for driving a crawler to travel according to an embodiment of the present invention;

in the figure: the hydraulic control system comprises a1 shuttle valve, a2 electric proportional valve, A3 constant pressure difference pressure reducing valve, a 4 overflow valve, a A1 first working oil port and a A2 second working oil port.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

It should be noted that the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

Example one

As shown in fig. 1, a hydraulic valve group includes an electro proportional valve 2, a constant pressure difference relief valve 3, and a shuttle valve 1. An oil inlet of the electro-proportional valve 2 is communicated with a pressure oil port P of a hydraulic system and is simultaneously communicated with an oil inlet of the constant pressure difference pressure reducing valve 3; and an oil return port of the electro-proportional valve 2 and an oil return port of the constant-pressure-difference pressure reducing valve 3 are communicated with an oil return port T of the hydraulic oil tank. The electro proportional valve 2 outputs hydraulic oil with corresponding flow according to the input current or voltage signal.

The shuttle valve 1 is connected between two oil outlets of the electro-proportional valve 2 in parallel, a high-pressure oil port of the shuttle valve 1 is further communicated with a spring end control port of the constant-pressure-difference pressure reducing valve 3, and the constant-pressure-difference pressure reducing valve 3 can control the pressure difference between an oil inlet and an oil outlet of the electro-proportional valve to be stable at constant pressure. After the hydraulic oil meets the flow required by the work of the hydraulic system, the residual flow is added with a constant value (10bar) by being higher than the system pressure and then overflows back to the hydraulic oil tank through the fixed-differential pressure reducing valve 3, so that the energy consumption is greatly reduced.

The pressure oil port P is connected with the overflow valve 4 in series and then is connected with an oil return port T of the hydraulic oil tank; when the pressure oil of the pressure oil port P is higher than the highest pressure of the system, the high-pressure oil returns to the hydraulic oil tank through the overflow valves 4 respectively to protect the hydraulic system. When the pressure oil of the pressure oil port P is higher than the highest pressure of the system, the high-pressure oil returns to the hydraulic oil tank through the overflow valves 4 respectively to protect the hydraulic system.

In the embodiment of the invention, the electro-proportional valve 2 is a three-position four-way electromagnetic valve, when the electro-proportional valve works in a left position, an oil path between the second working oil port A2 and the pressure oil port P is communicated, and an oil path between the first working oil port A1 and the oil return port T is communicated; when the oil-saving working machine is in a neutral position when power is lost, the oil inlet is cut off, and oil passages among the first working oil port A1, the second working oil port A2 and the oil return port T are communicated; when the hydraulic oil pump works at the right position after power is supplied, the oil path between the first working oil port A1 and the pressure oil port P is communicated, and the oil path between the second working oil port A2 and the oil return port T is communicated; the moving direction of the crawler belt is controlled by an electric proportional valve.

Example two

The embodiment of the invention provides a crawler, which comprises a crawler body, a hydraulic system and a crawler connected to the crawler body; the crawler belt is equipped with two sets ofly, and the branch is located the left and right sides of automobile body, two the crawler belt disposes respectively embodiment one in the hydraulic pressure valves, hydraulic pressure valves passes through the working fluid port and provides hydraulic oil for the crawler belt to the drive crawler belt drives the automobile body walking.

Two sets of hydraulic system correspond two tracks and also dispose, and two hydraulic system are independent each other not influence separately, and concrete gear pump that can choose for use.

EXAMPLE III

According to the second embodiment, the walking control of the tracked vehicle comprises straight walking control, steering walking control and forward and reverse walking control, and specifically comprises the following steps:

and (3) linear walking control: in response to the linear walking control signal, the same electric signals of the electric proportional valves 2 in the two hydraulic valve groups are given at the same time, and the constant-pressure-difference pressure-reducing valve 3 controls the pressure difference between the oil inlet and the oil outlet of the electric proportional valve 2 to be stable at constant pressure (10bar), so that the flow of hydraulic oil output by the electric proportional valve 2 is only related to the given voltage value or current value of the electric proportional valve 2, namely the same signals of the electric proportional valve 2 are given to output the same amount of hydraulic oil to the two tracks, and the linear walking control of the tracked vehicle is realized.

When the crawler loads on two sides are different or the crawler loads change, the constant pressure difference overflow valve 3 always adjusts the pressure difference between the oil inlet and the oil outlet of the electro-proportional valve 2 to be stabilized at a constant value (10bar), and the redundant hydraulic oil returns to the hydraulic oil tank through the constant pressure difference overflow valve 3.

Forward and reverse walking control: in response to a forward running or backward running control signal, controlling an oil inlet of the electro-proportional valve 2 to be communicated with one working oil port, and controlling the other working oil port to be communicated with an oil return port of the electro-proportional valve 2; when the electric proportional valve is driven forwards or backwards, working oil ports communicated with the oil inlet of the electric proportional valve 2 are different;

as shown in fig. 1, if the electro-proportional valve adopts a three-position four-way electromagnetic valve, when the hydraulic pump is started and the electro-proportional valve 2 is in the left position, hydraulic oil of the hydraulic system enters the hydraulic valve group through the pressure port P, the hydraulic oil is output to the second working port a2 of the crawler through the electro-proportional valve 2, the hydraulic oil in the first working port a1 flows back to the hydraulic oil tank, and the crawler travels in the forward direction. When the hydraulic pump is started and the electro-proportional valve 2 is in the right position, hydraulic oil of the hydraulic system enters the hydraulic valve group through the pressure oil port P, the hydraulic oil is output to the first working oil port a1 of the crawler through the electro-proportional valve 2, hydraulic oil in the second working oil port a2 flows back to the hydraulic oil tank, and the crawler runs reversely.

Steering and walking control: in response to the steering and traveling control signal, different electric signals of the electro-proportional valves 2 in the two hydraulic valve groups are given according to the steering direction, and the constant-pressure-difference pressure-reducing valve 3 controls the pressure difference of the oil inlets and the oil outlets of the electro-proportional valves 2 to be stable at constant pressure, so that the two electro-proportional valves output hydraulic oil with corresponding flow to corresponding tracks according to the received electric signals, and the two tracks have different rotating speed due to different supplied hydraulic oil flows, so that the steering and traveling control of the tracked vehicle is realized.

It should be noted that: the crawler provided by the embodiment of the invention also has a high-pressure overflow state, and when the hydraulic oil pressure output by the pressure oil port P of the hydraulic system is higher than the highest pressure of the system, the high-pressure hydraulic oil output by the hydraulic system flows back to the hydraulic oil tank through the overflow valve.

When the crawler is in a preparation state before walking, the electro-proportional valve 2 does not work, and a valve core of the electro-proportional valve 2 is in a neutral position. The hydraulic system continuously provides hydraulic oil for the hydraulic valve group, when the hydraulic oil does not reach the highest pressure of the system, the hydraulic oil flows back to the hydraulic mailbox through the constant pressure difference pressure reducing valve 3 at low pressure (10bar), and at the moment, the hydraulic oil only needs to overcome the spring force of the spring end of the constant pressure difference pressure reducing valve 3, so that the energy loss is reduced.

In the walking process of the crawler, after the hydraulic oil in the hydraulic valve group meets the flow required by the work of a hydraulic system, the residual flow is added with a constant value (10bar) by being higher than the system pressure and then overflows back to a hydraulic oil tank through the constant-differential pressure reducing valve 3, and the energy consumption can be greatly reduced. The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.